| 摘要 |
PROBLEM TO BE SOLVED: To minimize the error caused by the perturbation of a reproduced speed by executing a speed reproducing process by using accelerometer data and gyroscope data measured by combining a specific coefficient in a strap-down type inertia sensor. SOLUTION: An error minimizing apparatus contains a correction device 16 constituted of the first peripheral computer 17 connected to the aggregate of an accelerometer and the aggregate of a gyroscope and capable of executing vector multiplication, a second peripheral computer 18 capable of calculating a vector product and the central computer 19 connected to the first and second peripheral computers 17, 18 to synthetically perform various calculations. |
