| 摘要 |
PROBLEM TO BE SOLVED: To improve navigation precision by the self-contained navigation of only an inertial navigation device. SOLUTION: In a navigation data integrating device 100, a navigation data collecting means 101 collects INS position data from all n INS 1-n, and a center- of-gravity data arithmetic means 102 determines the center-of-gravity coordinate by averaging the collected INS position data. A navigation error arithmetic means 103 determines the position error every INS 1-n or distance by comparing the center-of-gravity coordinate with the INS position data measured by each INS 1-n. A navigation data determination means 104 judges and abolishes the INS position data corresponding to the maximum distance of these distances as less reliable data, and selects the other INS position data as reliable data. |
