| 摘要 |
A navigation device for surface vehicles comprises a platform 1 with two gimbals with perpendicular axes YY, ZZ and bearing a gyroscope stabilizing the gimbals by servo- control. With the vehicle stopped the axis of rotation XX of the gyroscope is made co-axial with North and then it is allowed to drift freely with the gimbals stabilized the angle phi between XX and north and the angle between XX and the vertical being calculated, the heading of the vehicle deduced and the vehicle started, the gyroscope then being used as a heading indicator. The gyroscope has axes of sensitivity parallel to YY, ZZ. Means 4 detects the vertical relative to YY and XX giving signals Sfx, Sfy. Other sensors give signals Swy and Swz of the position of YY and ZZ. Processor 5 calculates phi from all of these signals, and from a signal of the time for the vehicle to cover a certain distance. From the components of phi the vehicle heading and using a signal of the distance travelled, the vehicle positions are determined. <IMAGE> |
