| 摘要 |
PROBLEM TO BE SOLVED: To constitute an attitude detection device of a moving body for surely estimating an alignment angle between an antenna coordinate system and an IMU coordinate system regardless of the magnitude of an initial alignment angle. SOLUTION: The difference between a GPS angular velocity and an IMU angular velocity is observed, and the alignment angle and an error factor are estimated by an alignment angle estimation part 106. The estimated alignment angle and a sensor error are cumulatively added and updated successively by an alignment angle addition part 107 and a sensor error addition part 108 respectively. The updated alignment angle is feedbacked to an inertia data conversion part 103, and the sensor error is feedbacked to an inertia data correction part 102. Estimation is repeated so that the updated alignment angle gradually approaches the accurate alignment angle by cumulative addition and feedback of the estimated value in each estimation period to an alignment angle estimation operation flow in this way. COPYRIGHT: (C)2004,JPO |
