Dynamic error correcting apparatus for inertial navigation.

摘要

A counting section (12) includes: a first gyro pulse counter (1a-1h) which counts gyro pulses from each of X-, Y-, Z- and S-axis gyroscopes during each counting period after being reset immediately before the start of the counting period and outputs the count value as a first gyro pulse count value at fixed time intervals; and a second gyro pulse counter (6a-6h) which is reset at said fixed time intervals, counts the gyro pulses and outputs the count value as a second gyro pulse count value. A dynamic error calculating section (13) includes: gyro multipliers/subtractors (3a-3l) whereby, for each combination of two different main axes, a mutual product difference of the gyro pulse count values for the two axes is calculated as a main-axis system gyro pulse error and, for each combination of one of the X, Y and Z axes and the S axis, a mutual product difference of the gyro pulse count values for the S axis and each of the X, Y and Z axes is calculated as an auxiliary-axis system gyro error; and a gyro error integrating section (9) whereby each of the X-axis, Y-axis and Z-axis system gyro errors and the auxiliary-axis system gyro error, provided at the fixed time intervals, are accumulated within each calculation period to obtain a gyro error integrated value. A strap-down calculating processor (5) uses the gyro error integrated values from the gyro error integrating section to calculate the correctional quantity of a coning error for each system wherein one of the X, Y and Z axes is replaced with the S axis. <IMAGE> <IMAGE>