| 摘要 |
PURPOSE:To correct the error caused by the motion of a navigating body, by providing an error correction apparatus inputting the south-north inclination signal proportional to the horizontal angle of inclination of a spin shaft and the speed signal of the navigating body and estimating the bearing error in an apparatus to correct bearing oscillation output. CONSTITUTION:A bow bearing C and a speed signal V' are supplied from a bearing transmitter 28 to operate a south-north speed signal V'N and an acceleration signal alpha'N by a south-north speed operation part 100 and an acceleration operation part 101 and, further, required operation is performed along with the latitude data (lambda') of the present position by a disturbance input operation part 102 to input output Du to a state variable estimating operation part 103. Furthermore, the signal FZ obtained by operating own output Z by a control coefficient operation part 104 and the signal Gy obtained by operating the observation value input of the south-north inclination signal y=xsi from a compass system by an observation value input operation part 105 are also inputted to said operation part 103. An estimated bearing error is operated by an estimated bearing error operation part 106 using the output Z and the signal-xsi and a correction signal phi' is added to the bearing signal C' of the bearing oscillator 28 to output a real bearing C from a bearing transmitting part 107. Further, a temp. detection element is inserted in a gyrocompass and a temp. signal T is inputted to the operation parts 103, 105 to remove the effect of temp. change.
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