The digital processor null which includes the memory in order to use in the manner and the device and the strap down forma inertial navigation system in order to compensate sukaringu in the strap down forma inertial navigation

摘要

PROBLEM TO BE SOLVED: To obtain the output, which is compensated so as to reduce the sculling error to the minimum, by using a special formula so as to process a series input, which is led out per each time from the output of one or two or more acceleration meters. ;SOLUTION: In a strap down type navigation system, acceleration output, which shows change of machine body velocity ΔVB of a machine body coordinate from acceleration meters 18, 20, 22 per each sampling interval Δt, is utilized with computing 28, 30, 32 in a program segment 26, and process by a formula (in the formula, (k) means 0 to K-1, m=1, (j) means 1 to J, J≥2, P means integer) so as to obtain the velocity change ΔVBC, of which sculling is compensated. This velocity change ΔVBC is converted to the velocity change ΔVNC, of which sculling is compensated and which is displayed in the navigation coordinate by a program segment 34, at the same interval with the sampling interval Δt. If the coordinate is courted at the interval with integral multiples of the sampling interval Δt, an accumulator program segment or the like is provided.;COPYRIGHT: (C)1998,JPO