Nec Tokin Corporation

Kazutake Muto

Hiroshi Abe

An orientation angle detector using gyroscopes ( ) for detecting X-, Y- and Z-angular velocities which are time-integrated ( ) to produce pitch, roll and yaw angles (&ggr;, &bgr;, &agr;) of the orientation. Two accelerometers ( ) are used to obtain tentative pitch and roll angles in order to correct the pitch and roll angles, and two terrestrial magnetometers ( ) are used to obtain a tentative yaw angle so as to correct the yaw angle. When the tentative pitch, roll and yaw angles are defined accurate ( ), the integrated pitch, roll and yaw angles are corrected ( ) by the tentative pitch, roll and yaw angles.

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Sendai, Japan

Kazutake Muto