To provide an error correction system for an inertial navigation device which is capable of appropriately correcting an error such as a bias error occurring in an inertial navigation device installed in a flying object, and an error correction method for the inertial navigation device.SOLUTION: In an error correction system 1 for an inertial navigation device in each of a plurality of flying objects 2 which autonomously fly on the basis of positions and attitudes calculated by an installed inertial navigation device 10, an error correction device 13 installed in each flying object 2 corrects an error occurring in the inertial navigation device 10 of an own machine 2a on the basis of a measured angle residue (ΔAZ, ΔEL) being differences of an azimuth angle AZ1 and an elevation angle EL1 of another machine 2b based on own machine data calculated on the basis of a coordinate (az, el) of another machine 2b seen from the own machine 2a calculated by a coordinate calculation device 12, and an azimuth angle AZ2 and an elevation angle EL2 of another machine 2b based on another machine data calculated on the basis of position information of another machine 2b received by a wireless communication device 11 from another machine 2b.SELECTED DRAWING: Figure 2
【課題】飛行体に搭載された慣性航法装置で生じるバイアス誤差等の誤差を適切に補正することが可能な慣性航法装置の誤差補正システム及び慣性航法装置の誤差補正方法を提供する。【解決手段】搭載した慣性航法装置10が算出する位置と姿勢に基づいて自律的に飛行する複数の飛行体2における慣性航法装置の誤差補正システム1であって、各飛行体2に搭載された誤差補正装置13は、座標算出装置12が算出した自機2aから見た他機2bの座標(az,el)に基づいて算出した自機データに基づく当該他機2bの方位角AZ1及び仰角EL1と、無線通信装置11が他機2bから受信した当該他機2bの位置の情報に基づいて算出した他機データに基づく当該他機2bの方位角AZ2及び仰角EL2との差である測角残差(ΔAZ,ΔEL)に基づいて自機2aの慣性航法装置10で生じる誤差を補正する。【選択図】図2
ERROR CORRECTION SYSTEM FOR INERTIAL NAVIGATION DEVICE, AND ERROR CORRECTION METHOD FOR INERTIAL NAVIGATION DEVICE
慣性航法装置の誤差補正システム及び慣性航法装置の誤差補正方法
2022-10-12
Patent
Electronic Resource
Japanese
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