ADAPTIVE ATTITUDE ANGLE CORRECTOR FOR STRAPDOWN INERTIAL NAVIGATION SYSTEM Russian patent published in 2021 - IPC G01C21/06 

FIELD: measuring equipment.

SUBSTANCE: invention relates to measuring equipment and can be used for marine, air and ground facilities. The attitude angle corrector for a strapdown inertial navigation system (SINS) from a satellite navigation system (SNS) consists of an angular rate sensor unit, a quaternion forming unit, an attitude angle determining unit, a linear acceleration sensor unit, a system noise matrix generating unit, a Kalman filter, a single-antenna SNS receiver, a measurement noise matrix generating unit, a differentiating apparatus, a residual forming unit and a coordinate transformation unit. The system is implemented according to the Kalman filter principle wherein the gain coefficient is changed in accordance with the current values of the overload modules and the angular rate. The impact of the apparent acceleration on the correction process is therein suppressed. Linear accelerations are measured by functions determining the connection between the overload measurements and the flight parameters of the aircraft and containing the accelerometer measurements. The parameters of linear rates and accelerations are obtained from the projections of the ground speeds of the single-antenna receiver of the satellite navigation system by means of coordinate transformations and differentiations. During operation of the SINS the correction intensity is adapted to deviations of the apparent vertical from the gravitational vertical under conditions of intensive maneuvering.

EFFECT: increased accuracy of the SINS correction for banking and pitching angles and ensured measurement of the course with the required accuracy over the entire flight range by means of creating a method of continuous correction from the SINS.

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