| 摘要 |
PURPOSE: A reliable rapid alignment mechanism for an inertial navigation system applying disturbance detection technique and an adaptive filter is provided to improve the azimuth estimation performance of the inertial navigation system. CONSTITUTION: An inertia sensor part(101) is connected to a cable. The cable outputs the output value of acceleration and an angular velocity detected by an accelerometer and a gyroscope to an approximate closed loop alignment module(102). The approximate closed-loop alignment module calculates an approximate initial posture value by using the acceleration value and an angular velocity value inputted from the inertia sensor part. A measurement shaping adaptive filter(103) uses a velocity error value induced from a posture error value or a disturbance value as a measurement value, after the approximate closed-loop alignment is completed in the approximate closed-loop alignment module. [Reference numerals] (101) Inertia sensor part; (102) Approximate closed loop alignment module; (103) Measurement shaping adaptive filter; (AA,BB) Signal |
