| 摘要 |
<p>Provided is an apparatus for an attitude reference system of a moving unit. The apparatus includes an acceleration sensor which measures the acceleration of the X axis, Y axis, and Z axis directions of a moving unit, an X axis gyro sensor which measures the angular speed of the X axis direction of the moving unit, a Y axis gyro sensor which measures the angular speed of the Y axis direction of the moving unit and is different from the X gyro sensor, a Z axis gyro sensor which measures the angular speed of the Z axis direction of the moving unit and is the same as the Y gyro sensor, and a calculation part which calculates the roll angle, pitch angle, and reentering angle of the moving unit based on the acceleration measuring result of the moving unit and the angular speed measuring result. The calculation part corrects the pitch angle and reentering angle based on the moving surface of the moving unit and the measured value of the Y gyro sensor and the Z gyro sensor and estimates the attitude reference of the moving unit.</p> |
