| 摘要 |
<p>A navigation method and apparatus for reducing substantially the measurement errors such as accelerometer bias, gyro drift rate, gyro scale factor errors, and gyro sensing axis orientation uncertainty. The navigation apparatus includes a first gimbal (16) for rotating a triad of gyroscopes (20,22,24) and accelerometers (26,28,30) about a first gimbal axis D1 at a predetermined angular rate. The axis is positioned in a plane whose orientation is fixed in inertial space (as, for example, parallel to the earth's equatorial plane). The direction of rotation about the first gimbal axis is periodically reversed. A second gimbal (18) is provided for rotating the triad of gyroscopes and accelerometers at a predetermined control angular rate. The second gimbal axis (D2) is directed along an axis orthogonal to the plane described above whose orientation is fixed in inertial space (as, for example, the earth's polar axis if this plane is parallel to the equatorial plane of the earth). The direction of rotation about the second gimbal axis is periodically reversed.</p> |
