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Title:
BEARING CALCULATION DEVICE, BEARING CALCULATION METHOD, AND BEARING CALCULATION PROGRAM
Document Type and Number:
WIPO Patent Application WO/2018/066291
Kind Code:
A1
Abstract:
[Problem] To quickly and highly accurately calculate a bearing from an initial period of integrated bearing calculation. [Solution] A GNSS calculation unit 30 calculates a GNSS bearing using GNSS observation data including GNSS signal carrier phases. A magnetic bearing calculation unit 60 detects the geomagnetic field and calculates a magnetic bearing. A gyroscope 51 detects an angular velocity. An error estimation unit 70 uses the amount of variation in the magnetic bearing or the amount of variation in the GNSS bearing to estimate the angular velocity bias error included in the angular velocity. During a first period before the completion of GNSS bearing initialization, the error estimation unit 70 estimates the angular velocity bias error using the amount of variation in the magnetic bearing. During the first period, an integrated calculation unit 80 calculates an integrated bearing using the magnetic bearing, and during a second period after the completion of the initialization, the integrated calculation unit 80 calculates the integrated bearing using the GNSS bearing.

Inventors:
NAKAMURA HIRAKU (JP)
TODA HIROYUKI (JP)
FUJISAWA NAOMI (JP)
Application Number:
PCT/JP2017/031920
Publication Date:
April 12, 2018
Filing Date:
September 05, 2017
Export Citation:
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Assignee:
FURUNO ELECTRIC CO (JP)
International Classes:
G01S19/54; G01C21/12; G01S19/40
Foreign References:
JP2006126148A2006-05-18
JPH04283615A1992-10-08
JP2011214833A2011-10-27
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