CARDANLESS INERTIAL POSITIONING SYSTEM ELECTROSTATIC GYROSCOPES ERRORS CALIBRATION METHOD UNDER CONDITIONS OF ORBITAL SPACE CRAFT Russian patent published in 2019 - IPC G01C19/24 

FIELD: astronautics.

SUBSTANCE: invention relates to the field of space technology and can be used in the orientation strapdown inertial reference systems (SIRS) for orbital spacecrafts (SC), which measuring module (sensitive elements unit, SEU) contains electrostatic gyroscopes (ESG). SIRS ESG errors calibration method under the orbital SC conditions consists in the SC sequential rotation around associated with its body axes, SC angular position calculation relative to the inertial axes according to the astro sighting device (ASD) measurements data, the calibrated gyroscope’s drift model calculation based on the drift model coefficients a priori values, its kinetic moment in the inertial axes unitary vector direction cosines design values, the kinetic moment in the body axes unitary vector direction cosines measured values generation by the gyroscope writing devices data, the gyroscope drift in the inertial axes estimates calculation, and their correction. At that, according to the ASD measurements data, performing the ideal (without drift) gyroscope generation. By the calibrated gyroscope kinetic moment unitary vector direction cosines measured values and the ideal gyroscope kinetic moment unitary vector direction cosines values forming the right orthogonal gyroscopic trihedron, calculating the matrix values of the gyroscopic trihedron axes orientation relative to the gyroscopes unit body axes, generating the measured values of the angle cosine between the ideal and calibrated gyroscopes kinetic moments unitary vectors, by the calibrated and ideal gyroscopes kinetic moment unitary vector direction cosines calculated values, generating the right orthogonal inertial trihedron. Then calculating the matrix values of the gyroscopic trihedron orientation relative to the inertial trihedron, generating the calculated values of the angle cosine between the ideal and calibrated gyroscopes kinetic moments unitary vectors, then at the data from the ASD reception time, recalculating the calibrated gyroscope kinetic moment unitary vector cosine guides calculated and measured values on the quasi-inertial trihedron axis and generating two scalar measurements, first measurement is calculated as the difference between the angle cosine between the ideal and calibrated gyroscopes kinetic moments unitary vectors calculated and measured values, and the second measurement is calculated as the difference of the first elements of the calibrated gyroscope kinetic moments unitary vector cosine guides calculated and measured values in the quasi-inertial trihedron axes, after that, performing the obtained scalar measurements linearization, and, involving the gyroscope drifts in the quasi-inertial trihedron axes computational model, calculating the calibrated gyroscope measurement axes referencing relative to the ASD axes errors estimates and of its drift model coefficients a priori values errors estimates.

EFFECT: increase in the SIRS ESG errors calibration accuracy.

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