| 摘要 |
PURPOSE:To accurately estimate the current azimuth of a moving body by analyzing and evaluating individual error factors included in output data of a turning angular velocity sensor and an earth magnetism sensor. CONSTITUTION:An error C in offset included in the output of the turning angular velocity sensor is found from the values obtained by multiplying an error A in offset value included in the output of the turning angular velocity sensor during the stop of the moving body and an error B in the time variation rate of the offset value by the elapsed time from the start of the moving body. Then an error H included in the azimuth data output of the earth magnetism sensor is found from an error G of azimuth data of the earth magnetism sensor and an error F in magnetization quantity. Then the reliability values of the output data of the respective sensors are calculated from the error C and error H to calculate a karman filter gain I. Then the azimuth data found from the output of the earth magnetism sensor and the azimuth data found from the output of the turning angular velocity sensor are weighted according to the Karman filter gain to find the current estimated azimuth of the moving body. |
