ストラップダウン慣性航法装置の搭載用誤差モデルについて

概要

論文の詳細を見る
Recently, most inertial navigation system (INS) are strapdown type. The strapdown inertial navigation system is consisted of 3-optical gyros and 3-accelerometers, and onboard navigation computer. The inertial navigation system has position errors that grow slowly with time, and these errors are unbounded. These errors are suppressed by using the data from GPS. The difference between GPS and INS is the input data to Kalman filter. The estimated data by Kalman filter is feedback to decrease these errors. The performance of this bounded INS depends upon the accuracy of the error model installed into Kalman filter in the onboard computer. The accuracy of the error model is currently checked after installation into the onboard computer. Therefore, the cost of check is expensive. Authors designed a pre-check simulator of the accuracy of the error model before install. This paper describes the validity and the structure of the simulator.
社団法人日本航海学会の論文
1998-09-25