【発明の名称】慣性航法装置

Japanese Patent JP2896407

B1

PROBLEM TO BE SOLVED: To reduce error in the estimated value of fixing error caused by distortion of hull by weighting an estimated angular speed obtained through an inertial navigation system and a main inertial navigation system mounted on a sailing body and setting the angular speed difference of error covariance of the observation disturbance vector of a Kalman filter larger than a standard value. SOLUTION: At the time of estimating a fixing error around Z axis through an inertial navigation system, an angular speed estimated based on X angular speed difference is weighted as compared with that based on Y angular speed difference obtained through a master INS 10 and a sailing body INS 20. X and Y angular speed differences of a matrix RE satisfy a relationship; RE (X angular speed)