6B-5-2 
erometer, into a computer through an AD conversion 
board of 24bits 6channels.ln this research, the vibration 
gyroscope and accelerometer were directly connected to a 
personal computer. The data were recorded on a floppy 
disk to calculate and process the data off-line. 
3.Characteristic experiment of vibration gyroscope 
and accelerometer 
3.1 Vibration gyroscope 
In this measurement, a piezoelectric vibration gyroscope 
model ENV-05A manufactured by Murata Mfg. Co., Ltd. 
was used. Unlike a conventional method, in which the 
angular momentum of a body of rotation of a rate gyro is 
used, it is said to have a long service life, short starting 
time, and good follow-up performance, and be resistant to 
a dynamic environment. For the characteristic experiment, 
a tumtable(0.01-720° /sec)was used. 
r (A)ACCELER ATION 
S 0 J 
о o.i 
> 
>- -0.1 
£-01 
§ 0 ' » > « S I 7 
TIM E [*] 
(B)VELOCITY 
о 0 ' * » « SI) 
TIM E[«] 
“ (C)DISTANCE 
< гooo 
j I 5 0 0 
о I 000 
* 500 
? 0 
•— 5 0 0 
о 0 1 * 5 < 5 I 7 
TIM E[«J 
Fig.3-2: Acceleration, Velocity, Distance 
3.1.1. Relation between angular velocity and output 
voltage 
Fig.3-1 shows a graph of the output characteristics of the 
vibration gyroscope to the rotational angular velocity. The 
normal linearity of the vibration gyroscope to the rotational 
angular velocity was confirmed. 
4. Development of the local positioning system using 
the accelerometer and gyroscope. 
In this study, we examined to apply these devices to the 
local positioning system. 
4.1 Devices to use 
-I00 -50 0 50 100 
Angular velocity!* /s] 
Fig.3-1: Relation between angular velocity and output 
voltage on the vibration gyroscope 
3.2 Accelerometer 
For the accelerometer, a servo-type accelerometer JA- 
5VC1 manufactured by Japan Aviation Electronics Indus 
try., Ltd was used. 
3.2.1 Relation of acceleration, velocity and distance 
The graph in Fig3-2 shows the acceleration, velocity and 
change in distance from the beginning of the movement till 
the stopping of the accelerometer. This characteristic 
experiment was performed in order to make sure that a 
voltage corresponding to the distance when it was stopped 
by changing the acceleration on the way after an accele 
rometer was moved becomes constant. The graph shows 
that the value obtained by double-integrating the accelera 
tion data into a distance is constant where the movement 
was stopped. 
4.1.1 Monocycle type inertial survey device 
This device is installing the inertial device in the monocycle 
for the rotation in one point which becomes possible. Fig 
ure 4-1 shows the device. Accelerometer and gyroscope 
were installed as three axes were orthogonal as shown in 
Figure4-2.The device block was set up by the side of the 
tire of the monocycle. Also, the device can be centered to 
the survey point by hanging the plum bob down right under 
the block. A personal computer, A/D conversion board, 
amplifier of accelerometer and the power supply of a gyro 
scope are installed in the open space of the monocycle. 
However, when measuring in the place without the ex 
change power supply like the outdoors, the man who 
moves a monocycle makes measurement by carrying a 
battery on his back. 
Figure 4-1 Monocycle type inertial survey device