| 摘要 |
PURPOSE:To prevent the precision reduction in estimating and correcting the error of the velocity or the like of an INS main body caused by the difference of the fitting position by providing a position vector memory section, a relative velocity arithmetic section, and a correction arithmetic section on the INS main body. CONSTITUTION:The position vector of the fitting point of an INS main body 6 against the fitting point of a velocity reference device 7 is stored in a memory section 11 in advance, and the relative velocity vector is calculated by a relative velocity arithmetic section 12 and inputted to a correction arithmetic section 13. The arithmetic section 13 adds the relative velocity inputted from the arithmetic section 12 to the reference velocity inputted from the device 7 and converts it into the reference velocity at the fitting point of the main body 6. The reference velocity thus obtained is fed to a reference velocity conversion section 4, the relative velocity at the fitting point of the main body 6 generated by the rotation of a moving body against the fitting point of the device 7 is considered by this conversion, and the reduction of the calculation and correction precision caused by the difference of the fitting position is prevented. |
