ADAPTIVE METHOD FOR CORRECTING ORIENTATION ANGLES OF STRAPDOWN INS Russian patent published in 2021 - IPC G01C21/00 

FIELD: measuring equipment.

SUBSTANCE: invention relates to measuring equipment and can be used for marine, air and ground facilities. An adaptive method for correcting orientation angles of a strapdown inertial navigation system (strapdown INS), wherein the absolute acceleration module acting on the object whereon the strapdown INS is installed is determined based on the signals received from the accelerometers included in the strapdown INS. The signals corresponding to the angular velocity and the ground velocity of the object and the signals corresponding to linear accelerations and converted considering the flight parameters of the object are processed simultaneously, and adaptive roll and pitch estimation is conducted using the Kalman filter wherein the gain coefficient changes depending on the current values of the overload and linear velocity modules, as well as angular velocities. Adaptive estimation of the course angle of the object is additionally conducted, signals corresponding to the linear velocities of the object received from the receiver of the satellite navigation system (SNS) with one antenna and projected into an associated coordinate system and signals corresponding to the linear accelerations of the object obtained by smoothing with subsequent differentiation of velocities from the receiver of the SNS with one antenna and projecting thereof into an associated coordinate system are used. The vector of acceleration measurement error is also considered, two additional conditions determining the maintenance of a constant orientation and the absence of accelerations imparted by the object are introduced to conduct accurate correction.

EFFECT: increased accuracy and ensured continuous correction of pitch, roll and course angles under conditions of maneuvering during flight.

1 cl, 3 dwg