RU145937U1 - DEVICE OF AUTONOMOUS CORRECTION OF THE COURSE ANGLE OF THE AIRCRAFT - Google Patents

Abstract

A device for autonomous correction of the course angle of an aircraft, including a block of three orthogonal magnetometers rigidly fixed on the aircraft’s body for measuring the longitudinal, transverse and normal components of the intensity vector of the resulting magnetic field of the aircraft on the axis of the coordinate system associated with the aircraft, and a directional gyroscope for determining gyroscopic course of the aircraft, gyro-vertical for determining the roll angles and pitch of the aircraft arata, the first calculator for determining during pre-launch preparation, or immediately after the start of Poisson's ratios and components of the constant magnetic field of the aircraft, and the outputs of the magnetometer block along the longitudinal, transverse and normal components of the intensity vector of the resulting magnetic field of the aircraft, gyroscope direction in the angle of the gyroscopic course the aircraft and gyrovertical angles of heel and pitch of the aircraft are connected to the input of the first computer, exl which further includes a second calculator for determining the current value of the magnetic course of the aircraft, a third calculator for determining the current value of the angle of magnetic declination, a fourth calculator for determining the current value of the angle of magnetic inclination, a fifth calculator for determining the correction value of the angle of the aircraft and its corresponding the values of the roll angles and pitch of the aircraft, a switching unit with a storage device and an adder, and you

Description

The utility model relates to flight and navigation technology and can be used to increase the accuracy of determining the orientation parameters of aircraft, namely for autonomous correction of the course angle of the aircraft.

Known devices according to the method of astronomical correction of the heading angle of aircraft [Pomykaev II, Seleznev VP, Dmitrochenko L.A. Navigation devices and systems. Uch. pos. for universities / Ed. I.I. Pomykaeva.- M .: Mashinostroenie, 1983. - 456 s] - astronomical compasses that use the laws of motion of celestial bodies (primarily the Sun) to determine the true course, which include optical sensor units with sighting systems. The main ideas for constructing astronomical compasses are two: the first is the construction of a model of an automatically acting celestial sphere (more precisely, parts of it), as a result of which a pointer to the true meridian is formed (equatorial astronomical compass); the other is measuring the course angle of the star by detecting the latter and calculating the azimuth of the star according to the coordinates of the location of the object and the geographic location of the star (horizontal astronomical compass). The summation of these two angles gives a true course.

A disadvantage of devices for astronomical course correction of an aircraft is the ability to function only with optical visibility of the Sun and knowledge of the geographical coordinates of the location, as well as the need for additional optical devices on board the aircraft.

Known devices for the method of correction of the course angle of the aircraft using radio equipment [Seleznev V.P. Navigation devices. Uch. pos. for universities. - 2nd ed. - M.: Mechanical Engineering, 1974. - 600 s; Patent for the invention of the Russian Federation No. 2138060. The device for the formation of navigation corrections, IPC G01S 3/10, G01C 21/24, published on September 20, 1999]. These devices include additional radio transmitting and receiving units, as well as direction finding systems for radio beacons.

The disadvantage of the devices according to this method is the need for additional radio receivers and radio transmitting devices on board the aircraft, as well as the presence of a permanent, for example, ground, network of beacons.

Closest to the claimed device is a device according to the method for determining the deviation of the direction indicator of a moving object [Patent for the invention of the Russian Federation No. 1633930, IPC G01C 17/38, published July 24, 1989]. The method and the device that implements it, including a directional gyroscope, a vertical gyro, a three-component magnetometer and a calculator, are based on a pre-launch determination of the Poisson's ratios and components of the constant magnetic field of a moving object and the use of the developed dependences to determine the magnetic course during the movement of the object.

The disadvantage of the device according to this method is the impossibility of autonomous correction of the course angle of the aircraft, and the lack of this information leads to the accumulation of errors in determining the orientation parameters of the aircraft.

The objective of this utility model is to improve flight safety as a result of increasing the accuracy of determining the heading angle of an aircraft without involving additional external information.

The problem is solved in that in the device for autonomous correction of the heading angle of the aircraft, which includes a block of three orthogonal magnetometers rigidly fixed to the body of the aircraft for measuring the longitudinal, transverse and normal components of the intensity vector of the resulting magnetic field of the aircraft on the axis associated with the aircraft coordinate systems, directional gyroscope for determining the gyroscopic heading of an aircraft, vertical gyro for determining I roll angle and pitch of the aircraft, the first calculator to determine during pre-launch preparation, or immediately after the start of the Poisson ratios and components of the constant magnetic field of the aircraft, and the outputs of the magnetometer block along the longitudinal, transverse and normal components of the vector of the intensity of the resulting magnetic field of the aircraft, gyroscope directions in the angle of the gyroscopic course of the aircraft and gyrovertical in the angles of roll and pitch of the aircraft soy inens with the input of the first computer, according to the solution, a second computer for determining the current value of the magnetic course of the aircraft, a third computer for determining the current value of the angle of magnetic declination, a fourth computer for determining the current value of the angle of magnetic inclination, and a fifth computer for determining the correcting value of the angle of the aircraft’s course are additionally included the apparatus and the corresponding values of the roll and pitch angles of the aircraft, the switching unit with m device and an adder, the outputs of the magnetometer block along the longitudinal, transverse and normal components of the intensity vector of the resulting magnetic field of the aircraft are additionally connected to the input of the second computer, the output of the first computer is connected to the inputs of the second computer, the gyro vertical outputs along the bank and pitch angles of the aircraft are connected to the inputs of the second computer, the output of the directional gyroscope along the angle of the gyroscopic heading of the aircraft and the output of the fifth computer according to the correction to the dangling heading signal, it is connected to the inputs of the switching unit with a memory device, the output of which, together with the outputs of the second and third computers, is connected to the inputs of the adder, the output of which goes to the flight-navigation complex of the aircraft and, in addition, is connected to the inputs of the third, fourth, and fifth computers , the output of the fourth computer on the current value of the angle of magnetic inclination is connected to the input of the fifth computer, the output of which is in the flight-navigation complex of the aircraft Values are received from the correcting angles of the roll and pitch of the aircraft. The scheme of the proposed device is illustrated in the drawing.

The device includes a block of three orthogonal magnetometers rigidly fixed on the object’s body (1) to measure the longitudinal (T _x ), transverse (T _g ) and normal (T _y ) components of the intensity vector of the resulting magnetic field of the object on the axis associated with the aircraft ( LA) OXYZ coordinate systems, a gyroscope (2) for determining the direction of the gyroscopic course (φ _g ) of a moving object, a gyro-vertical (3) for determining roll angles (γ) and pitch (υ) of a moving object, made, for example, according to the MEMS technology, first calculation reference bar (4) for determining during pre-launch preparation, or immediately after the start of the Poisson ratios and components of the constant magnetic field of a moving object, and the outputs of the magnetometer block (1) along the longitudinal, transverse and normal components of the intensity vector of the resulting magnetic field of the aircraft, directional gyroscope ( 2) at the angle of the gyroscopic course of the aircraft and gyrovertical (3) at the angles of roll and pitch of the aircraft are connected to the input of the first calculator (4), to the input of the first the calculator, in addition, are fed, for example, from a manual exhibition potentiometer, the starting values of the horizontal (T _g0 ) and vertical (T _b0 ) components of the geomagnetic field strength vector and the angle of magnetic inclination (Θ), measured, for example, using a deflector and an inclinator, and the outputs of the magnetometer block (1) along the longitudinal, transverse and normal components of the intensity vector of the resulting magnetic field of the aircraft are additionally connected to the input of the second computer (5), the output of the first computer (4) is connected to the inputs of the second an alternator (5), and the first calculator (4) is involved only in the prelaunch process, or immediately after the start, the gyro vertical outputs (3) at the bank and pitch angles of the aircraft are connected to the inputs of the second calculator (5), the direction gyro output (2) the angle of the gyroscopic heading of the aircraft and the output of the fifth transmitter (8) is connected to the inputs of the switching unit with a memory device (9) by the course correction signal, the output of which, together with the outputs of the second (5) and third computer (6), is connected to the input by an adder (10), the output of which, according to the corrected course angle, enters the flight-navigation complex (PNK) of the aircraft and, in addition, is connected to the inputs of the third (6), fourth (7) and fifth (8) calculators, to the inputs of the third (6) and the fourth calculator (7) from the PNA, data on the flight time (t) and flight speed (V) of the aircraft are received, the input of the third calculator (6), in addition, are fed, for example, from a manual exhibition potentiometer, starting values latitudes and longitudes, as well as the current coordinates of the North magnetic field The coordinates and coordinates of the North Geographic Pole, at the input of the fourth calculator (7), are also fed, for example, from a manual exhibition potentiometer, the starting value of the angle of magnetic inclination (©), the output of the fourth calculator (7) according to the current value of the angle of magnetic inclination is connected to the input of the fifth calculator (8), from the output of which the PNK of the aircraft receives values for the correcting angles of the roll and pitch of the aircraft.

We give a theoretical justification that allows us to implement the proposed device.

It is known from the theory and practice of magnetic measurements that the magnetic deviations of magnetically sensitive sensors are due to the presence of the intrinsic magnetic field of the carrier on which they are mounted, and geometric deviations are due to a change in the orientation of the moving object relative to the geomagnetic field. Moreover, the structure of the object’s own magnetic field is such that it contains constant and variable components. The constant magnetic field of the carrier is determined by the presence on the moving object of elements made of soft and magnetically hard materials, characterized by magnetic susceptibility to an external magnetic field (magnetization under technological and operating conditions).

This component of the magnetic field strength of the carrier (δT _p = colon (P, Q, R) is fixed relative to the base body when the orientation of the object changes. The alternating magnetic field of the carrier δT _per consists of four components: the magnetic field of the eddy currents δT _in ; the inductive field of the magnetic mass δT _and ; magnetic field of electric loads δT _e ; magnetic field of motors δT _dv .

The intensity of the resulting magnetic field of the carrier is determined by the vector sum of the components

where: T ^is the geomagnetic field strength.

The prevailing role in the formation of the magnetic field of the carrier is usually played by the first three components (and and add up to magnetic interference from ferromagnetic masses ) and determined in projections onto the connected axes of the OXYZ object by the Poisson vector-magnetic equation:

,

where: S - matrix of Poisson's ratios:

A is the orientation matrix of the coordinate system associated with the OXYZ object relative to the horizontal geomagnetic coordinate system.

The variable and constant components of the intrinsic magnetic field of the moving search object, respectively determined by the Poisson ratios and the components of the constant magnetic field of the moving object, are found as follows.

Suppose that there are at least four results of experiments carried out at four different courses φ _{i of the} object, on each of which with corresponding values of pitch angles υ _i and roll γ _i (these measurements can also be carried out immediately after take-off of the object in a turn in the process of recruiting height), measure the longitudinal T _xi , transverse T _zi and normal T _yi components of the resulting magnetic field of the object; forms three difference Poisson equations (2), which are written in matrix form as follows:

Difference equations (4) must satisfy the indispensable condition (i ≠ j) and each experiment result (i or j) should not be repeated more than two times in the system.

The system of three equations of the form (4) corresponds to the system of nine scalar difference Poisson equations of the following form:

where: a _i , a _j , b _i , b _j , c _i , c _j are functions determined by the dependences on the components of T _g , T _{in the} vector T ^- and the orientation angles of the moving object

(φ _i ; υ _i ; γ _i ; φ _j ; υ _j ; γ _j ): for ;

The expressions for a _j , bj, c _j have a similar form.

The system of nine scalar equations of type 5 can be reduced to the matrix form:

where: X ^- , Y ^- - matrix-pillars of size (9 × 1); N is a square matrix of size (9 × 9) with elements:

a _{i, j} = (a _i -a _j ); b _{i, j} = (b _i -b _j ); c _{i, j} = (c _i -c _j ); .

Moreover:

where: T _X12 = T _X1 -T _X2 ; T _Y12 = T _Y1 -T _Y2 ; ... T _Z24 = T _Z2 -T _Z4 .

The matrix N for the system of nine equations of the form (5) corresponding to the variant of triples of experiments of the type (1-2) _ → (1-3) _ → (2-4) has the following form:

The matrix N is nonsingular since it does not contain linearly dependent rows and columns. To find the inverse matrix N ^{-1, the} determinants of the matrix N can be determined by a standard program, for example, by reducing the matrix to the Frobenius form (diagonalization of the matrix), followed by determining the product of the elements of the main diagonal; finally, the determinant of the matrix N has the form:

Further solving equation (7) with respect to Y ^- , we obtain:

Revealing the solution of (11) using the Cramer formula, we find the following expressions for determining the Poisson ratios and components of the carrier constant magnetic field vector:

where: F _i - auxiliary functions depending on the orientation angles of the carrier (φ _i ; υ _i ; γ _i ) and the angle of magnetic inclination Θ:

Where:

After determining the Poisson's ratios, the components of the carrier constant magnetic field vector are determined as follows; we write the Poisson matrix equation (2) in the form:

Hence, in scalar form, the algorithms for determining the components of the carrier constant magnetic field vector take the form:

in which the functions a _i , b _i , c _{i are} determined by expressions (6).

The magnetic interference intensity from the ferromagnetic masses of the object can exceed the modulus of the vector T ^{- the} intensity of the geomagnetic field. In this case, the magnetic deviation of the magnetically sensitive sensors of the exchange rate systems can reach several tens of degrees.

We transform the Poisson matrix equation (2) to the following form:

where: T _X , T _Y , T _Z - projection of the vector T ^{- the} resulting magnetic field of the object on its axis OX, OY, OZ; E is the identity matrix of size (3 × 3); T _Г , T _В - horizontal and vertical components of the vector T ^- geomagnetic field strength;

Θ is the angle of magnetic inclination of the vector T ^is the geomagnetic field strength; - matrix of guide cosines, where:

a ₁₁ = cosυcosφ; a ₂₁ = -sinφsinγ-sinυcosφcosγ; a ₃₁ = sinυcosφsinγ-sinφcosγ; a ₁₂ = sinυ; a ₂₂ = cosυcosγ; a ₃₂ = -sinγcosυ; a ₁₃ = cosυsinφ; a ₂₃ = cosφsinγ-sinυsinφcosγ; a ₃₃ = sinυsinφsinγ + cosφcosγ; further indicated are s-sin; c- cos; φ, υ, γ are the angles of the magnetic course, pitch and roll of the aircraft, respectively.

From theory and practice of measuring magnetic deviations, it is known that the Poisson's ratios (a, b ,. k) and the components of the constant magnetic field of an object can be considered constant values for a specific fixed distribution of the ferromagnetic masses of the object.

We reduce the matrix equation (17) to the scalar form:

We introduce the following notation:

elements of the matrix M:

We reduce the system of equations (18) to the matrix form:

where: M is a square matrix of size (3 × 3);

S _x = T _x -P; S _Y = T _Y -Q; S _Z = T _Z -R.

Solving equation (23), we obtain

where: M ^-1 is the inverse matrix;

pa gp m 11 12 13

According to Cramer's formulas:

it's obvious that

We introduce the auxiliary functions:

As a result, the ratios for finding horizontal T _g and vertical T _{in the} components of the vector T ^- the geomagnetic field strength are written in the following form:

The ratio for finding the magnetic course is written as follows:

Where:

Additionally, we consider a three-component magnetometer, the sensitive elements of which are rigidly mounted on board the aircraft in such a way that the angles of roll (γ) and pitch (υ) of the aircraft are simultaneously the angles of deviation of the sensitive elements of the magnetometer from the horizontal plane. The magnetometer readings are determined by the projections of the vector T ^- the geomagnetic field strength on the axis of the sensor. Consider the following option for determining the magnetic course on board an aircraft. Using the previously accepted notation, we write the projections of the vector T ^- the geomagnetic field strength on the axis of the horizontal accompanying trihedron:

Where

The symbol “T” denotes the transposition of the matrix product. Writing in scalar form the matrix equation (35), we obtain:

The angle of the magnetic course of the aircraft is determined as follows:

Note that when the normal axis of the aircraft coincides with the direction of the vector T ^, the geomagnetic field strength (that is, at T _X = T _Z = 0), relation (38) takes the following form:

The whole set of spatial positions of the magnetometer sensitive element, in which the projections of the vector T ^— the geomagnetic field strength on the horizontal plane are zero (T _X = T _Z = 0), can be obtained by rotating the magnetometer sensitive element by an angle (æ∈ [0 ° ... 360 ° ]) around its normal axis Oη ₁ , previously combined with the direction of the vector T ^- .

On the other hand, all this set of spatial positions of the magnetometer sensitive element can be obtained by three successive rotations of the trihedral Oζηξ by the angles φ, υ, γ - course, pitch and roll of the aircraft. We write this in matrix form:

Solving matrix equation (40), equating the corresponding matrix elements and excluding the auxiliary angle (æ) from the relations, we obtain the following dependencies connecting the aircraft pitch and roll angles with the aircraft heading angle and the angle of magnetic inclination at which the vertical axis of the aircraft coincides with the direction vectors T ^- geomagnetic field strengths:

The device for autonomous correction of the course angle of the aircraft operates as follows - according to the signals of a block of three orthogonal magnetometers (1) rigidly fixed to the object’s body for measuring the longitudinal (T _x ), transverse (T _z ) and normal (T _y ) components of the resulting magnetic the field of the object on the axis of the OXYZ coordinate system associated with the aircraft (LA), the gyroscope (2) the direction of the gyroscopic course (φ _g ) of the moving object, the gyrovertical (3) to determine the roll angles (γ) and pitch (υ) of a moving object, made, for example, according to the MEMS technology, the first calculator (4) determines during the prelaunch preparation, or immediately after the start during the climb on a turn, the Poisson ratios and components of the constant magnetic field of the moving object according to the relations (6, 12, 16) characterizing the intrinsic magnetic field of a moving object. During the flight of the object, the second calculator (5) determines the current value of the magnetic course of the moving object (φ _m ) from the relations (32-34); the third computer (6) based on the data entered and received from the flight navigation and navigation system (PNK) of the aircraft about the speed and time of flight (V, t), the adjusted value of the aircraft's course (φ), the coordinates of the aircraft's launch point (ψ ₀ , λ ₀ ), the current coordinates of the North Magnetic Pole (ψ _smp , ψ _smp ) taking into account its constant annual drift at a speed of about 40 (km / year), (according to the National Geophysical Data Center (NGDC), USA, official website: www.ngdc .noaa.gov; in 2014, the point of the North Magnetic Pole has the following coordinates: ψ _spp = 85.62 ° N; λ _spp = 143.34 ° W), coordinates North a geographic pole (ψ _r = 90 ° N; the point of the North geographic pole does not have longitude) determines, by reckoning, the current coordinates of the aircraft by the following relationships:

and further, using the indicated coordinates, according to the formulas of spherical trigonometry [Volinsky A.V. Spherical trigonometry. M .: “Nauka”, 1977. - 136 s] constantly during the flight determines the current value of the angle of magnetic declination d _c according to the relations:

where: s = (a + b + c) / 2; a, b, c - the sides of the spherical triangle, which are segments of arcs of a large circle connecting the points of the North magnetic pole, the North geographical pole and the current point on the earth’s sphere of location of the aircraft; entering the adder (10); the fourth computer (7) based on the data entered and received from the flight navigation and navigation system (PNK) of the aircraft about the speed and time of flight (V, t), the adjusted value of the aircraft's course (φ), the value of the angle of magnetic inclination at the start point (Θ ) determines the current value of the angle of magnetic inclination (Θ _t ) entering the fifth computer (8).

To determine the current value of the magnetic dip angle calculator used in the fourth position following theoretical: based on the structure of the Earth's magnetic field to a first approximation in the vicinity of the magnetic equator can be regarded as T = T _g ≈55000 (nT), T _a = 0, the magnetic inclination angle Θ = 0 °; when moving along the meridian after about 10,000 km in the vicinity of the magnetic pole T = T _at ≈55000 (nT), T _g = 0, angle of magnetic inclination Θ = 90 °; therefore, to determine, to a first approximation, the current value of the angle of magnetic inclination of the geomagnetic field intensity vector, we use the following relation:

where: V and t are the flight speed and flight time of the aircraft, respectively.

The fifth calculator (8), based on the data on the current value of the angle of magnetic inclination of the vector of geomagnetic field strength (Θ _t ) and the adjusted value of the aircraft course (φ), determines the pitch and roll angles (υ _cor ) and heel from (39, 41) (γ _cor ) aircraft, in which the vertical axis of the aircraft coincides with the direction of the vector T of the intensity of the geomagnetic field, coming further to the PNA of the aircraft; as well as the value of the angle of the aircraft course (φ _cor ); being corrective for the device:

which then enters the switching unit with a storage device (9).

The switching unit with the storage device (9) operates as follows: the frequency of the correction of the heading angle is determined, inter alia, by the problem to be solved during the flight of the aircraft, as well as the accuracy of the gyroscopic device for determining the value of the angle of the gyroscopic heading of the aircraft (φ _g ); so, for example, when using miniature sensor blocks based on MEMS technology, the cumulative error in determining the aircraft heading angle can reach 10 ° ... 15 ° angular degrees per hour of flight or more; when using sensor blocks based on fiber-optic gyroscopes (FOG), the accumulated error in determining the angle of the aircraft can reach an average of 3 ° ... 6 ° angular degrees per hour of flight or more.

Suppose that before starting the aircraft, based on the flight task, the correction frequency was determined - 1 time after 30 minutes. flight however in flight aircraft with said periodicity LA performs in turn flight in which a few seconds are reached values of pitch angle (υ _armature) and roll angle (γ _Kor) LA in which the vertical aircraft axis coincides with the direction of the vector T ^- intensity of the geomagnetic field calculated in the fifth transmitter (8), as well as the value of the angle of the aircraft course (φ _cor ), which is corrective for the device.

In this case, the signal of the fifth transmitter (8) in the switching unit with the memory device (9) switches the angle of the gyroscopic heading (φ _g ) coming into it from the gyroscopic device to the course angle (φ _cor ) defined in the fifth calculator ( 8), while the magnitude of the error in the heading angle (δ _cor ) is determined by the ratio:

which is stored in block (9) and taken into account with the opposite sign until the next moment of correction in the gyroscopic heading signal (φ _g ), thereby resetting the accumulated error in determining the course angle of the aircraft.

In the adder (10), the standard procedure for the exchange rate gyromagnetic system is the averaging of the gyroscopic heading (φ _g ) and magnetic heading (φ _m ) of a moving object [Shivrinsky V.N. Aircraft navigation systems. Ulyanovsk, UlSTU, 2012, 148 s], as a result of which the fully corrected moving heading signal (φ) is removed from the adder (10), which then enters the units (6, 7, 8) of the device and the aircraft PNA.

As a three-component magnetometer that can be installed on an aircraft, for example, a highly sensitive small-sized heteromagnetic electronic module 3D NM-3D, developed and manufactured at Tantal OJSC in Saratov, can be used (official website www.oao-tantal. ru) having a sensitivity in units of 1 ... 3 (nT) and small overall dimensions.

Small-sized high-precision sensors made according to the MEMS technology, for example, MEMS blocks of the SFIM300, SFIM210, SFIM202 and other Fa types, can be used as gyroscopic sensors for determining the course and vertical. Sensonor Technologies, Norway (official website www.sensonor.com).

The feasibility study of the proposed device is to increase the accuracy of determining the orientation parameters of the aircraft, namely, in the autonomous correction of the aircraft heading angle without involving additional information from auxiliary radio-emitting and optical devices with primary information sensors included in the flight and navigation system of the aircraft, simplification of hardware implementation and, as a result, improving flight safety, as well as reducing the weight and overall characteristics of the flight-nav Igation complex.

The proposed dependences for determining the magnetic course of the object during flight, the horizontal and vertical components of the geomagnetic field, the parameters of the aircraft’s own magnetic field, and other quantities can be implemented by computation in the on-board computer.

Claims (1)

A device for autonomous correction of the course angle of an aircraft, including a block of three orthogonal magnetometers rigidly fixed on the aircraft’s body for measuring the longitudinal, transverse and normal components of the intensity vector of the resulting magnetic field of the aircraft on the axis of the coordinate system associated with the aircraft, and a directional gyroscope for determining gyroscopic course of the aircraft, gyro-vertical for determining the roll angles and pitch of the aircraft arata, the first calculator for determining during pre-launch preparation, or immediately after the start of Poisson's ratios and components of the constant magnetic field of the aircraft, and the outputs of the magnetometer block along the longitudinal, transverse and normal components of the intensity vector of the resulting magnetic field of the aircraft, gyroscope direction in the angle of the gyroscopic course the aircraft and gyrovertical angles of heel and pitch of the aircraft are connected to the input of the first computer, exl which further includes a second calculator for determining the current value of the magnetic course of the aircraft, a third calculator for determining the current value of the angle of magnetic declination, a fourth calculator for determining the current value of the angle of magnetic inclination, a fifth calculator for determining the correcting value of the angle of the aircraft and its corresponding the values of the roll angles and pitch of the aircraft, a switching unit with a storage device and an adder, and you the odes of the magnetometer block along the longitudinal, transverse, and normal components of the intensity vector of the resulting magnetic field of the aircraft are additionally connected to the input of the second computer, the output of the first computer is connected to the inputs of the second computer, the gyro vertical outputs along the roll and pitch angles of the aircraft are connected to the inputs of the second computer, the gyroscope output the direction along the angle of the gyroscopic heading of the aircraft and the output of the fifth computer by the heading correction signal is connected to the inputs of the switching unit with a storage device, the output of which, together with the outputs of the second and third calculator, is connected to the inputs of the adder, the output of which is designed to connect to the flight-navigation complex of the aircraft and, in addition, is connected to the inputs of the third, fourth and fifth computers, the fourth output the calculator at the current value of the angle of magnetic inclination is connected to the input of the fifth calculator, the outputs of which are designed to transmit values at the correcting angles of roll and tang and the aircraft into the flight and navigation complex of the aircraft, the input of the third computer is designed to transmit data on the flight time and flight speed of the aircraft from the flight and navigation complex of the aircraft, the starting value of latitude and longitude, as well as the current coordinates of the North magnetic pole and coordinates North geographic pole, the input of the fourth computer is designed to transmit data on flight time and flight speed of the aircraft from the flight and navigation ionic complex of the aircraft, about the starting value of the angle of magnetic inclination.