AUTONOMOUS GYRO-VERTICAL CORRECTION METHOD Russian patent published in 2023 - IPC G01C21/06 

FIELD: measuring techniques.

SUBSTANCE: method for autonomous gyro-vertical correction consists in using only the output signals of ARS sensors, then determining the angular velocity module and integrating the equations of the low-frequency filter of the angular velocity module, switching the time constants of aperiodic links for evaluating the roll and pitch depending on the value of the filtered rotation speed module. A roll estimate is calculated corresponding to the derivative of the roll according to the Euler equation, taking into account the current roll and pitch estimates. The pitch estimate is adjusted to the static pitch estimate provided that the filtered G-modulus deviation from unity is less than a threshold value. The roll estimate is corrected for the static estimate provided that the filtered G-modulus deviation from unity is less than a threshold value.

EFFECT: continuous obtaining of angle values that meet the accuracy requirements for a backup system for determining roll and pitch angles.

1 cl, 6 dwg