Patent ID: 7949487

Claim:
A moving body posture angle detecting apparatus, comprising: an angular velocity sensor which detects an angular velocity of a moving body; an acceleration sensor which detects an acceleration of the moving body; an angular velocity posture angle calculating device that calculates, as an angular velocity posture angle, a posture angle of the moving body from the angular velocity; an acceleration posture angle calculating device that calculates, as an acceleration posture angle, a posture angle of the moving body from the acceleration; an angular velocity posture angle low range component extracting device that extracts a low range component of the angular velocity posture angle; an acceleration posture angle low range component extracting device that extracts a low range component of the acceleration posture angle; a difference calculating device that calculates, as error, a difference between the low range component of the angular velocity posture angle and the low range component of the acceleration posture angle; an error removing device that removes the error from the angular velocity posture angle; an outputting device that outputs, as a posture angle of the moving body, an angular velocity posture angle from which the error has been removed by the error removing device; and a feedback device that feeds back the angular velocity posture angle from which the error has been removed by the error removing device to the angular velocity posture angle calculating device.