METHOD FOR DETERMINING INCLINATION ANGLES OF THE UNIT OF INERTIAL MEASURERS OF AN INTEGRATED ANGULAR ORIENTATION SYSTEM REGARDING THE HORIZON PLANE Russian patent published in 2018 - IPC G01B21/22 

FIELD: measuring equipment.

SUBSTANCE: invention relates to measuring technologies, in particular to methods for determining the angular orientation of an object, and can be used to solve problems of autonomous navigation of operational workers or mobile robots in enclosed spaces when performing intelligence or rescue works in emergency situations. Invention comprises measuring distances , n≥3 from a block of inertial meters to a reference horizontal surface with the help of rangefinders, measuring axes η_i which converge at point of reference O of distances L_i and form the edges of the pyramid that make up, with the y-axis of the coordinate system, associated with the block of inertial meters, angles σ_i, providing the contact of the measuring axes of the rangefinders with the reference surface, the axis η₁ is in the first quadrant of the yOz plane of the associated coordinate system, the yOη_i make up, with a plane yOz, dihedral angles μ_i, and the numbering of axes η_i and counting of angles μ_i, are counter-clockwise when viewing from the y-axis, calculation of pitch angles α and support roll β deviation of the y axis of the associated coordinate system from the normal to the reference surface is performed by solving the system of equations , where S=||cos α sin β cos α cos β – sin α||, , R_i=||0 L_i cos σ_i L_i sin σ_i||^T, h is the shortest distance from point O to the reference surface, and the angles ϑ and γ of inclination of the block of inertial meters of the iterated angular orientation system with respect to the horizon plane is determined by complexing the signals of the block of inertial meters and , proportional angles ϑ_i and γ_i, and the signals of rangefinders and , proportional angles α and β, by the formulas where - signals from the outputs of the complexing unit, proportional to the pitch angle ϑ and roll γ respectively, F₁(s) and F₂(s) are the transfer functions of aperiodic links whose time constants are chosen according to the condition of maximum suppression of measurement errors and the calculation of the angles α, β with minimal distortion of measurement errors and calculation of angles ϑ_i, γ_i.

EFFECT: increased accuracy of determining inclination angles of the unit of inertial measurers of an integrated angular orientation system regarding the horizon plane, used for the purposes of personal autonomous navigation.

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