| 摘要 |
PURPOSE:To detect the attitude of a sailing body by fitting three gyros, three accelerometers, and one magnetic azimuth sensor to the sailing body, and converting and processing respective outputs. CONSTITUTION:The X gyro 1, Y gyro, and Z gyro 3, X accelerometer 4, Y accelerometer 5, and Z accelerometer 6, and magnetic azimuth sensor 7 are fitted to the sailing body so that their input axes are coincident with the three primary orthogonal axes, i.e. X, Y, and Z axes of the sailing body. Consequently, the output signals are inputted to an arithmetic part 9 through a signal conversion part 8. The arithmetic part 9 performs the arithmetic of a coordinate conversion matrix (CTM), gyro drift correction arithmetic, acceleration correction arithmetic, etc., and then outputs signals of a roll angle, a pitch angle, an azimuth angle, X, Y and Z angular velocity, a bank angle, a slide angle, etc., required to the control and navigation of the sailing body through a signal output part 10. Thus, the attitude of the sailing body can be detected. |
