Dead reckoning apparatus using inertial sensors

摘要

1. The art that the invention defined in the claims ; The invention, will guess using inertial navigation sensor devices, and relates to a method ; 2. SUMMARY ; The invention of this invention to solve the navigation information by calculation using the two accelerometers and one gyroscope, removing the error due to the centrifugal force in the rotating section and non-detection, DR ( Dead Reckoning) / GPS (Global Positioning System) navigation system is applied to the composite and allows for estimation of the gyroscope bias, regardless of the locus, the navigation information to be properly calculated even if the initial azimuth estimation error is large, the inertia sensor using dead reckoning devices and that its purpose is to provide its way. ; 3. Solution subject matter of the invention ; The present invention, in the dead reckoning system using an inertial sensor, a pitch angle calculating means for calculating the pitch angle by measuring the angular velocity about a pitch axis; Speed calculating means for calculating the velocity using the pitch angle and the acceleration calculated in the pitch angle calculating means; Azimuth calculation means for calculating an azimuth angle by measuring the angular orientation of each axis; Speed calculated in the speed calculation means, and signal processing means for converting the azimuth angle calculated in the azimuth calculation means into a digital value; And including an arithmetic / control means for calculating a navigation data using the velocity and azimuth, and digitized in the signal processing means. ; 4. An important use of the invention ; The present invention used to fight and navigation systems.