FIELD: the invention refers to tracing and control of tilting bodies.
SUBSTANCE: tracing and control of attitude of a tilting body is executed on the basis of the signals derived from a gyroscope. The gyroscope signal is transformed and integrated for forming of information of assessed position in the form of modified quarternion in which a multiplier of yawing is limited by zero value. Modified quarternionic information in an analogous form is also formed from the signals derived from a sensor of inclination and is used for definition and correction of a multiplier of an error in the information of the assessed position. Gyroscope drift is also corrected on the basis of a derived signal of the sensor of inclination.
EFFECT: increases reliability of tracing of an object's orientation in a more wide frequency bandwidth and also simplifies computing process.
11 cl, 4 dwg
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