| 摘要 |
<p>PROBLEM TO BE SOLVED: To calibrate an IMU to be calibrated with high accuracy by using only IMU output.SOLUTION: An IMU calibration system 1 is provided with an IMU error calculation unit 31 and an error correction unit comprising a bias error correction unit 212, a scale factor error correction unit 213, and a misalignment error correction unit 214. The IMU error calculation unit 31 successively estimates and calculates, in a first period prior to separation, a bias error, a scale factor error, and a misalignment error included in a measured value to be calibrated, by using a reference measured value outputted by a high-accuracy IMU and a measured value to be calibrated that is outputted by an IMU to be calibrated. The error correction unit, installed in a first mobile entity, successively corrects the output value of a sensor provided in the IMU to be calibrated, by using each of the errors estimated and calculated by the IMU error calculation unit in the first period. In a second period after a separation performed, the error correction unit maintains the correction that is effective at the time of separation.</p> |
