STRAP DOWN INERTIAL ATTITUDE-AND-HEADING REFERENCE Russian patent published in 2018 - IPC G01C21/16 

FIELD: measuring equipment.

SUBSTANCE: device contains three sensors of angular velocities, linear acceleration sensor module three, three-gauge magnetometric computing, block the formation of matrices, cosines guides Kalman filter and block formation of measurement functions connected accordingly. The device is additionally imposed with a block definition of parameters of the strength of the Earth magnetic field connected to a computing cluster, forming unit quaternions, the first, second and third inputs connected respectively with the first release of computing unit, with the release of a three-part sensor block angular speeds and with the second release of Kalman filter and block formation of matrix system errors, first and second inputs which are connected to the outputs respectively three-part angular velocity sensor unit and a three-block linear acceleration sensors, and the output is connected to the second input of the Kalman filter. The outputs of the computational unit by the signals of course, roll and pitch are the outputs of the device. The invention allows the use of magnetometric sensors, angular velocity sensors (AVS) and linear velocity sensor (LVS) of medium and low accuracy, including micromechanical type. In addition, the process of determining the magnetic course is deducted the residual deviation of three-component magnetometer magnetic course sensor and smoothed out the magnetic course measurement errors due to abnormal magnetic fields.

EFFECT: increasing the accuracy and ensuring the continuity of correction of the course angles, pitch and roll of the mobile object, in particular the aircraft under manoeuvring conditions in flight.

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