| 摘要 |
PURPOSE: To identify a residual error due to a sight control error and initialize the inertia navigation unit of an object to be carried easily by the inertia navigation unit of a carrying body by connecting Kalman filter to a servo control circuit in parallel and operating them simultaneously. CONSTITUTION: A servo control circuit A receives an output signal from CNp of a transportation machine and CNm of a missile, generates an angle servo control command as its output 7 regardless of angle servo type or vertical and nose azimuth servo control type, is supplied to an inertia navigation unit CNm of a missile 1, and rotates the three axes of a calculation reference axis system and corrects measurement values. The estimation value of the sight control error of the inertia navigation unit CNp of the transportation machine is generated as output 14 from a Kalman filter K and is set to the CNm of the missile as a reference. With the CNm, the axis of a calculation reference system is rotated correspondingly and the alignment is completed on the axis of the calculation reference axis system of the CNp. |
