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. For this purpose, the device for determining inclination angles of the unit of inertial measurers of an integrated angular orientation system regarding the horizon plane comprises inertial angular orientation system 1 and complexing unit 16, first and second inputs of which are connected to the first and second outputs of inertial angular orientation system 1, respectively. Inertial angular orientation system 1 consists of inertial meter block 2, which includes three accelerometers and three angular velocity sensors connected in series with calculator 3. Complexing unit 16 comprises a rangefinder angular orientation system 4 and a compensation unit 7. First and second inputs of compensation unit 7 are connected to the first and second inputs of the complexing unit 16, respectively, and the third and fourth inputs are connected to the first and second outputs of range-measurement angular orientation system 4, respectively. Range-measurement angular orientation system 4 T consists of rangefinder block 5, connected in series with calculator 6, the first and second outputs of which are the first and second outputs of range-measurement angular orientation system 4, respectively. Compensation unit 7 comprises two structurally identical compensation circuits 8 and 9, each of which contains two adders and a low-frequency filter. First input of adder 10 is the first input of compensation circuit 8 and is connected to the third input of compensation unit 7, and the second, inverting, input is the second input of compensation circuit 8 and is connected to the first input of compensation unit 7. Output of adder 10 is connected to the input of low-frequency filter 11, which output is connected to the first input of adder 12. Second input of adder 12 is the second input of compensation circuit 8 and is connected to the first input of compensation unit 7, and the output is the output of compensation circuit 8, the first output of the compensation unit 7 and the first output of complexing unit 16. First input of adder 13 is the first input of compensation circuit 9 and is connected to the fourth input of compensation unit 7, and the second, inverting, input is the second input of compensation circuit 9 and is connected to the second input of compensation unit 7. Output of adder 13 is connected to the input of low-frequency filter 14, which output is connected to the first input of adder 15. Second input of adder 15 is the second input of compensation circuit 9 and is connected to the fourth input of compensation unit 7, and the output is the output of compensation circuit 9, the second output of the compensation unit 7 and the second output of complexing unit 16. In the pedestrian navigation system, the accuracy of determining the inclination angles of the UIM relative to the horizon plane is improved, and this increases the accuracy of determining the coordinates of the position of the operational worker in the building.
EFFECT: increased accuracy.
1 cl, 4 dwg
