METHOD OF THE INTEGRATED SENSORS UNIT CALIBRATION COEFFICIENTS DETERMINING Russian patent published in 2018 - IPC G01C25/00 

FIELD: navigational instrument making.

SUBSTANCE: invention relates to the field of navigation instruments making and can find applications in the integrated navigation systems calibration and the various physical nature mobile objects positioning. For this, method of the integrated sensors unit (ISU) calibration coefficients determining involves rotation with the help of bench equipment in series over at least two non-parallel axes in the calibrated ISU basis, during the rotation, recoding the ISU reading on the line acceleration sensors (LAS) channel, readings of the angular velocity sensors (AVS), identifying the AVS mathematical model, determining the AVS zero signals, matrix describing the scale factors, cross-links, the AVS sensitivity axes orientation in the ISU, characterized in that, in, the ISU rotation is additionally performed by the predetermined number of 10 revolutions with the runout, so that the acceleration and deceleration stages could be excluded from the measurements arrays, in the angular velocity range of ±0.5, ±2.5, ±10, ±40, ±120, ±240 degrees per second by three axes of the internal coupled coordinate system of ISU sensors, excluding the acceleration and deceleration stages from measurements, while forming the AVS and LAS readings data sets with a constant frequency, for example, 100 Hz, for each rotation, by special processing of the obtained newly defined system, using the statistical processing methods, determining the scale factors linear approximations, updating of the scale factors taking into account of the asymmetry, determination of the scale factors non-linear dependence on rotation speed in the form of interpolation nodes, common for plurality of rotation speeds, determination of the sensitivity coefficients and the determination of the sensor sensitivity axes non-orthogonality coefficients, wherein validation of the calibration coefficients determination can be carried out after each stage by randomly moving and rotating the block, and returning to the initial state.

EFFECT: technical result is higher accuracy.

1 cl