Spatial stabilization device, spatial stabilization method, and storage medium for spatial stabilization program

Abstract

Provided is a spatial stabilization apparatus that realizes high spatial stability with a single inertial sensor. The present invention includes: a first object that is rotatably connected to a moving body; a second object that is rotatably connected to the first object; means that measures angular velocity of either the moving body or the first object and outputs a first detected signal that includes one or more components of an orthogonal coordinate system that is fixed to either the moving body or the first object; means that outputs an estimated signal that is estimated or detected angular velocity with respect to a first angle of the first object in relation to the moving body: means that outputs a target angle signal of the first angle; means that outputs a target angle signal of a second angle of the second object in relation to the first object; means that outputs a second detected signal obtained by adding a signal based on the estimated signal and a signal based on the first detected signal; means that controls the first angle based on a signal based on the target angle signal of the first angle and a signal based on the first detected signal; and means that controls the second angle based on a signal based on the target angle signal of the second angle and a signal based on the second detected signal.