20710 移動体慣性航法に適用する回転制御(水中ロボット,OS.13 水中ロボット,学術講演)

概要

論文の詳細を見る
The Inertial Navigation System (INS) can calculate its own posture and position in real time. The INS of the strap-down type defines the three-dimensional coordinate fixed the inside, and it is mainly composed of three gyroscopes and three accelerometers set on each axis in the coordinate. However the position accuracy of the INS gets worse with the time series because the outputs of the sensors have random errors caused by their drift-bias errors. In order to improve the position accuracy, the drift-bias error should be reduced. So we propose that the rotational motion is applied to the INS. As the result of experiment in the stationary condition, the position error was huge reduced owing to the rotation motion. Based on the result, we construct the rotation control system to apply this method to a moving object. In this system, rotation speed is controlled in accordance with outputs of the INS, and also, the posture of the moving object is calculated by the rotation angle and the outputs. The performance improvement of the INS was confirmed in an experiment that the control system was applied to a vehicle on the street.
一般社団法人日本機械学会の論文
2008-03-13