| 摘要 |
A positioning apparatus (1000), comprising: a reference device (100, 301) configured to provide a measured current motion angle (Ñ GNSS ; Ñ R ) of a vehicle; an inertial sensor (201) configured to provide a current input angular rate (½( t )) of the vehicle and associated with at least one inertial sensor behavior parameter ( G ( t ), O ( t )) dependent on inertial sensor temperature; a temperature sensor (202) configured to provide an input temperature variation (” T ( t )) of the inertial sensor on a time interval; and a digital estimator (302) configured to recursively computing an estimated current motion angle (Ñ ( t ),X ( t )) of the vehicle and at least one previously estimated inertial sensor behavior parameter ( G ( t ), O ( t )) as function of: the measured current motion angle (Ñ GNSS ; Ñ R ), a previously estimated motion angle ( X ( t -1)), the current input angular rate ( ½( t )), the input temperature variation (” T ( t )). |
