DEVICE FOR ALIGNMENT OF INERTIAL NAVIGATION SYSTEM USING BIAS AND NAVIGATION SYSTEM THEREOF

摘要

PURPOSE: An aligning device using a bias estimated value of an inertial navigation system and a navigation system thereof are provided to use a 2 shift kalman filtering technique using a bias estimated value of an inertial sensor so that estimated errors of azimuth angle are not caused even though the azimuth angle is changed in aligning. CONSTITUTION: An aligning device(120) using a bias estimated value of an inertial navigation system(100) comprises an estimation part(122) and an alignment part(124). The estimation part calculates a bias error estimation value based on first navigation information obtained by a measuring device(110). The alignment part calculates a posture error estimation value based on the calculated bias error estimation value and second navigation information obtained by the measuring device. The bias error estimation value is an acceleration bias estimation value and a gyro bias estimation value.