Patent ID: 11953325
Assignee: NIPPON TELEGRAPH AND TELEPHONE CORPORATION
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A direction calculation apparatus for calculating a direction to be presented as a presented direction to a guided person using a force sensation presentation device gripped by the guided person, the direction calculation apparatus comprising circuitry configured to execute operations comprising:
acquiring, using a geomagnetic map including a geomagnetic vector and a gravitational acceleration vector of a reference posture of the force sensation presentation device in a reference coordinate system at a position included in a predetermined range, from a current position of the force sensation presentation device, a first matrix, wherein the first matrix includes a geomagnetic vector, a gravitational acceleration vector, and an outer product vector of the geomagnetic vector and the gravitational acceleration vector of the reference posture of the force sensation presentation device in the reference coordinate system at the current position;
acquiring a second matrix, wherein the second matrix comprises a geomagnetic vector, a gravitational acceleration vector, and an outer product vector of the geomagnetic vector and the gravitational acceleration vector of a current posture of the force sensation presentation device in the reference coordinate system at the current position; and
calculating, using the first matrix and the second matrix, from a first instructed force sensation vector, a second instructed force sensation vector, wherein the first instructed force sensation vector is in a reference coordinate system and indicates a direction to be instructed to the force sensation presentation device, and the second instructed force sensation vector is in a force sensation presentation device coordinate system and indicates a direction to be instructed to the force sensation presentation device as the presented direction.