METHOD OF ESTIMATING SPATIAL AND ANGULAR POSITION OF OBJECT Russian patent published in 2024 - IPC G01C21/00 

FIELD: radio engineering.

SUBSTANCE: invention relates to radio systems and can be used, for example, in systems for determining coordinates and angular position of mobile objects using an integrated method of navigation, which combines inertial and satellite methods. Method of estimating the spatial and angular position of an object has the following new operations: if the condition for generating an estimate of the spatial and angular position of the object in delayed time is met, then a delay time interval is set and data samples are accumulated. After accumulation of data samples on time interval of delay according to signals of sensors – data samples are detected special elements of trajectories – states "Rest" and "Rectilinear motion". According to data samples of navigation equipment of GNSS consumer for each state of "Rectilinear movement", directions of rectilinear movement on these sections of trajectory in normal system of coordinates are determined, vector coupling equations in the coupled and normal coordinate systems are used to determine the heading angles on each trajectory section, and then the heading angle corrections are determined. Further, they are used as calibrations of the magnetometer, based on data samples for other elements of trajectories, estimates of the spatial and angular position of the object are determined, taking into account the boundary conditions for the angles of heading, pitch and roll, as well as calibrations of the magnetometer. Based on the results of generating estimates of the spatial and angular position of the object in delayed time, the validity of the obtained estimates is checked in real time.

EFFECT: high quality of estimating spatial and angular position of an object.

1 cl, 1 dwg, 2 tbl