| 摘要 |
PURPOSE:To construct a sensor part of an intertia navigation device small and light by furnishing in with two composite sensors of inertia type which measure the accelerations along two axes and the angular velocity round these axes simultaneously, and arranging them at any arbitrary angles out of parallel. CONSTITUTION:In a sensor part 1, two composite sensors 61, 62 are arranged intersecting orthogonally, wherein the sensor 61 senses the acceleration and angular velocity in the Z- and Y-direction while the sensor 62 senses those in the X- and Z-direction about the X-Y-Z coordinates system which is fixed to a moving body. The acceleration outputs alphaX, alphaY and angular velocity outputs omegaX, omegaY of the sensor 61 and the acceleration output alphaZ and angular velocity output omegaZ of the sensor 62 are subjected to scale factor correction and bias correction made by sensor electronics 4 and passed to a computer 5. The computer 5 performs conversion from the coordinates system fixed to the moving body into the navigation coordinates system and calculates the position in the navigation coordinates system, attitude angle, and velocity. This permits lessening of provision of sensors from four as conventional to two, which allows constructing the device small and light. |
