20603 回転台を用いた慣性航法装置の精度向上(力学と制御)

概要

論文の詳細を見る
Autonomous Underwater Vehicles are equipped with the Inertial Navigation System (INS) in order to detect its own position and posture at the real time. The INS has the 3D coordinate fixed the inside, and it is mainly composed of gyroscopes and accelerometers set on each axis of the coordinate. However the precision of the INS gets worse with the passage of time because these sensors have the random error. This paper describes the method to improve the precision of the INS because the error of the gyroscopes and the accelerometers are reduced by the rotary motion using a turntable. In the method, the INS is put on the turntable, and it is rotated around an axis of the coordinate. As the result, the error of them are cancelled to a certain extend on average.
一般社団法人日本機械学会の論文
2006-03-09