JPH0214014U - - Google Patents
Info
- Publication number
- JPH0214014U JPH0214014U JP9150788U JP9150788U JPH0214014U JP H0214014 U JPH0214014 U JP H0214014U JP 9150788 U JP9150788 U JP 9150788U JP 9150788 U JP9150788 U JP 9150788U JP H0214014 U JPH0214014 U JP H0214014U
- Authority
- JP
- Japan
- Prior art keywords
- moving object
- magnetic azimuth
- calculation unit
- navigation device
- processing unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000001133 acceleration Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims 3
- 239000011159 matrix material Substances 0.000 claims 2
- 230000005484 gravity Effects 0.000 claims 1
- 238000000034 method Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
Description
第１図は本考案に係る慣性航法装置の一実施例
の概略機能ブロツク図、第２図は第１図の磁気方
位処理部の処理内容の機能ブロツク図である。
１…ジヤイロスコープ、２…加速度計、３…座
標変換演算部、４…加速度変換演算部、５…姿勢
方位演算部、６…初期整定部、７…磁気方位処理
部、８…積分器、９…積分器。
FIG. 1 is a schematic functional block diagram of an embodiment of an inertial navigation system according to the present invention, and FIG. 2 is a functional block diagram of processing contents of the magnetic direction processing section of FIG. 1. DESCRIPTION OF SYMBOLS 1... Gyroscope, 2... Accelerometer, 3... Coordinate conversion calculation part, 4... Acceleration conversion calculation part, 5... Attitude direction calculation part, 6... Initial setting part, 7... Magnetic direction processing part, 8... Integrator, 9... Integrator.
Claims (1)
度を測定するジヤイロスコープと、前記角速度に
より前記移動物体の座標系から航法座標系に変換
する座標変換演算部と、前記移動物体に搭載され
、その移動物体の加速度を測定する加速度計と、
前記加速度と前記座標変換演算部の座標変換行列
出力とに基づいて前記移動物体の速度、位置を演
算する航法演算部と、前記座標変換行列出力から
前記移動物体の姿勢角、方位角を演算する姿勢方
位演算部と、前記航法座標系の垂直軸を重力方向
に、水平軸を直北基準に合わせる初期整定部と、
前記移動物体に搭載された磁気方位センサから入
力される磁気方位信号を処理する磁気方位処理部
とを具備し、前記磁気方位処理部において磁気方
位角誤差を除去することを特徴とする慣性航法装
置。 (2) 前記ジヤイロスコープからの角速度及び前
記加速度計の加速度出力が所定値以下の場合に、
前記磁気方位処理部は前記磁気方位信号を前記初
期整定部に出力するものである請求項１記載の慣
性航法装置。 (3) 前記磁気方位処理部が前記移動物体の発進
後の時間をカウントするタイマを備え、該タイマ
によるカウント時間が所定値以上の場合に、前記
磁気方位処理部は前記磁気方位信号を前記初期整
定部に出力するものである請求項１記載の慣性航
法装置。 (4) 前記磁気方位処理部が前記移動物体の発進
後の時間をカウントするタイマを備え、該タイマ
によるカウント時間が所定値以上であつて、かつ
前記ジヤイロスコープからの角速度及び前記加速
度計の加速度出力が所定値以下の場合に、前記磁
気方位処理部は前記磁気方位信号を前記初期整定
部に出力するものである請求項１記載の慣性航法
装置。[Claims for Utility Model Registration] (1) A gyroscope that is mounted on a moving object and measures the angular velocity of the moving object, and a coordinate conversion calculation unit that converts the coordinate system of the moving object to a navigation coordinate system based on the angular velocity. and an accelerometer mounted on the moving object to measure the acceleration of the moving object;
a navigation calculation unit that calculates a velocity and a position of the moving object based on the acceleration and a coordinate transformation matrix output of the coordinate transformation calculation unit; and a navigation calculation unit that calculates an attitude angle and an azimuth of the moving object from the coordinate transformation matrix output. an attitude/azimuth calculation unit; an initial setting unit that aligns the vertical axis of the navigation coordinate system with the direction of gravity and the horizontal axis with the north reference;
an inertial navigation device comprising: a magnetic azimuth processing unit that processes a magnetic azimuth signal input from a magnetic azimuth sensor mounted on the moving object; and the magnetic azimuth processing unit removes a magnetic azimuth angle error. . (2) When the angular velocity from the gyroscope and the acceleration output from the accelerometer are below a predetermined value,
The inertial navigation device according to claim 1, wherein the magnetic azimuth processing section outputs the magnetic azimuth signal to the initial settling section. (3) The magnetic azimuth processing unit includes a timer that counts the time after the moving object starts, and when the time counted by the timer is equal to or greater than a predetermined value, the magnetic azimuth processing unit converts the magnetic azimuth signal into the initial value. The inertial navigation device according to claim 1, wherein the inertial navigation device outputs the signal to a settling section. (4) The magnetic azimuth processing unit includes a timer that counts the time after the moving object starts, and the time counted by the timer is equal to or greater than a predetermined value, and the angular velocity from the gyroscope and the accelerometer are The inertial navigation device according to claim 1, wherein the magnetic azimuth processing section outputs the magnetic azimuth signal to the initial settling section when the acceleration output is less than or equal to a predetermined value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9150788U JPH0714820Y2 (en) | 1988-07-12 | 1988-07-12 | Inertial navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9150788U JPH0714820Y2 (en) | 1988-07-12 | 1988-07-12 | Inertial navigation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0214014U true JPH0214014U (en) | 1990-01-29 |
| JPH0714820Y2 JPH0714820Y2 (en) | 1995-04-10 |
Family
ID=31315987
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9150788U Expired - Lifetime JPH0714820Y2 (en) | 1988-07-12 | 1988-07-12 | Inertial navigation system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0714820Y2 (en) |
-
1988
- 1988-07-12 JP JP9150788U patent/JPH0714820Y2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0714820Y2 (en) | 1995-04-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US3924824A (en) | Cross track strapdown inertial quidance system | |
| CN112179340B (en) | A dual-axis rotation modulation method for redundantly configured inertial measurement units | |
| GB1360544A (en) | Railway vehicle trim control system | |
| EP0008208A3 (en) | A vertical indicating device and a device for maintaining a stable vertical in two dimensions | |
| VanBronkhorst | Strapdown system algorithms | |
| JPH0714820Y2 (en) | Inertial navigation system | |
| JP3038452B2 (en) | Strap down type attitude detection device | |
| GB899860A (en) | Vertical velocity measuring system | |
| JPS6172618U (en) | ||
| JPH0272914U (en) | ||
| JPS62160317U (en) | ||
| FR2386019A1 (en) | Stabilised platform for inertial guidance system - uses sync. signal for periodic setting of azimuth gyrocompass loop | |
| RU2087866C1 (en) | Inertial attitude-and-heading reference system | |
| Rong et al. | Research on Dynamic Attitude Estimation and Control of Tricycle Based on MEMS Sensing | |
| JPS58183511U (en) | Unmanned vehicle guidance system | |
| KARAKASHEV et al. | Error analysis of a coupled inertial navigation system | |
| DZHAGAROV | Method for minimizing errors of an inertial guidance system(Analysis of lateral velocity measurement errors of inertial guidance system and development of system to compensate for errors) | |
| MERHAV | Autonomous navigation system(gyroscopic pendulum for air navigation)[Patent] | |
| JPH0255114U (en) | ||
| JPH06265567A (en) | Hull motion detector | |
| FEGLEY et al. | Measuring rotational motion with linear accelerometers(Vehicle angular velocity determined, using configurations with only linear accelerometers and no gyroscopes for inertial navigation systems) | |
| CN119437211A (en) | A method for agile response of rotation modulation inertial navigation system system signal | |
| JPH055044B2 (en) | ||
| HELLINGS | Application of extended Kalman filtering to a dynamic laboratory calibration of an inertial navigation system(Dynamic calibration of inertial navigation system using extended Kalman filtering and command torquing of platform gyros)[Ph. D. Thesis] | |
| GB2023294A (en) | Navigation device for a surface vehicle |