| 摘要 |
PURPOSE:To correct a position measurement error of an azimuth sensor or gyroscope by using position measurement results after statistical processing such as averaging is applied. CONSTITUTION:In a process 50, output voltages vx and vy of the azimuth sensor are read in. In a process 51, it is judged whether or not said voltages have normal values of not. Namely, it is checked whether or not the output voltages vx and vy satisfy an equation. When not, it is considered that they are normal and the azimuth angle of an equation (6) is outputted in a process 53 to carry on navigation. When a voltage value is abnormal, on the other hand, it is considered that the reference values Vx and Vy are abnormal, and the Vx and Vy are updated in a process 52. Then the corrected Vx and Vy are used to find an azimuth theta in the process 53, thereby carrying on the navigation. |
