METHOD AND DEVICE FOR STRAP DOWN INERTIAL NAVIGATION Russian patent published in 2019 - IPC G01C21/00 

FIELD: navigation.

SUBSTANCE: present invention relates to strap down inertial navigation. Disclosed are method and device for strap down inertial navigation using measurements made by one or more inertial sensors. Method of strap down inertial navigation includes stages, at which: values of object linear acceleration, object angular velocity values, values of temperature of inertial sensor and value of magnetic field intensity, measured by one inertial sensor, then corrected received values of angular speed of object on correction factor for current temperature value and correction of accepted values of angular velocity of object to correction factor is performed. Determining current spatial orientation of object based on object angular speed; determining whether the object is moving, based on linear acceleration of object and values of angular speed of object using previously obtained first intellectual model of movement of object and when determining presence of movement of object, determining current spatial position of object based on values of linear acceleration of object and values of angular speed of object using previously obtained second intellectual model of movement of object, and when determining absence of object movement, setting current spatial position of object equal to previous spatial position of object.

EFFECT: determining spatial position and orientation of object based on noisy and distorted measurements, made with one inertial sensor, without the need for coordination with external landmarks and / or use of data coming from outside in conditions of arbitrary spatial movement of object.

42 cl, 8 dwg