MODE OF MOUNTING AXLES OF MOBILE OBJECT Russian patent published in 2008 - IPC G01C21/12 

FIELD: invention refers to field of intratube inspecting projectiles.

SUBSTANCE: projectiles are assigned for autonomous definition of geodesy coordinates of route of underground gas- and oil pipelines. Mode of mounting of axles rigidly connected with container of navigational-topography intratube inspecting projectile is in that on adjusting surfaces inside container they fix body of inertial measuring module without platform with installed on it of three-component measuring gyroscopic meter of angular speed and of three-component meter of apparent acceleration in which positions of measuring axles of three gyroscopes and of three accelerometers are calibrated for definition of angles of non-perpendicularity of measuring axles to adjusting surfaces of body of inertial measuring module without platform and also for definition of non-parallel angles les of three gyroscopes and measuring axles of three accelerometers of the same name. On container they select two cylindrical surfaces of rotation with which they lean container on four wheels and bring wheels in slow rotation. They find angle of banking at which signals of accelerometers have mini- mal meanings and then turn around axle of container along angle of pitching until position where signals of accelerometers with measuring axles directed along longitudinal and transversal measuring axles directed along longitudinal and transversal axles of container become near to zero corresponding to state of leveling of adjusting surfaces of cantilever of container. Then with aid of wheels they turn container in following four angular fixed positions along angle of banking defining these angles along average signals of two accelerometers and define valuation of angles of deviation of longitudinal axle of container around its longitudinal, normal and transversal axles relatively to adjusting surface of body of inertial measuring module without platform.

EFFECT: finds unparallel angles of measuring axles.

2 cl 5 dwg