Attitude detection device
An attitude detection device includes a rudder angle sensor, a speed sensor, an inertia sensor, and a control device. The rudder angle sensor detects a rudder angle of a ship. The speed sensor detects a speed of the ship. The inertia sensor detects information related to an inertial force applied to the ship. The control device finds a centrifugal force applied to the ship on the basis of a signal output from each of the rudder angle sensor and the speed sensor. The control device acquires an inclination of the ship on the basis of the signal output from the inertia sensor. The control device corrects the inclination of the ship on the basis of the output of the inertia sensor according to the centrifugal force applied to the ship.
1 . An attitude detection device mounted on a ship, the attitude detection device comprising:
a rudder angle sensor configured to detect a rudder angle of the ship and output a signal of a detection value of the rudder angle;
a speed sensor configured to detect a speed of the ship and output a signal of a detection value of the speed;
a multi-axis acceleration sensor configured to detect an inertial force applied to the ship and output a signal of a detection value of an acceleration related to the inertial force; and
a processing device configured to, based on the signal of the detection value of the rudder angle, the signal of the detection value of the speed, and the signal of the detection value of the acceleration related to the inertial force, control the ship
the processing device acquires an inclination of the ship, which is an angle of an upward/downward direction of the ship with respect to a vertical direction, on the basis of the acceleration detected by the multi-axis acceleration sensor, and corrects the inclination of the ship on the basis of a centrifugal force applied to the ship,
wherein the vertical direction is parallel to a direction of a reaction force of a gravitational force applied to a center of gravity of the ship,
wherein the processing device further acquires the centrifugal force on the basis of the signal output from each of the rudder angle sensor and the speed sensor,
wherein, in a state the centrifugal force is applying to the ship, the processing device corrects the inclination of the ship, which is acquired as an angle of the upward/downward direction of the ship with respect to a direction of a resultant force of the reaction force of the gravitational force, such that a corrected inclination of the ship is recognized as an angle of the upward/downward direction of the ship with respect to the direction of the reaction force by omitting the centrifugal force, and
wherein the processing device is further configured to correct each of a detection position and a detection direction according to horizontal recognition of an external camera mounted on the ship and an external sensor based on the corrected inclination of the ship.