PLATFORM-FREE INERTIAL ATTITUDE-AND-HEADING REFERENCE SYSTEM Russian patent published in 2005 - IPC

FIELD: attitude control and navigation systems.

SUBSTANCE: inertial attitude-and-heading reference system has angular velocity transducer three-channel unit, linear accelerometers three-channel unit, integrator unit, orientation angles derivative former, correction unit, observed attitude-and-heading reference system unit, unit for calculating errors in attitude-and-heading reference system, filter, route adjustment unit. Angular velocities measured by angular velocity transducer three-channel unit and transformed to derivatives from angles of orientation. Those velocities have errors provided by systematic and random errors of measurement. If angular velocities are integrated by integrator unit, the error is not accumulated as permanent component of error is deducted from input signals coming to integrator unit. Roll and pitch are corrected by correction unit by means of using unit for calculating observed vertical and linear accelerator unit. Route is corrected by correction unit together with route adjustment unit. Unit for calculating errors in attitude-and-heading reference system computes difference between observed and calculated angles of orientation. Filters stores mainly statistic errors which are applied to correction unit to compensate errors of platform inertial attitude-and-heading reference system. The compensation has to be actual and total as it is performed according to closed scheme where sign inversion is present; the compensation includes also integration operation.

EFFECT: reduced error for adjustment of angular error.

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