METHOD OF DETERMINING ANGULAR POSITION OF MOVABLE OBJECT RELATIVE TO CENTRE OF MASS Russian patent published in 2016 - IPC G01C21/00 G01C21/06 

FIELD: measurement technology.

SUBSTANCE: method of determining angular position of movable object relative to centre of gravity, that is, determination of spatial orientation at angular movement, mainly of aircraft, relative to any of base coordinate system, by means of analytical calculation thereof based on measurements of any separate orientation parameters (angles, angular velocities, etc). Method involves determining current angular orientation of coordinate system OX₁Y₁Z₁ relative to geocentric base coordinate system OXYZ, setting required orientation of coordinate system OX₂Y₂Z₂ relative to geocentric base coordinate system OXYZ, coordinate system OX₁Y₁Z₁ and OX₂Y₂Z₂ have origin in centre of mass of object and are connected to it. Current values of orientation angles of associated coordinate system relative to base are determined by means of strapdown inertial navigation system, where in geocentric base coordinate system direction of axis OZ is considered aligned with direction of rotation vector of the Earth, and axis OX is directed to point of intersection of prime meridian with equator. Method includes determining angles of relative orientation ς_x, ς_y, ς_z between corresponding axes of current angular orientation and required in geocentric base coordinate system using defined relationships and results of calculations determine angular position of movable object.

EFFECT: wider field of use, higher reliability and accuracy of determining angular position of mobile object.

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