| 摘要 |
PROBLEM TO BE SOLVED: To obtain the output, which is compensated so as to reduce the sculling error to the minimum, by using a special formula so as to process a series input, which is led out per each time from the output of one or two or more acceleration meters. SOLUTION: In a strap down type navigation system, acceleration output, which shows change of machine body velocityΔVB of a machine body coordinate from acceleration meters 18, 20, 22 per each sampling intervalΔt, is utilized with computing 28, 30, 32 in a program segment 26, and process by a formula (in the formula, (k) means 0 to K-1, m=1, (j) means 1 to J, J>=2, P means integer) so as to obtain the velocity changeΔVBC, of which sculling is compensated. This velocity changeΔVBC is converted to the velocity changeΔVNC, of which sculling is compensated and which is displayed in the navigation coordinate by a program segment 34, at the same interval with the sampling intervalΔt. If the coordinate is courted at the interval with integral multiples of the sampling intervalΔt, an accumulator program segment or the like is provided.
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