METHOD OF INITIAL ALIGNMENT OF THE INERTIAL NAVIGATION DEVICE Russian patent published in 2018 - IPC G01C25/00 

FIELD: machine building.

SUBSTANCE: present invention relates to the problem that a conventional initial alignment algorithm is not suitable for low-cost and low-performance inertial navigation devices in the field of agricultural machines and processing machines. Method of initial alignment of the inertial navigation device includes the following steps: provision of a device equipped with a sensor, and preliminary preparation of the sensor; relative alignment to calculate the sensor setting error angle; absolute alignment to calculate the angular error of the sensor's spatial orientation to increase the accuracy of the spatial orientation error angle computed during the relative alignment. In the process of relative alignment, the relative error of the spatial orientation error is calculated, wherein the relative error of the spatial orientation error is used as an initial value for the spatial orientation error in the state vector in the absolute alignment process, thereby accelerating the convergence of the Kalman filter.

EFFECT: increase in the accuracy of inertial navigation devices installed on agricultural machines.

7 cl, 3 dwg