| 摘要 |
PURPOSE:To correct automatically a titled drift and bias error at all times by supplying a part of an output of a control loop to an automatic correcting loop consisting of an integrator, a Fourier transform device, a coordinate converter, an operator, and an adder, etc. CONSTITUTION:An automatic correcting loop 24 is provided. This automatic correcting loop 24 has an integrator 25, Fourier converters 26, 28, a coordinate converter 27, and a drift bias calculating operator 29. Also, a Y-acceleration meter bias correcting adder 30, an X-acceleration meter bias correcting adder 31, an X-gyro-drift correcting adder 32 and a Y-gyro-drift correcting adder 33, by which each output of the automatic correcting loop 24 are provided on both input sides of a coordinate converter 13 for input, to which signals deltaVy, deltaVx in a compass control loop 12 are supplied, and both output sides of a coordinate converter 23 for output, to which east and west, and south and north inclination correcting signals CE, CN are supplied, respectively. |
