| 摘要 |
<P>PROBLEM TO BE SOLVED: To reduce initialization errors in an azimuth. <P>SOLUTION: The inertial navigation system comprises: a gyroscope 11; an angular velocity matching section 41 that estimates attachment misalignment relative to an external INS 20 using detected angular velocity of the external INS 20 and the detected angular velocity of the gyroscope 11; an angle matching section 42 that estimates the attachment misalignment relative to the external INS 20 using a roll angle, a pitch angle and the azimuth output by the external INS 20 and the detected angular velocity of the gyroscope 11; an attitude angle calculating section that calculates the attitude angle of the inertial navigation system; a selecting section 43 that selects and outputs any one of the attachment misalignment estimated by the angular velocity matching section 41, the attachment misalignment estimated by the angle matching section 42 and zero of an estimate of the attachment misalignment according to a swing level calculated from changes in the attitude angle; and a correction calculating section 14 that corrects the azimuth to be input from the external INS 20 by output of the selecting section 43. <P>COPYRIGHT: (C)2012,JPO&INPIT |
