Title:
VERTICAL LINE DEVIATION ESTIMATION DEVICE
Document Type and Number:
WIPO Patent Application WO/2021/229969
Kind Code:
A1
Abstract:
Provided is a vertical line deviation estimation device capable of deriving a precise vertical line deviation for a long period of time. This vertical line deviation estimation device, which can be used in an inertial navigation system, comprises a gravity gradiometer (10), a known vertical line deviation library unit (20), a harmonic wave extraction unit (30), and an estimation unit (40). The gravity gradiometer (10) measures a change in vertical line deviation according to movement of the position of a moving body and outputs the change as a measured vertical line deviation. The known vertical line deviation library unit (20) obtains information about known vertical line deviations on a map as known vertical line deviations. The harmonic wave extraction unit (30) extracts a high spatial frequency component of the change in the measured vertical line deviation according to the movement of the position of the moving body measured by the gravity gradiometer (10). The estimation unit (40) uses the information about the known vertical line deviations in the known vertical line deviation library unit (20) to synthesize the change, corresponding to the movement of the moving body, in the known vertical line deviations on the map, and the change in the measured vertical line deviation of the high spatial frequency component extracted by the harmonic wave extraction unit (30), and derives the change of the estimated vertical line deviation.
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Inventors:
KOZUMA MIKIO (JP)
Application Number:
PCT/JP2021/015126
Publication Date:
November 18, 2021
Filing Date:
April 12, 2021
Export Citation:
Assignee:
TOKYO INST TECH (JP)
International Classes:
G01C9/08; G01C19/00; G01C21/30
Foreign References:
| JP2020016490A | 2020-01-30 | |||
| JPS5395067A | 1978-08-19 | |||
| US5912643A | 1999-06-15 | |||
| JP2005172651A | 2005-06-30 |
Other References:
See also references of EP 4151950A1
Attorney, Agent or Firm:
NAMAI, Kazuhira (JP)
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