| 摘要 |
PURPOSE:To enhance velocity measuring accuracy by reducing the effects of integral errors. CONSTITUTION:A velocity measuring apparatus 1 comprises an inertial device 11 and a velocity measuring portion 13, the inertial device 11 comprising a gyrocope 7, an accelerometer 6 and an inertia data computing part 10, the velocity measuring portion 13 comprising a first 14 and second 15 velocity measuring part and a traveling state judging part 16. The inertia data computing part 10 computes an inertial velocity V1 from both acceleration and angular velocity and, using as a reference value the corrected inertial velocity VI inputted from the first velocity correcting part 14, computes the velocity VI through further correction during each steady-state traveling period. The first velocity correcting part 14 outputs the inertial velocity VI to the outside during each acceleration/deceleration period, and computes an inertial velocity VI' through correction during each steady-state traveling period by using as a reference value a corrected mechanical velocity VP' inputted from the second velocity correcting part 15. The second velocity correcting part 15 computes the mechanical velocity VP=K'N by correcting a mechanical velocity VP=KN (K is a coefficient and N is the rotation speed of a propulsion device) using the inertial velocity VI during each steady-state traveling period, and outputs the mechanical velocity VP' to the outside. |
