Patent ID: 8538634

Claim:
A body velocity estimating device that estimates a body velocity by calculating the body velocity repeatedly at intervals of a fixed operation period, and outputs the estimated body velocity, comprising: an acceleration measurement unit that measures an acceleration of the body; an acceleration separation unit that compares the acceleration measured by the acceleration measurement unit with set acceleration upper and lower limit reference values, and separates the measured acceleration into a reference value range-in acceleration within a range of the upper and lower limit reference values and a reference value range-out acceleration outside the range of the upper and lower limit reference values; a low pass filter processing operation unit that performs filtering on the reference value range-out acceleration separated by the acceleration separation unit to calculate a filtered acceleration of the reference value range-out acceleration; an acceleration addition unit that adds the filtered acceleration to the reference value range-in acceleration separated by the acceleration separation unit; an integration processing operation unit that multiplies the acceleration added by the acceleration addition unit by the operation period, and updates a value of the estimated body velocity by adding the resultant to an estimated body velocity calculated in the preceding one operation period; and an estimated body velocity output unit that outputs the estimated body velocity updated by the integration processing operation unit.