20711 海中探査機用小型慣性航法装置(一般講演ロボット)

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An INS is Inertial Navigation System. It is classified broadly into two types, the Platform type and the Strap-down type. Recently, the Strap-down type has been a mainstream. This type is fixed in a moving object. And it is composed of a sensor part and an arithmetical part. The sensor part is mainly composed of three gyros and three accelerometers. And the arithmetical part defines the three-dimensional coordinate system in its inside. One gyro and one accelerometer are set on each axis of this coordinate system. And a coordinate transform matrix is constructed by outputs of gyros. This matrix expresses the posture relation between the INS coordinate system and the Earth coordinate system. And outputs of accelerometers are transformed by this matrix, and they are integrated twice, and consequently the absolute position is calculated. So its position accuracy depends strongly on the precision of gyros and accelerometers. And the precision of them depends strongly on its size. In order to improve the precision, their size must be large. As the result, the size of the INS also becomes large and its weight becomes heavy. So only big size underwater vehicles can be equipped with a high performance INS because they have enough their payload. On such background, we developed a test model of a compact seize INS for small size underwater vehicles. Its performance is real good for its size. In this paper, the main specification and function of the INS is described.
2010-03-09

20711 海中探査機用小型慣性航法装置(一般講演ロボット)

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20711 海中探査機用小型慣性航法装置(一般講演 ロボット)

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20711 海中探査機用小型慣性航法装置(一般講演ロボット)