| 摘要 |
PURPOSE:To obtain an error estimate value of high accuracy by correcting the error of an inertia data calculation part from the data obtained when an inertia body is in a stop state. CONSTITUTION:An inertia body, for example, a stop detector 8 detecting the stop state of a car and a stop/movement detection part 9 are provided to automatically turn a switch 10 ON at a stop time. Pure inertia data B is obtained from an inertia data calculation part 3 to be outputted to an output correction part 5 and calculation subtracting correction data C from the pure inertia data B is executed in the output correction part 5 to obtain inertia data D after correction. The acceleration and angular velocity data of the inertia body are supplied to the detection part 9 from the inertia calculation part 3 and it is detected whether the judgment of the stop detector 8 is accurate. Therefore, even when stop data is obtained from the stop detector 8, the switch 10 is not turned ON during the movement of the vehicle and no erroneous calculation is executed. In this inertia device, the stop data obtained in the inertia calculation part 3 at the stop time of the inertia body is inputted to a correction data operation part (Karman filter) 4 and, therefore, the speed error of the device can be accurately measured and the accuracy of an observation value is enhanced. |
