METHOD FOR CALIBRATING SENSOR ERRORS AUTOMATICALLY DURING OPERATION, AND INERTIAL NAVIGATION USING THE SAME

摘要

PURPOSE: A method for calibrating sensor errors automatically during operation and an inertial navigation device using the same are provided to prevent the reduction of navigation performance by continuously updating the variation of a sensor error at the time of every operation. CONSTITUTION: An inertial navigation device capable of calibrating sensor errors automatically during operation comprises an inertial sensor part(110), a secondary sensor part(120), a data storage part(130), and a controller(140). The inertial sensor part measures the angular velocity and linear acceleration in a 3D inertial space. The secondary sensor part detects side information. The data storage part stores data which is used to calculate a calibration factor between operations. The controller receives the measurement information from the inertial sensor part, estimates and compensates an error of the measurement information using the side information, and calculates the speed, location, and posture of a moving body in operation based on the compensated measurement information.