METHOD FOR CALIBRATING PARAMETERS OF PLATFORM-LESS INERTIAL MEASURING MODULE Russian patent published in 2006 - IPC G05D1/00 G01C21/12 B64G1/28 

FIELD: engineering of devices for orientation and navigation of objects, moving in some environments, in particular, pipe-internal inspection bodies of pipeline mains.

SUBSTANCE: in proposed method, two-axial gyroscopic and additionally inserted one-component angular speed indicators are used, and also a block of three acceleration meters, which are mounted on the body of module. Firstly, module axes are combined with horizon axes and direction to geographical north, determining and recording averaged zero signals of angular speed indicators and acceleration meters block. Then for the module limited turns are set for angles of course, bank and pitch, measuring and recording signals of aforementioned indicators in rotated positions. Further, module in serially mounted in six fixed positions. As a result, angular drifting speed of angular speed indicators is determined as well as angles of imprecise setting of their measuring axes, scale coefficients of these indicators and acceleration meters block, and also zero shifts and angle shifts of imprecise setting of acceleration meters measuring axes. Also determined is non-parallelism of three measuring axes of indicators to appropriate three axes of acceleration meters block.

EFFECT: expanded set of calibrated parameters of inertial measuring module.

6 dwg