RU2011169C1 - Carrier-less inertial navigation system - Google Patents

Abstract

FIELD: gyroscopic devices. SUBSTANCE: device has unit 2 for pick-ups of linear acceleration and/or speed, rotational speed pick-up unit 3, state vector computation unit 1. Programmable mechanisms for rotation of rotational speed pick-ups 3 are introduced to accomplish the goal of invention. These mechanisms turn rotational speed pick-ups 3 around their axis of sensitivity about object housing. Rotational speed pick-ups 3 are turned at angles corresponding to object rotation angles according to signal from object state computation unit 1. EFFECT: increased precision of programmable rotation. 1 dwg

Description

 The invention relates to gyroscopic technology, in particular to control systems for objects moving in space.

 Known strapdown inertial navigation system [1,2], containing linear acceleration or velocity meters, angular velocity sensors, a computing device.

 The closest technical solution is a strapdown inertial navigation system containing a block of linear acceleration or velocity sensors, a block of angular velocity sensors, an object state vector calculator whose inputs are connected to a block of angular velocity sensors and linear acceleration or linear velocity sensor blocks [3].

 The disadvantage of the described SINS is that the absolute error during the program turn of the object increases in proportion to the angle of the turn, which leads to toughening the accuracy requirements for the scale factor of the TLS.

 The aim of the invention is to increase the accuracy in the modes of software turns.

 The goal is achieved in that in a strapdown inertial navigation system containing a block of linear acceleration or linear velocity sensors, a block of angular velocity sensors and an object state vector calculator, the inputs of which are connected to a block of angular velocity sensors and a block of linear acceleration or linear velocity sensors, software angular rotation mechanisms, the number of which corresponds to the number of angular velocity sensors in the block of angular velocity sensors, each software program mechanism the heading is kinematically connected with the corresponding angular velocity sensor, the input of each of the software mechanisms of the heading is associated with the output of the calculator of the state vector of the object.

The drawing shows a functional diagram of a strapdown inertial navigation system, where the following notation:
1 - state vector calculator;
2 - block of linear acceleration sensors or linear speeds,
3 - block of angular velocity sensors;
4 - software mechanisms for angular reversal.

 The strapdown inertial navigation system (SINS) contains a block of linear acceleration sensors or linear velocities 2 and a block of angular velocity sensors 3, a state vector calculator 1, the corresponding inputs of which are connected to the outputs of a block of linear acceleration or linear velocity sensors 2 and a sensor block, angular velocities 3, moreover, each of the angular velocity sensors in the block of angular velocity sensors 3 is kinematically connected with the corresponding software angular rotation mechanism 4, the inputs of each of which are connected to the corresponding output state vector calculator 1.

 The device operates as follows.

During the movement of an object equipped with a stabilization system, a non-deterministic error of the “zero” shift of the TLS 3 _i / i = 1,2,3) is determined along a predetermined path with SINS. When you programmatically change the trajectory of the object, the program mechanisms 4 _i deploy the CRS 3 _i to the desired programmed turning angle with the opposite sign. In this case, the program angular velocity measured by the TLS 3 _i is close to zero due to stabilization of the angular position of the object, i.e., by this, the TLS 3 _i operates in a small range of angular velocities, while the object can rotate at speeds equal to the angular velocity of the program mechanism 4 _i .

When the TLS 3 _{i is} included in the feedback loop of the automatic control system of an object, the state vector calculator I generates a feedback signal U _хi = F _i (U _oi ), Fi (U _oi ) is a control functional formed in such a way that the integral from the output signal of the CRS 3 _i .

dt = 0 Подставляя значения выходного сигнала ДУС 3_i U_выхi= K_iДУС(φ_i-φ_oi) в формулу (I), получаем:

(

-

)dt = 0

dt =

dt
φ_i= φ_oi , где φ_i - угол разворота объекта по соответствующей оси;
φ_oi - угол программного разворота, на который разворачивается ДУС 3_i программным механизмом 4_i по соответствующей оси i. Тем самым точность программного разворота будет сведена к точности измерения смещения "нуля" за время движения объекта.

dt = 0 Substituting the values of the output signal of the TLS 3 _i U _outputi = K _iDUS (φ _i -φ _oi ) in the formula (I), we obtain:

(

-

) dt = 0

dt =

dt
φ _i = φ _oi , where φ _i is the rotation angle of the object along the corresponding axis;
φ _oi is the angle of the program turn, at which the TLS 3 _{i is} turned by the program mechanism 4 _i along the corresponding axis i. Thus, the accuracy of the program turn will be reduced to the accuracy of measuring the offset of "zero" during the movement of the object.

Introduction to the well-known SINS of the software reversal mechanism allows eliminating the influence of the scale factor K _SAS on the accuracy of the program pivot of the object, since in the existing SINS the absolute error of the pivot increases in proportion to the angle of the pivot, which makes it possible to increase the accuracy of the program pivot of the object, reduce the accuracy requirements for the scale factor K _{SAS of the} SAS , therefore, reduce its cost. (56) Bychkov S.I. et al. Laser gyroscope. M.; Owls radio, 1975.

 Raushenbach B.V. et al. Spacecraft orientation control. M.; Science, 1974.

 Lukyanov D.P. et al. General navigation systems of marine objects. L.: Shipbuilding, 1989, p. 88.

Claims (1)

 A FREE INFORMAL INERTIAL NAVIGATION SYSTEM containing a block of linear acceleration or linear velocity sensors, a block of angular velocity sensors and an object state vector calculator, the inputs of which are connected to a block of angular velocity sensors and a block of linear acceleration or linear velocity sensors, characterized in that, in order to increase the accuracy in the modes of software turns, the program introduced the mechanisms of angular rotation, the number of which corresponds to the number of angular velocity sensors in the block of angle sensors s velocity, each software program engine turn kinematically associated with a respective angular velocity sensor, the input of each of the software program reversal mechanisms connected to the output of the calculator object state vector.