METHOD FOR DETERMINING ANGULAR ORIENTATION OF GROUND VEHICLE Russian patent published in 2020 - IPC G01C21/00 

FIELD: physics; machine building.

SUBSTANCE: invention relates to gyroscopic instrument-making and can be used in ground vehicles for continuous determination of angular orientation (heading, roll, pitch) of moving vehicle. Method for determination of angular orientation of vehicle includes initial exhibition of stabilized platform (SP) of triaxial gyrostabilizer in plane of horizon and orientation in countries of light, control of SP signals proportional to angular speed of rotation of Earth and integrated information from accelerometers. During the parking at the initial control section, the system is tuned, during which the error constants of the initial angular display of the instrument coordinate system are determined in the reference coordinate system and angular velocity error. In the process of controlling the SP in each cycle by the digital computer system (DCS), using external information of the current values of the geographical coordinates of the vehicle, calculation of correction values of angular deviations of the instrument coordinate system from the reference coordinate system taking into account instability of errors of all elements of the control circuit in real time. Values of corrections obtained in each DCS cycle of the central coordinates are used to compensate for errors in the inertial navigation system and accurate determination of angular orientation of the vehicle by pitch, yaw and course taking into account information from angle sensors.

EFFECT: technical result is reduced error of determination of angular orientation of ground vehicle in process of movement taking into account instability of errors of sensitive elements in real time scale.

1 cl, 3 dwg