| 摘要 |
PROBLEM TO BE SOLVED: To enhance the accuracy of measuring altitude and position by correcting errors in the mounting angle of a vehicular inertial navigation system with respect to a vehicle and in the scale factor of an odometer. SOLUTION: A second INS(vehicular inertial navigation system) part 18, which comprises an accelerometer 21 and a second computing part 10b which calculates altitude and position by doubly integrating an accelerometer output, is added to a first normal INS part 17 which comprises a first computing part 10a, an odometer 1, and a gyro 2, the first computing part 10a consisting of a first speed calculating part 3, a speed component calculating part 4, a pitch angle calculating part 5, an azimuth calculating part 6, and a first latitude/ position calculating part 7; further, a correction calculating part 19 is provided, and the scale-factor errorδS of the odometer 1 and the mounting angle errorsδθ,δΨof the vehicular inertial navigation system are calculated from data about outputs of the first and second INS parts 17, 18, obtained from a short time of test drive, and are stored in advance in the first speed calculating part 3 and the speed component calculating part 4, so that travel speed V and its component which are corrected as to those errors are obtained thereafter. |
