| 摘要 |
PURPOSE:To accurately perform drift correction on measuring values obtained at the time of self-contained navigation so as to eliminate the variation of an offset error in a short time produced at the time of radio navigation by combining the radio navigation and self-contained navigation. CONSTITUTION:A self-contained navigation system 3 performs drift correction by using a measured result of a radio navigation system 2 or an output result of a Kalman filter 7 selected by means of a measuring value switching means 5 as a new inferred value. A measuring value difference calculating means 4 calculates the difference between the measuring values of the systems 2 and 3 and the means 5 selectively gives either one of the measuring values of the systems 2 and 3 to the filter 7 in accordance with the magnitude of the difference calculated by the means 4. In other words, the measuring value of the radio navigation is used as the measured result in the normal state where the difference between the measuring values of the systems 2 and 3 is small and the measuring value by the self-contained navigation is used as the measuring value when the difference is large. Then the drift produced at the time of the self-contained navigation is eliminated by the measuring result of the radio navigation or the output result of the filter 7. |
