| 摘要 |
PROBLEM TO BE SOLVED: To calculate the correct azimuth even if a moving body travels on an inclined path, a casing is installed in an inclined posture or an angular velocity detection device is inclined, in a self-contained navigation system. SOLUTION: The self-contained navigation system comprises an angular velocity detection means 1 for detecting angular velocities in the yaw direction and the pitch direction, an acceleration detection means 2 for detecting accelerations of two axes crossing with each other at right angles, a distance detection means 3 for detecting a moving distance, an inclination detection means 12 for detecting an inclination of the moving body, a casing installation angle calculating means 13 for detecting an installation angle of the casing on the basis of an acceleration detected by the acceleration detection means and a detection result of the inclination, an inclination angle calculation means 4 for detecting the inclination angle of the moving body on the basis of an angular velocity after correction, an acceleration after correction and the moving distance after correcting outputs of the angular velocity and the acceleration detected on the basis of the installation angle of the casing and an angular velocity correction means 5 for correcting the azimuth of the angular velocity by using the inclination angle detected. COPYRIGHT: (C)2004,JPO
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