Vis-a-vis the rotary center of the portable vehicle being the error in the airplane heading of the aforementioned portable vehicle which is guided with all the terrestrial

摘要

PROBLEM TO BE SOLVED: To improve the precision of a nose azimuth estimated value by detecting the nose azimuth change of a moving vehicle to judge the nose azimuth residual difference with a GPS nose azimuth, utilizing the lever arm distance of a GPS antenna to compensate the GPS nose azimuth. ;SOLUTION: A GPS receiving device 10 tracks GPS satellites 20-23, and processes received signals by a GPS processor 13 to calculate the distance and distance rate measured values. The processor 13 receives the input of moving distance from an odometer 14 and the nose azimuth rate information from an external nose azimuth source 15, and judges the nose azimuth residual difference with the GPS nose azimuth. A lever arm distance for offsetting a GPS antenna 11 to the rotating center of a moving vehicle 17 is estimated by measuring the influence on the difference between the integrated type system propagating nose azimuth residual differences between the GPS and an estimated position DR. This lever arm distance is utilized to compensate the GPS nose azimuth from the error caused by the GPS antenna 11 offset to the rotating center of the moving vehicle 17.;COPYRIGHT: (C)1998,JPO