METHOD FOR INDEPENDENT ORIENTATION OF MOBILE OBJECT USING INERTIAL MEASURING MODULE Russian patent published in 2020 - IPC G01M7/00 

FIELD: physics.

SUBSTANCE: invention relates to instrument engineering, namely to instruments and orientation systems, and can be used in control systems of mobile objects. Essence of the invention consists in the fact that in the known method of determining the orientation of an object using an inertial measurement module, consisting in the fact that projections of magnetic field intensity vectors are measured by three-axis magnetometers unit, apparent acceleration of object by three-axis accelerometers unit and absolute angular speed of object rotation by three-axis gyroscopes unit, entering into inertial measuring module, correcting signals of position correction are calculated and kinematic equations are solved to calculate estimates of orientation angles, corrective signals of positional correction are added with cross correction signals in each channel. Coefficients of cross signals must have certain signs and satisfy certain ratios.

EFFECT: thereby reducing orientation errors owing to asymptotic stability, tuning to the Schuler period, reducing the noise level in the orientation angle signals.

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