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1 B

2 INS

3 ADXL

4 3 8 54

5 4 3.1 ADXL sin sin sin sin sin sin sin sin sin

6 : : : : : :

7 GPS (Global Positioning System) GPS GPS GPS INS (Inertial Navigation System, ) INS 1

8 GPS PHS GPS GPS PHS INS INS

9 GPS GPS GPS GPS INS INS 2 INS

10 2.2 9 GPS GPS GPS GPS INS GPS INS GPS

11 PHS [4] 2.4 GPS GPS GPS INS INS [5] 2.5 ADXL202

13 ADXL202[1] 3.1 ADXL202 2 [ 3.1] ±2g(g ) ( ) 12.5% ( g )

14 ( 1.2m) [ 3.2] RS232C PC 5 6

15 : ADXL PC 3 30cm/s 2

16 :

17 [ 4.1] 4.1: 10 ( )(%) (cm/s 2 )

18 [ 4.2] [ 4.2] 1 4.2: 10 (cm/s 2 ) (cm/s 2 ) [ 4.1] 1 1 1

19 (%) (hour) 4.1: 1 4.2

20 [6] [3] [ 4.2] 2 (cm/s ) (sec) 4.2:

21 x k+1 = F k x k + G k w k ( ) y k = s k + v k = H k x k + v k ( ) x k : y k : w k : F k : s k : G k : v k : H k : k 0 x k w k s k v k y k F k G k H k {x k } {w k } ( ) {x k } {w k } 0 {x k } {w k } x 0 x 0 {x k } {w k }

22 {F k } {G k }{H k } x 0 {Σx 0 } {Σw k } y 0 y k x k ˆx k k =E{x k y 0,,y k } ˆx k k 1 =E{x k y 0,,y k 1 } F k G k H k

24 sin ( 2.87 ) [ 5.1] [ 5.2] [ 5.3] 120cm 0.05g =.. 49cm/s 2 [ 5.1] 2.3 [ 5.2] [ 5.3] 2 120cm 5cm 0.05g 1 sin sin sin

25 (cm/s ) (sec) (cm/s) : sin (sec) 5.2: sin

26 (cm) (sec) 5.3: sin g sin ( 1.72 ) [ 5.4] [ 5.6] [ 5.6] 50cm [ 5.4] [ 5.5] [ 5.6] 2 4cm 4cm

27 (m/s ) (sec) 5.4: sin (cm/s) (sec) 5.5: sin

28 (cm) (sec) 5.6: sin g sin ( 0.57 ) [ 5.7] [ 5.8] [ 5.9] 50cm [ 5.7] [ 5.8] [ 5.9] 2 3cm 2 3cm

29 (cm/s ) (sec) 5.7: sin (cm/s) (sec) 5.8: sin

30 (cm) (sec) 5.9: sin [ 5.10] [ 5.11] [ 5.12] 60 [ 5.10] [ 5.11] [ 5.12] cm [ 5.10] [ 5.11] [ 5.12] cm 2m 5m 5.1

31 (cm/s ) (sec) 5.10:

32 (cm/s) (sec) 5.11: (cm) (sec) 5.12:

33 [ 5.13] [ 5.14] [ 5.15] 5 1 [ 5.16] [ 5.17] [ 5.18] [ 5.13] [ 5.16] 10 5 [ 5.14] [ 5.17] 10 5 [ 5.15] [ 5.18] cm 10 7cm 40cm [ 5.14] [ 5.17] 5

34 (cm/s ) (sec) 5.13: 10 (cm/s) (sec) 5.14: 10

35 (cm) (sec) 5.15: 10 2 (cm/s ) (sec) 5.16: 5

36 (cm/s) (sec) 5.17: 5 (cm) (sec) 5.18: 5

37 [ 5.20] [ 5.22] [ 5.24] [ 5.20] [ 5.22] [ 5.24] 2 [ 5.23] 2 [ 5.23] 4m [ 5.24] 1 3cm 80% 2cm [ 5.19] [ 5.21] [ 5.19] [ 5.20] [ 5.21] [ 5.22] 10cm 2cm

38 (cm/s ) (sec) 5.19: : 2 (cm/s ) (sec) 5.20: :

39 (cm/s) (sec) 5.21: : (cm/s) (sec) 5.22: :

40 (cm) (sec) 5.23: : (cm) (sec) 5.24: :

41 ADXL cm 5cm 20cm 10 cm 2cm 30 cm/s cm/s 2

42 cm 2cm 10cm PC

43 cm 10cm 50cm cm [ 6.1] [ 6.2] [ 6.1] 3cm 40cm 95% 50cm 90% [ 6.2] 3 95% 4 70% 3

44 [ 6.3] [ 6.3] 3 50cm 10cm 97.8% 6.1: (cm) (%) (cm) : ( ) (%) (cm)

45 : 3 ( ) (%) (cm) cm [6.1] 1 10cm

46 ( (%)) (sec) 6.1: [ 6.1] [ 6.2]

47 ( (%)) (sec) 6.2: ( 0.2 )

48 [ 6.3] 0.1 ( (%)) (sec) 6.3:

49 cm 10cm 50cm cm [ 6.4] [ 6.5] [ 6.4] 15 10cm 3 [ 6.5] % [ 6.6] %

50 : (cm) (%) : ( ) (%)

51 : 2.5 ( ) (%) % %

52 [2] ADXL

53 x x y x y absolutex absolutey x 1 2 ( ) (x 1,y 1 ) (x 2,y 2 ) r x X y Y A ω x x θ x1 y1 x2 y2 x 1 = X + rω 2 y 1 = Y ra x 2 = X rω 2 y 2 = Y + ra

54 7.2 ADXL X = x 1 + x 2 2 Y = y 1 + y 2 2 ω 2 = x 1 x 2 2r A = y 2 y 1 2r ω A 2 θ absolutex = (Xcosθ Y sinθ) absolutey = (Xsinθ + Y cosθ) ADXL m/s 2 20cm 86 /s 2 10 m/s 2 29 /s

55 ADXL cm % %

56 55

57 56 [1] datasheets/adxl202.pdf [2] Sou-Chen Leek and Yu-Chao Huang: Innovative Estimation Method with Measurement Likelihood for All-Accelerometer Type Inertial Navigation System, IEEE Transactions on Aerospace and Electronic Systems, Vol. 38, No. 1, pp , January [3] Dan Simon and Tien Li Chia: KalmanFiltering with State Equality Constraints, IEEE Transactions on Aerospace and Electronic Systems, Vol. 38, No. 1, pp , January [4] Shinji Miyazaki: Long-Term Unrestrained Measurement of Stride Length and Walking Velocity Utilizing a Piezoelectric Gyroscope, IEEE Transactions on Biomedical Engineering, Vol. 44, No. 8, pp , August [5] :,, [6],,, ( ), ISBN