| 摘要 |
PURPOSE:To improve the accuracy of an angular velocity, and also, an operation of an azimuth and a position by constituting this system so that an angular velocity determining means executes a prescribed arithmetic processing, based on a running speed and an angular velocity of a moving body which are detected, and outputting a corrected angular velocity. CONSTITUTION:Based on a running speed V of a moving body detected by a speed detecting means 1, an angular velocity determining means 3 calculates an absolute value of a function phiby using phi=L/rXV, and phi=F/mX1/V (r, K, F and (m) denote the minimum turning radius, the maximum running speed at which the moving body can turn by holding roughly the value (r), the maximum centrifugal force which the moving body can endure by regular running, and mass of the moving body, respectively) in the case of V>K, and in the case of V<K, respectively, compares it with an absolute value of an angular velocity phi detected by an angular velocity detecting means 2, and in the case the value or the latter exceeds the value of the former, an angular velocity omega of the moving body is calculated by setting the absolute value of the function phi as the upper limit. An azimuth arithmetic means 5 calculates an azimuth OMEGA of the moving body, based on the angular velocity omega and an absolute azimuth theta detected by an absolute azimuth detecting means 4. A moving body position arithmetic means 6 calculates and outputs a position of the moving body, based on the azimuth OMEGAand the speed V. |
