US 11,797,026 B2
Posture estimation device, sensor module, measurement system, moving object, and posture estimation method
Fumikazu Otani, Matsumoto (JP); and Taketo Chino, Hokuto (JP)
Assigned to SEIKO EPSON CORPORATION
Filed by Seiko Epson Corporation, Toyko (JP)
Filed on May 27, 2021, as Appl. No. 17/332,094.
Claims priority of application No. 2020-093025 (JP), filed on May 28, 2020; and application No. 2020-142419 (JP), filed on Aug. 26, 2020.
Prior Publication US 2021/0373577 A1, Dec. 2, 2021
Int. Cl. G05D 1/08 (2006.01); G01C 9/02 (2006.01); B60W 30/02 (2012.01); A01B 69/04 (2006.01); B60W 40/112 (2012.01); B60W 40/114 (2012.01); B60W 40/11 (2012.01)
CPC G05D 1/0891 (2013.01) [G01C 9/02 (2013.01); A01B 69/008 (2013.01); B60W 30/02 (2013.01); B60W 40/11 (2013.01); B60W 40/112 (2013.01); B60W 40/114 (2013.01); B60W 2300/152 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A posture estimation device comprising:
an acceleration sensor attached to a movable body to detect acceleration of the movable body in an operation so as to provide acceleration data as acceleration information;
an angular velocity sensor attached to the movable body to detect an angular velocity around an axis of the movable body in the operation so as to provide angular velocity data as angular velocity information;
a memory configured to store a program, the acceleration information based on a posture change of the movable body in the operation, the angular velocity information based on the posture change of the movable body in the operation, and a plurality of posture parameters related to movement of the movable body in the operation; and
a processor configured to execute the program so as to:
move the movable body at a reference speed and/or to a reference posture to obtain reference information from a reference sensor module;
select a first posture parameter from the plurality of posture parameters, the first posture parameter relating to a first speed and/or a first posture for the movement of the movable body;
move the movable body at the first speed and/or to the first posture to obtain first output information, the first output information including the acceleration information and the angular velocity information while the movable body moves at the first speed and/or to the first posture;
select a second posture parameter from the plurality of posture parameters, the second posture parameter relating to a second speed and/or a second posture for the movement of the movable body;
move the movable body at the second speed and/or to the second posture to obtain second output information, the second output information including the acceleration information and the angular velocity information while the movable body moves at the second speed and/or to the second posture;
compare the reference information with each of the first output information and the second output information to determine which output information is closer to the reference information among the first output information and the second output information;
estimate a posture of the movable body by using the closer one of the first output information and the second output information and a corresponding one of the first and second parameters; and
determine whether to perform execution or non-execution in the operation of an automatic driving of the movable body and/or whether to correct the posture of the movable body based on the estimated posture.