METHOD OF CORRECTION OF PLATFORM-FREE INERTIAL NAVIGATION SYSTEM Russian patent published in 2017 - IPC G01C21/06 

FIELD: measuring equipment.

SUBSTANCE: according to this method in which a correction of roll and pitch angles of a mobile object is carried out by processing of DLT and DCD signals using adaptive processing by Kalman filter and measuring magnetic course by s magnetometric sensor, in addition the vertical and horizontal projections of the earth magnetic field absolute value are determined on magnetic meridian plane with account of magnetic inclination angle according to known location coordinates, the difference of the measured values of the earth magnetic field projections by the three-component magnetometric sensor and projections of the earth magnetic field components obtained by means actual coordinates of a moving object by a matrix of guiding cosines on a bound axis. By minimizing the obtained difference using the Kalman filter, the corrected current values of the magnetic heading, pitch and roll angles of the object are obtained.

EFFECT: increased accuracy and provided continuity of angles heading correction, pitch and roll of the mobile object.

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