| 摘要 |
PROBLEM TO BE SOLVED: To provide a bias measurement method which can measure the bias of an inertial sensor, even during movement. SOLUTION: Using a fixed gyroscope sensor 10 and a 180-degrees rotatable movable gyroscope sensor 12, first, angular velocitiesω<SB>1</SB>,ω<SB>2</SB>are measured with both gyroscope sensors 10, 12 orientated in the same direction. Using biases b<SB>an1</SB>, b<SB>an2</SB>of the angular velocitiesω<SB>1</SB>,ω<SB>2</SB>and noises n<SB>an1</SB>, n<SB>an2</SB>, the difference in the angular velocitiesω<SB>1</SB>,ω<SB>2</SB>is expressed by the expression,ω<SB>1</SB>-ω<SB>2</SB>=(b<SB>an1</SB>-b<SB>an2</SB>)+(n<SB>an1</SB>-n<SB>an2</SB>). Secondly, after making the movable gyroscope sensor 12 reversed, the angular speedsω<SB>1</SB>,ω<SB>2</SB>are again measured with both the gyroscope sensors 10, 12. The sum of the angular speedsω<SB>1</SB>,ω<SB>2</SB>is expressed by the expression,ω<SB>1</SB>+ω<SB>2</SB>=(b<SB>an1</SB>+b<SB>an2</SB>)+(n<SB>an1</SB>+n<SB>an2</SB>). When the difference and the sum are averaged over time, since the noise term converges to zero, the biases b<SB>an1</SB>, b<SB>an2</SB>can be calculated from these two equations. COPYRIGHT: (C)2006,JPO&NCIPI
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