ROLL ANGLE ESTIMATION DEVICE AND TRANSPORT APPARATUS

Arithmetic circuitry (20) of a roll angle estimation device 10 estimates a roll angle of a moving body (1; 100), and estimates a pitch angle and a pitch angular velocity of the moving body (1; 100) and at least one offset error of the first and second angular velocity detectors (51, 52) and the first, second, and third acceleration detectors (53, 54, 55). In a current estimation operation, the arithmetic circuitry (20) estimates the roll angle, pitch angle, and pitch angular velocity of the moving body (1; 100) and the at least one offset error, based on: detection values by the first and second angular velocity detectors (51, 52); detection values by the first, second, and third acceleration detectors (53, 54, 55); a detection value by the velocity detector (7; 6); estimated values of the roll angle, pitch angle, and pitch angular velocity from a previous estimation operation; and an estimated value of the offset error from the previous estimation operation.