自由表面による慣性航法-III : 方式INと方式I(2)の理論ならびに若干の補足事項

概要

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In this paper, two more applications of the FS (Free Surface) mechanization of inertial navigation are described. Each utilizes its own set of two spatial references, which is different from that of another. One of the applications, the type IN mechanization, uses as the references the north-south axis Y_n and the earth axis Z_E. The other, the Type I (2) mechanization, uses the axis Z_E and an inertial axis Y_I that is in the equatorial plane pointing to Z_E at the initial time t=0. In each case, the navigation equations are derived, referring to the respective references, from the fundamental equations of inertial navigation, and the solutions are effected by means of the block diagram method. Also how to find the geographic coordinates is described. This is necessary for obtaining the attitude angles (roll, pitch and azimuth). Moreover, to help understanding the general aspects of FS mechanization, several supplementary but substantial topics are disscussed. They are as follows; countermeasures to the non-uniformity of the specific force vector, ranges took by the angles a_i (i=1〜4) where a_i is the angle between the platform axis Z_p and the i-th reference axis, ranges of altitude time rates h and h which the altimeter must cope with, the relations between the outputs of the inertial navigator and the vehicle's motion, and so on.
社団法人日本航海学会の論文
1985-09-20