FIELD: mining.
SUBSTANCE: underground mining vehicle comprises a triaxial MEMS gyroscope mounted in a certain manner, a gyroscope interface connected to the triaxial MEMS gyroscope, navigation unit connected to gyroscope interface. For vehicle orientation, three-axis MEMS-gyroscope is indexed, rotation measurement data are received from three-axis MEMS-gyroscope for plurality of different orientations, calculating a plurality of parameters relating to the rotation of the MEMS gyroscope and the Earth's rotation speed vector, stopping the vehicle, correcting the inertial navigation system, the three-axis gyroscope is rotated to calculate the first, second and third rotational speed displacements and to resume the vehicle motion based on the calculated orientation.
EFFECT: higher accuracy of vehicle orientation.
15 cl, 7 dwg
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