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Abstract

An orientation sensor measures the orientation of the orientation sensor itself on a sensor coordinate system, and outputs an orientation measurement value. A first alignment data setting unit reads out first alignment data, which is recorded in an external storage device and represents the gravitational direction on a reference coordinate system, and sets that data in an orientation calculation unit. A second alignment data setting unit sets second alignment data, which represents a difference angle in the azimuth direction between the sensor coordinate system and reference coordinate system in the orientation calculation unit in accordance with a command input by an operator from a command input unit. The orientation calculation unit calculates the orientation of an object on the reference coordinate system using the first and second alignment data on the basis of the orientation measurement value input from the orientation sensor, and outputs it.

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First Claim