Patent ID: 11971429
Assignee: SEIKO EPSON CORPORATION
Field: Measurement (Instruments)
Classification: CPC G  B | IPC B  G

Claim 5:
6. A vehicle comprising:
a posture estimation device having:
a posture-change-amount calculation unit that calculates a posture change amount of an electronic device with a processor based on an output from an angular velocity sensor and an output from an acceleration sensor of an inertial measurement unit included in the electronic device;
a posture information prediction unit that predicts posture quaternion of the electronic device with the processor by using the posture change amount;
an error information adjustment unit that adjusts an error covariance matrix of the posture quaternion with the processor by increasing a motion velocity error component in the error covariance matrix and by reducing a covariance component between the motion velocity error component and an error component other than the motion velocity error component when the output of the angular velocity sensor or the output of the acceleration sensor is off-scale;
a posture information correction unit that corrects the predicted posture quaternion of the electronic device with the processor based on the error covariance matrix of the posture quaternion; and
a control device that controls a posture of the vehicle based on posture quaternion of the vehicle, which is estimated by the posture estimation device.