PLATFORM-FREE INERTIAL NAVIGATION SYSTEM OF SUBMERSIBLE VEHICLE Russian patent published in 1998 - IPC

FIELD: control over moving objects. SUBSTANCE: given system incorporates unit of meters manufactured in the form of three accelerometers and three gyroscopic meters of angular velocity, navigation computer and indicator connected in series, power supply unit which output is connected to second inputs of navigation computer and indicator. System is inserted with unit recording fixations of vehicle and five units of error compensation as minimum fabricated in the form of first AND gate which second input is connected to output of unit recording fixations of vehicle, unit determining corrections, second AND gate which second input is connected to second input of first AND gate via NOT gate and to former of parameter which second input is connected to first input of first AND gate. First, second and third units of error compensation are placed in series with circuits connecting outputs of gyroscopic meters of angular velocity to first inputs of navigation computer. Other units of error compensation are connected in series with circuits connecting outputs of navigation computer to first inputs of indicator. Power supply unit is connected to input of unit of meters. EFFECT: increased precision of automatic navigation of submersible vehicles and decreased time of preparation of system. 2 dwg