{
  "$type": "site.standard.document",
  "description": "Provided is an \"autonomous navigation system\" that satisfactorily estimates an attachment angle of an inertial sensor even when the yaw angle of the attachment angle of the inertial sensor is large. [0002] A sensor attachment angle detection unit (13) detects a yaw angle A3 of an approximate…",
  "path": "/patents/1393416",
  "publishedAt": "2025-10-29T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C21/16",
    "ALPS ALPINE CO LTD [JP]"
  ],
  "textContent": "Provided is an \"autonomous navigation system\" that satisfactorily estimates an attachment angle of an inertial sensor even when the yaw angle of the attachment angle of the inertial sensor is large. [0002] A sensor attachment angle detection unit (13) detects a yaw angle A3 of an approximate attachment angle of a six-axis inertial sensor (11), and a sensor output conversion unit (15) converts acceleration outputs (ax, ay, az) and angular velocity outputs (ωx, (ωy, ωz) of three axes Xs, Ys, and Zs in a coordinate system of the six-axis inertial sensor (11) into accelerations (ax', ay', az) and angular velocities (ωx', ωy', ωz) of three axes Xs', Ys', and Zs in the coordinate system having a yaw angle within ±45 according to an angle range to which the detected attachment angle A3 belongs and inputs the converted accelerations and angular velocities to a Kalman filter (16).",
  "title": "AUTONOMOUS NAVIGATION SYSTEM"
}