| 摘要 |
PURPOSE: To determine the azimuth of a vehicle accurately by employing a right turn correction factor distinguishing from a left turn correction factor at the time of correcting the detection value of an angular speed sensor thereby correcting the sensitivity accurately. CONSTITUTION: When a vehicle is advancing straight, a zero point adjustment 71e is effected in order to remove the effect of dynamic zero point drift of a gyro 70. The azimuth is also corrected at an orientation correcting section 72f and accumulated error of azimuthθis eliminated. A left turn judging section 721 judge left turn of vehicle and a negative correction factor adjusting section 722 adjusts the negative correction factor G1 at the time of left turn so that the azimuth angleθapproaches asymptotically toθ' thus offsetting the lowering of sensitivity of the gyro 70. On the other hand, a right turn judging section 723 judges right turn of vehicle and a positive correction factor adjusting section 724 adjusts the positive correction factor Gr at the time of right turn. With such arrangement, angular speed and azimuth can be obtained accurately even when a vehicle is traveling while inclining due to the state of passenger, cargo or road. |
