FIELD: navigation equipment.
SUBSTANCE: invention relates to navigation equipment, namely to determination of a position of on-ground and above-water movable objects based on a coordinate calculation principle. A method for calculation of coordinates with non-orthogonal orientation of input axes of meters of angular motion parameters consists in that projections of a vector of apparent acceleration of an object on ribs of a related trihedron are measured using three accelerometers rigidly connected to the object, the first, the second, and the third projections of a vector of the absolute angular velocity of the object on the first, the second, and the third ribs of the related trihedron are measured using the first, the second, and the third angular velocity sensors, respectively, according to measured projection signals, increments of two horizontal coordinates of location of the object, two horizontal projections of the velocity of the object, yaw, pitch, and roll angles of the object are generated. At the same time, two angles of orientation of an input axis of each meter of angular motion parameters are calculated in the related trihedron by finding the minimum error of a horizontal location of the object, input axes of meters of angular motion parameters are oriented in the related trihedron according to calculated angles by rotating each meter relatively to a base, on which it is installed, projections of the vector of the absolute angular velocity of the object on input axes of each meter of angular motion parameters are measured, measured projections of the vector of the absolute angular velocity of the object are transformed into projections of the vector of the absolute angular velocity of the object on ribs of the related trihedron.
EFFECT: increase in the accuracy of determination of location of an object on the ground surface.
1 cl, 1 dwg
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