METHOD OF INERTIAL DATA ESTIMATION AND ITS CORRECTION ACCORDING TO MEASUREMENT OF SATELLITE NAVIGATION SYSTEM Russian patent published in 2017 - IPC G01C21/02 G01C23/00 

FIELD: aviation.

SUBSTANCE: method of inertial data estimation and its correction according to measurement of satellite navigation system consists in using the traditional Kalman optimum filtering and identification procedure, for which the optimal identifier filter measurement signals generate by comparing the same geographic location coordinates and horizontal components of the absolute linear velocity in the projections on the axis of the gyroplatform (GP) reference triad of the INS formed according to the measurements of the satellite navigation system (SNS), and its structure is synthesized in accordance with the traditional INS error model, the flying mode is systematically organized in such a way that after 270 seconds of rectilinear horizontal flight, which the exact "horizon" of the gyroplatform is realized and the well-observed parameters of the INS horizontal channels are evaluated, bank-to-bank reversal, coordinated or combat turns are performed, after that the active phase of the optimum filtering and identification procedure is suspended and the identifier filter is put into the long-term forecast - until the next correction session, for its implementation the measurement signals are reset, and the values of the estimates at the end of the estimation procedure active phase are used as initial conditions in the forecast procedure, while the forecast itself is performed in accordance with the calculating discrete equations of the a priori error estimates of the INS, and the correction of the INS output parameters - the geographical location coordinates and the components of the absolute linear velocity, is realized in the open INS scheme, using the current predicted values of the INS state parameter estimates. At the same time the INS error model is expanded by including the mathematical description of its location coordinates relative to the SNS antenna unit (AU) and present them in the form of a system of three interrelated first order differential equations in the projections on the INS GP reference triad axle that simultaneously describe the additively included in the measuring speed signals kinematic components of the INS relative velocity, and during the formation of the measurement signals and the observation matrix kinematic relations between the error Δϕ, Δλ, Δχ numeral geographical coordinates of the location and angle of the azimuthal orientation of a INS GP reference triad errors are used to a vertical holding tolerance α_x, α_y and the angle α_z of an INS GP azimuthal departure correct to the second order infinitesimal relative to such parameters as Δϕ, Δλ, α_x, α_y, α_z, provide a definition of the current values of the message matrix elements and observation.

EFFECT: improved accuracy and speed of the optimal evaluation and correction of the measured by inertial navigation system navigation and flight parameters to the provision of the effective solution of navigation, combat and special missions.

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