GPS based attitude determination system having a self-diagnosis function

摘要

A GPS based attitude determination system (ADS) is disclosed for determining the attitude and heading of a moving body, such as a vessel, by combined use of a Global Positioning System (GPS) receiver 2 and an inertial navigation system (INS) unit 4 including inertial sensors. The system further comprises a GPS signal blockage area calculator 5, an inertial sensor anomaly detector 6, and a monitor 7. The GPS blockage area calculator 5 determines when a GPS signal is lost based on the output of a GPS receiver 2. The sensor anomaly detector 6 detects an anomaly of an inertial sensor signal output from an inertial sensor unit 4. The monitor 7 presents information as to the cause of an operational failure of the system based on the information received from the blockage area calculator 5 and the sensor anomaly detector 6. The system is particularly suited to providing information useful for making a judgment on appropriateness of installation sites and mounting conditions of a GPS antenna 1 and inertial sensors.