| 摘要 |
PROBLEM TO BE SOLVED: To provide a method and an apparatus, based on a larger number of data samples per one updated interval in the coning compensation for a strap down inertial navigator. SOLUTION: Five groups of angles, continuously increasing in the rotation of a fixed coordinate system of a machine, are utilized as measured at a regularly accurate measuring interval by a gyroscope which is orthogonally carried. Each of the five measuring groups is obtained at a group interval, equivalent to each of the five measuring intervals. An angular displacement, compensated for the coning in a machine-fixed coordinate system, is obtained by the sum of the five increasing angles measured and a coning compensation item for a space-fixed axis at the pth group interval. Thus, the angular displacements, compensated for coning, can be totalized (p) times over a plurality of groups, to obtain a correct evaluation of a vector angle of rotation. |
