METHOD FOR DETERMINING OBJECT ORIENTATION PARAMETERS USING SEMI-ANALYTICAL INERTIAL NAVIGATION SYSTEM WITH GEOGRAPHICAL ORIENTATION OF FOUR-AXIS GYROPLATFORM AXES Russian patent published in 2022 - IPC G01C21/18 G01C19/02 

FIELD:

SUBSTANCE: invention relates to the field of precision instrumentation and can be used to improve the accuracy of generating the orientation parameters of a semi-analytical inertial navigation system (INS) with the geographical orientation of its axes. The substance of the claimed invention is as follows. Preliminary preparatory work is associated with the integration of the INS heading channel with the angular velocity sensor (AVS). For this purpose, the AVS is placed on the body of the object, the AVS is connected to the INS by power supply and information lines, the signals of the AVS measuring channels are phased with the direction of the azimuth rotation of the object, the sensitivity axes of the AVS are aligned with the longitudinal axis of the object and the axis directed to the starboard side, fixed in this coordinated position AVS at the facility. In the operating mode, the yaw, pitch, roll angles and the angle of rotation of the pitch frame relative to the internal roll frame are measured in the gyroplatform (GP), readings are taken from the AVS through its two channels and sent to the INS computer. In the INS calculator, models of drift velocities of the stabilized GP site, GP drift angles in the horizon and azimuth, models of yaw angles, pitch, roll of the object, taking into account the cross influences of the GP channels, models of the rates of change of yaw angles, pitch, roll of the object, models of drift velocities of the AVS channels are formed in the INS calculator. At the same time, in the heading channel of the system, a model angle of the true heading of the object is generated using the values ​​of the yaw angles, pitch and model values ​​of the drifts of the stabilized site, a model value of the true heading of the object is generated based on the readings of the AVS and the model values ​​of the angles of orientation of the object, their rates of change, as well as model the values ​​of the drift velocities of the AVS, the values ​​of latitude and longitude generated by the system, the rates of their change, the given values ​​of the scale factors of the AVS channels, the values ​​of the angular velocity of the Earth. Then, the difference between the model values ​​of the true heading angles obtained by the heading channel of the system and using the AVS is found, which are sent to the input of the optimal filter, at the output of which an estimate of the error in generating the true heading angle by the heading channel of the system is obtained, which is subtracted in the adder from the model value of the true heading generated in the heading channel of the system, and the optimal angle of the true heading of the object is obtained, used together with the model values ​​of the pitch and roll angles as the output angles of the object orientation, generated by the INS integrated with the AVS, while the model heading angles of the heading channel of the system and the AVS, the optimal heading angle, the model values ​​of the orientation angles of the object are determined using the obtained analytical expressions.

EFFECT: providing the possibility of taking into account the cross-influence of the GP channels in the development of the INS of the angles of the true heading, pitch, roll, as well as autonomous correction of the readings of the heading channel of the INS as a result of its integration with a two-channel AVS.

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