| 摘要 |
PURPOSE:To correct respective error factors of an angular speed sensor and an earth magnetism sensor respectively properly by correcting the error factor of one sensor so that the difference between detecting angles by both the sensors is removed. CONSTITUTION:At the running of a car, an angular speed omega due to the directional change of the car is continously detected by the angular speed sensor 1, the detecting signal is amplified 2, the amplified signal is sampled every unit time and converted into a signal indicating declination DELTAtheta corresponding to the advancing of the car by an A/D converter 3, and then the converted signal is applied to a signal processing circuit 9. Simultaneously, a signal indicating relative angle thetaFG between the horizontal component direction of earth magnetism detected by the earth magnetism sensor 4 and the advancing direction of the car is applied to the circuit 9. A pulse signal P outputed from a distance sensor 5 in accordance with the unit travelling distance of the car is sent to a travelling distance counting circuit 7 and a distance signal L is applied to the circuit 9. The frequency of the P output is detected by a frequency detecting 8 and a detecting signal (f) is applied to the circuit 9. When the signal (f) is turned to zero, the circuit 9 detects the stop of the car. |
