Calibration manner null of inertial detection means

摘要

PURPOSE: To obtain a simple calibration method for the drift bias of a gyro having an inertia detection means loaded on a moving body which separates from a moving mother body and moves. ;CONSTITUTION: The relative position of an inertia detection means 18 to the inertia detection means 12 on a mother body 10 is detected with physical detection means 20, 22 and the relative position of the tri-axial coordinates system of the inertia detection means 18 on the mother body 10 to the tri-axial coordinates system of the inertia detection means 12 is calculated. With using the gyro held by the inertia detection means 12 and the gyro held by inertia detection means 18, angle velocity is detected before the moving body 16 separates from the mother body 10 and moves. The angle velocity is converted to a reference detection angle velocity with an inertia detection means 12 using a memorized coordinate conversion parameter and compares with an actual detection angle velocity with the gyro held by the inertia detection means 18. The difference is calibrated as the gyro drift bias value of the inertia detection means 18.;COPYRIGHT: (C)1994,JPO&Japio