METHOD OF DETERMINING ANGULAR POSITION OF CONTROLLED DEVICE HANGED TO AIRCRAFT CARRIER Russian patent published in 2015 - IPC G01C21/16 

FIELD: instrument engineering.

SUBSTANCE: invention relates to the field of instrument engineering and can be used in placement of strap-down inertial navigation systems (SINS) of the controlled device (CD). The method comprises preliminary processing of signals corresponding to the angular velocities measured by the three-component angular velocity sensors (AVS) mounted on the DC and the aircraft carrier (AC), on AC manoeuvre of "snake" type, based on the method of Kalman filtration. Upon entering to the computer CD of the appropriate command AC performs a manoeuvre of "snake" type, while executing of matching of vectors of measurements AVC CD and AVC AC starts, on which the weighted mean square error of misalignment of the measurements AVC CD regarding measurements of AVC AC minimises. The alignment process is recurrent. At each step the current measurements of sensor signals are used, and the next approximation of the rotation matrix is calculated, which determines the misalignment of axes of the block of AVC CD relative to the axes of the block of AVC AC. In case of the absence of measurement errors the process terminates with complete alignment of the axes of the blocks in which the measurements of AVC CD are accurately translated into the measurements of AVC AC. According to the final rotation matrix the resulting assessments of misalignment angles between the axes of AVC CD and AVC AC are calculated, which determine the orientation of the product relative to the carrier.

EFFECT: invention enables to alert CD in a short time, in particular not exceeding 5 seconds, with the required accuracy.