To provide an inertial navigation device, a movement control method and a movement control program with which it is possible to execute the movement of a moving body by inertial navigation with higher accuracy.SOLUTION: An underwater vehicle 10 includes a moving vehicle body 20, an inertial navigation device 21 for moving the moving vehicle body, an inertia measuring device 22 for detecting the movement of the moving vehicle body by inertia, a coordinate calculation device 28 for calculating the coordinate of the position of the moving vehicle body based on absolute coordinates on earth, and a control device 30 for controlling the movement of the moving vehicle body by the inertial navigation device on the basis of the detection result of the inertia calculation device. The control device executes a correction process of calculating an error on the basis of the movement information calculated on the basis of the detection result of the inertia measuring device and the positions of start and end points of detection result acquired by the coordinate calculation device, calculating a correction value on the basis of the error and correcting the detection result of the inertia measuring device with the correction value.SELECTED DRAWING: Figure 1
【課題】移動体の慣性航法による移動をより高い精度で実行できる慣性航法装置、移動制御方法及び移動制御プログラムを提供する。【解決手段】水中航走体10は、移動体本体20と、移動体本体を移動させる慣性航行装置21と、移動体本体の慣性による移動を検出する慣性計測装置22と、地球上での絶対座標に基づいた移動体本体の位置の座標を算出する座標算出装置28と、慣性計測装置の検出結果に基づいて、慣性航行装置による移動体本体の移動を制御する制御装置30と、を含む。制御装置は、慣性計測装置の検出結果に基づいて算出した移動情報と、座標算出装置で取得した検出結果の開始点と終了点の位置とに基づいて、誤差を算出し、誤差に基づいて補正値を算出し、慣性計測装置の検出結果を補正値で補正する補正処理を実行する。【選択図】図1
INERTIAL NAVIGATION DEVICE, MOVEMENT CONTROL METHOD, AND MOVEMENT CONTROL PROGRAM
慣性航法装置、移動制御方法及び移動制御プログラム
2021-05-20
Patent
Electronic Resource
Japanese
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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