To realize a speed sensor for a train in which errors are not accumulated while maintaining portability and self-contained property.
In this speed sensor which is provided with an angular velocity sensor (not shown in the figure) and an acceleration sensor, and spatial- integrates the output of the acceleration sensor by using the posture angle information for obtaining speed, by utilizing that a train does not have the direct speed in horizontal and vertical directions of the axis, first, the output of the acceleration sensor is coordinate-converted from the axis system into a navigation system in an output process, and gravitational acceleration (g) and Coriolis acceleration αc are corrected and integrating-processed, and then the speed coordinate-converted into the axis system is obtained again, and this is negative-feedbacked to the output of next acceleration sensor, so that error component of the speed output of the system is corrected.
YOSHIDA HIROMITSU
MIYAZAKI JUNPEI
KOGO FUTOSHI
HITACHI CABLE
HITACHI LTD