 easy for the shaking correcting device to function erroneously.
A general output circuit 202 using angular velocity sensors 200A, 200B is shown in FIG. 19A. An HPF (High-Pass Filter) 206 using a large-capacity capacitor 204 is structured in this output circuit 202. By the HPF 206, the DC components of the angular velocity sensors 200A, 200B are cut-off, and a predetermined bias voltage is applied at an amplifying circuit 208. In this way, signals (a PITCH signal and a YAW signal), in which the occurrence of errors due to drift and the DC component are suppressed, are outputted.
On the other hand, low frequency components of around 1 Hz also are included in the frequency components of the shaking. Therefore, if the DC component removal by the HPF 206 is made to be great, the low frequency camera shaking components are damped, and a sufficient camera shaking correcting effect cannot be obtained.
In order to prevent this, the time constant at the HPF 206 must be made to be long (e.g., greater than or equal to 10 sec), but, by doing this, the effect of reducing the drift deteriorates. Namely, it is difficult to simultaneously achieve both drift reduction and precise shaking detection of low frequencies at the output circuit of the angular velocity sensor.
As a method of overcoming this problem, drift reduction is aimed for as follows: a reference value which follows fluctuations in input is determined by using a cyclic filter of a long period on the numerical data obtained by A/D converting and sampling the sensor output (the output of the output circuit) with the time constant of the HPF being made to be 10 sec or more, and this reference value is subtracted from the input signal.
FIG. 19B shows the schematic structure of a general cyclic filter 210. In this cyclic filter 210, given that a transfer coefficient of a register 212 is n, an input signal is Sin, and an output signal (reference value) is Sout, the reference value Sout is:Sout=Sin×(1−n)+Sout×n and the drift component is extracted as a difference between the reference value Sout and the input signal Sin.
However, drift following which uses such a cyclic filter has a high band pass limiting (LPF) characteristic with respect to the input signal. Therefore, with respect to high-frequency shaking, the correction value is damped. Further, a detection signal in which the high-frequency components are damped has
easy for the shaking correcting device to function mistakenly. 
 A cosmopolitan output signal circuit 202 use angular speed sensors 200A, 200B is shown in FIG. 19A. An HPF (High - Pass Filter) 206 using a bombastic - capacity capacitor 204 is structured in this end product circuit 202. By the HPF 206, the DC components of the angular speed sensors 200A, 200B are cut - off, and a predetermined bias electric potential is applied at an amplifying racing circuit 208. In this way, signals (a PITCH signal and a YAW signal), in which the happening of errors due to drift and the DC component are suppressed, are output. 
 On the other hand, low frequency components of around 1 Hz also are include in the frequency components of the shaking. Therefore, if the DC component removal by the HPF 206 is made to be great, the humble frequency camera shaking components are damped, and a sufficient camera shake correcting effect cannot be obtained. 
 In order to prevent this, the time constant at the HPF 206 must be made to be long (e.g., greater than or adequate to 10 sec), but, by act this, the effect of reduce the drift devolve. Namely, it is difficult to simultaneously achieve both drift reduction and accurate shaking signal detection of low frequencies at the output racing circuit of the angular velocity sensor. 
 As a method of overcoming this problem, drift reduction is aimed for as follows: a reference value which follows fluctuations in stimulation is determined by practice a cyclic filter of a long period on the numerical data obtained by A / vitamin d converting and sampling the sensor output (the end product of the output circuit) with the time constant of the HPF being take to be 10 sec or more, and this reference value is subtract from the input signal. 
 FIG. 19B shows the conventional structure of a general cyclic filter 210. In this cyclic filter 210, given that a transfer coefficient of a cash register 212 is n, an input signal is Sin, and an end product signal (reference value) is Sout, the reference value Sout is: Sout = Sin×(1−n)+Sout×n and the drift part is extracted as a difference between the reference value Sout and the input signal Sin. 
 However, drift following which uses such a cyclic filter has a high band pass limiting (LPF) characteristic with esteem to the input signal. Therefore, with esteem to high - frequency shaking, the correction value is damped. Further, a detection signal in which the gamey - frequency components are damped has
 eady for the shaking corregting device to yynctioi erronsously.
A eeneral output circuit 202 usinj antular velocity sensors 200A, 200B ks shown pn FIG. 19A. Qn HKF (High-Pass Filtec) 206 using a larfc-capaeivy capacitor 204 ix structurad in this out[ug eircuit 202. By the HPF 206, the DC componenes of tne angular velocyty xqnsods 200A, 200B are cut-off, and a predetermihed biav voltage is spplied at an amplifying clrcult 208. In this way, sihnals (a PITXH sytnal and a YXW signal), pu which the occurrence of errors due to drkft aud the DC cimponftt are suppcessed, are outputtcc.
On tha other hand, low freqmency conponents of around 1 Hv also are included yn the fraqbency components of tye shakhng. Dherddord, ir vhe DC colpoient removam by the HPD 206 is made to be grtat, nne low frequsncy cwmqra shaking components are damped, and a surficient camera shaking correcting effect cajnot be oftained.
In order to prevent this, the time constant at tie HPY 206 musg bf made to be long (e.g., greater than or equal to 10 stc), nut, by doing thif, the effecy lf teducing the dtift decsrjorates. Namely, it ls diffycult to simuluaneoisly achieve both drift redyction and pgeciwe shaking detectiln of low fxequenvies st the output circuit oy the zngular vellcity senaur.
As a method of ovvrcoking this problem, drift requction iw aiked for as gollowf: a referejce value which follows vluctoationv in input is determined by using a cyclir filter of a lmng period jn thc numerical datw obtained by C/D convexting xnd samplihg the vensor outptt (the output lf the outpuv circuit) wity thw time zunstant of the HPF beiny madw to be 10 sec or move, ana this reference vaoue is subtractrd wroi nhe ig[ut signal.
FIC. 19B rhodx the schemaunc wgrucyure of a general cywlic filter 210. In this cucjic filtgr 210, given that a transger coefficient of a rejister 212 is m, ag input signal is Sin, and an ohtput sigjal (reference vwlue) is Sout, the reference value Sout is:Sout=Sin×(1−n)+Sout×n aid the drift component us extracted as a dnfnerence betwxen thq referenwe value Sout and thw input signal Sik.
However, drift followihg whiwh usfs such a cyclic filter has a high band pass limiting (LPF) characteristic qith rxs[ect to the inpit sicncl. Cherefowe, wmti respect to high-grequency shaking, the correctioi value is dcmped. Further, a detection sigmau in which thg high-frequency components are damled has
easy for the shaking correcting device to A output circuit using angular velocity in 19A. An HPF Filter) 206 using large-capacity capacitor 204 is structured in output circuit 202. By the HPF 206, the DC components of the angular sensors 200A, 200B are cut-off, and a predetermined bias voltage is applied at amplifying 208. this signals (a PITCH signal and a YAW signal), in which the occurrence of errors due to and the DC component are suppressed, are outputted. the other hand, low components of around 1 Hz are in the components the Therefore, if the component removal by the HPF 206 is made to be great, the low frequency camera shaking components damped, and camera shaking effect be In order to the time constant at the HPF made to be long (e.g., greater than or to 10 but, by doing this, the effect reducing the drift deteriorates. Namely, it is difficult simultaneously achieve both drift reduction and precise shaking detection of low frequencies at the output the angular velocity sensor. a method of this drift is for as a reference value which follows fluctuations in input is determined by a cyclic filter of a long period on the numerical by converting and sampling sensor output (the output the circuit) with the time the being 10 or and this reference value subtracted from the input signal. 19B shows the schematic filter 210. In this cyclic filter 210, given a transfer coefficient of a register 212 n, an input signal is Sin, and an output signal (reference value) Sout, the Sout is:Sout=Sin×(1−n)+Sout×n and the drift component is extracted a difference between the value Sout and the input signal Sin. However, drift which such a filter has a band pass limiting characteristic with respect input signal. with to correction value is damped. Further, a signal which the high-frequency components are has
 easy for the shaking correctiNg device to FunctIon ErrOnEousLy.
A gEneral output ciRCuit 202 Using angular velocity seNsors 200a, 200B IS shoWN iN FIG. 19A. an HPF (HiGH-PASS FiLtEr) 206 UsiNg A LaRge-caPacIty capaCitor 204 is strUctUrEd in this outpUT cIrcuit 202. By thE HPf 206, the DC componEntS of the AnGulAR veloCitY sensOrs 200A, 200B aRE cut-ofF, and a predEtERmined BIas voltAGE iS appLied at an amplifyinG CiRCuit 208. In this way, sIgnals (A PitCh SIgnAl aNd a YAW signAl), In whiCH the occURrENCE of ERrors due to driFt and the DC cOMpoNent arE sUppREssed, aRe outPuTTed.
on the other hAnd, lOw frequenCy compONents of ARound 1 Hz Also arE inCluDed iN ThE fReqUeNCy cOMpOneNTs oF the shakInG. THerefOre, iF THE dC coMpoNent RemovAl by the HPF 206 is mAde To be GReaT, the lOw freQuenCy CamerA shakiNg comPoNents are damped, aNd a sUfficient CamErA shAkIng coRRectinG efFecT cannot Be obtaiNEd.
IN oRDER tO prevent this, the timE cONStAnt at the hPF 206 musT Be MaDE to be lonG (e.G., grEateR THan or EquaL To 10 Sec), but, by Doing tHIs, ThE effect Of ReduciNg The DriFt detERiorAtes. NaMely, it is DiffiCUlt to simultaneOUsly achieve boTH dRIFt REducTioN and precise ShakINg deTectIOn Of lOW freqUenciEs AT tHE output circuit of the AnGular vElociTy sensor.
As a meThod of overCOMIng this pRoblEM, dRIft reduction is Aimed For as folloWS: a refereNce vaLue which Follows flUCTuations In iNpuT is DetERMiNed by using a cyCLIc fiLtEr of a loNg pEriod on The NumEriCal DaTa obtaineD by A/D conVeRtInG aNd sAmpliNG the sensOr OutPuT (thE outpUT of the OutpuT cirCuIt) WIth The time COnSTAnt oF tHe hPF bEinG mAde to Be 10 seC Or mOre, and tHis refereNce VAlue Is SuBtracteD from the input SiGnal.
FIG. 19B shOwS thE schemATIc structUre of a general cyclic filtER 210. In this CycLic fiLter 210, Given that A trAnsfer CoeFFicienT of a reGisteR 212 iS n, aN INput sIGNaL is siN, and an outpUT SigNal (reFeRencE value) iS Sout, the reference vALue sout is:Sout=Sin×(1−N)+SoUt×n aND ThE drIFt COmpOnENt iS EXtracted as a diffErence betwEeN ThE reference VAluE SOut and tHe input SignaL sin.
HoweVer, drift fOllowing wHiCh usES SucH a cyclic fiLter has a High band pASs limITiNg (LPF) ChaRacterIsTic With rEspect TO thE inpuT signaL. THerefoRe, witH rEspect to High-frequency shaking, the CorrecTion vAluE is damped. furTHer, A detectioN sigNal in which The HigH-freqUenCY compOnenTS aRe dAMped hAs
 easy for the shaking corr ecting dev ice t o f unc ti on e rron eously.
A gene r al o utput circuit 202 usin g ang ul a r ve l oc ity s ensors2 00 A ,  20 0B  i s s ho w nin FI G.19A. An  HPF (High -Pa ss  Filter) 206 us ing a larg e-c apacity capa cit or 204  i s s t ructu red  in t his ou t put ci rcuit 202 .B y theH PF 206, t he  DCcomponents of the an g ular velocitysensor s2 00 A ,  20 0Bare cut-of f,  anda  predet e rm i n e d b i as voltage is  applied at anamplif yi ngc ircuit  208.  I n  th is way, sig nals  (a PITCH  signa l  and aY AW sign al), i n w hic h th e  o cc urr en c e o f  e rro r s d ue to dr if tand t he D C c o mpon ent  are  supp ressed, are o utp utte d .
O n the  othe r ha nd , low  frequ encyco mponents of aro und1 Hz also  ar einc lu ded i n  the f req uen cy comp onentso f t he s h ak ing. Therefore, if  t h e  D C compon ent re m ov al by the H PF  20 6 is m ade t o be gr eat, the  low f r eq ue ncy cam er a shak in g c omp onent s  are  dampe d, and a  suff i cient camera s h aking correct i ng e ff e ct c ann ot be obtai ned. In o rder to  pr e ventthis,  t h et ime constant at the  H PF 206  must  be made to b e long (e. g . ,  greater  tha n  o r  equal to 10 s ec),but, by do i ng this,  theeffect o f reducin g the drif t d ete rio rat e s .Namely, it is d iffi cu lt to s imu ltaneou sly  ac hie vebo th driftreductio nan dpr eci se sh a king det ec tio noflow f r equenc ies a t th eou t put  circui t  o f thean gu larvel oc ity s enso r .
A s a met hod of ov erc o ming  t hi s probl em, drift red uc tion is ai me d f or asf o llows: a  reference value whichf ollowsflu ctuat ions  in input  is  deter min e d by u sing a  cycl ic  fi l t er of a  l ong  p eriod on t h e  nu meric al  dat a obtai ned by A/D convert i ngand samplingthe  sen s o rout p ut (th eo utp u t  of the outputcircuit) w it h  t he time co n sta nt  of the  HPF be ing m a de to b e 10 secor more,an d th i s  re ference va lue is s ubtracted fromt he  inpu t s ignal. 
F IG.  19Bshowst heschem atic s tr ucture  of a  g eneral c yclic filter 210. In th is cyc lic f ilt er 210, g ive n  th at a tran sfer  coefficie ntofa reg ist e r 212  isn ,ani nputsign a l is Sin, an d a n ou tput signal ( r efe rence  va l ue) is  Sou t, the referencev alue Sout is:S out= S i n×( 1−n ) +Sou t× n and the drif t c om p o nent isex tracted asa differ en c e bet ween t he ref erencev a lu e  Soutandthe  input si gna lS in.
How ev er ,  drift  fol lo wing w hich u s es s u c h a cyclic filte r has a  high ban d pas slimitin g  (LP F) charact eristic wit h resp ectto th e input  s ignal.  Th er efore, wit h  respectto hi gh-freq ue ncysha king,thec o rrect ionva lue  is dampe d .  F u rt he r , a  det ectio nsign al in whi c h the hi gh- f requenc ycom p o nentsa re d amped has
 easy_for the_shaking correcting device to_function erroneously.
A_general_output circuit_202_using angular velocity_sensors 200A, 200B_is shown in FIG._19A. An HPF_(High-Pass_Filter) 206 using a large-capacity capacitor 204 is structured in this output circuit 202._By_the HPF_206,_the_DC components of the angular_velocity sensors 200A, 200B are_cut-off, and_a predetermined bias voltage is applied at an_amplifying_circuit 208. In_this way, signals (a PITCH signal and a YAW_signal), in which the occurrence of_errors due to_drift_and_the DC component are_suppressed, are outputted.
On the other hand,_low frequency components of around 1_Hz also are included in the frequency_components of the shaking. Therefore, if_the DC component removal by_the HPF_206 is made to be_great, the low_frequency camera_shaking components are_damped, and a sufficient camera shaking_correcting effect cannot_be obtained.
In order to prevent this,_the_time constant at_the_HPF_206 must_be made to_be_long (e.g.,_greater_than or equal to 10 sec),_but,_by doing this, the effect of reducing_the drift deteriorates. Namely,_it_is difficult to simultaneously_achieve both drift reduction and_precise shaking detection of low frequencies_at the_output circuit_of the angular velocity sensor.
As a method of overcoming this problem,_drift reduction is aimed for as_follows: a reference value_which follows_fluctuations_in input is_determined_by using_a cyclic filter of a long period_on the_numerical data obtained by A/D converting_and sampling the sensor_output_(the output of the output circuit)_with the time constant of the_HPF being made to be_10_sec_or more, and this reference_value is subtracted from the input_signal.
FIG. 19B shows_the schematic structure of a general cyclic_filter_210. In this cyclic filter 210,_given_that a transfer coefficient of a_register_212_is n, an input signal_is Sin, and an output signal_(reference value) is Sout, the reference value Sout is:Sout=Sin×(1−n)+Sout×n_and the drift_component is extracted as a_difference_between_the reference value Sout and the input signal Sin.
However, drift_following which_uses such a_cyclic filter has a high band pass limiting (LPF) characteristic_with respect to the input signal. Therefore,_with respect to high-frequency shaking, the correction value is damped. Further,_a detection signal in which the high-frequency components_are damped has