RU2176810C2 - Method and device for determining degree and direction of center-of-mass shift of flying vehicle - Google Patents

Abstract

FIELD: comprehensive monitoring of flying vehicle control systems. SUBSTANCE: proposed method and design provide for in-flight determination of degree and direction if center-of-mass shift due to inadherence to loading rules, spontaneous displacement of cargo, fuel system failure, or unbalanced fuel supply from tanks, and also for adequate control of rudder deflection to compensate for impact of this shift. Method and device are aimed at determination of interrelation between increment of absolute linear acceleration of flying vehicle at its arbitrary point relative to its center-of-mass acceleration and degree and direction of shift of this point from center of mass in the course of flight. Proposed method is implemented by means of accelerometer, gravimeter, angular velocity sensor, adder, two frequency selectors, and center-of- mass current coordinate unit, all these devices being interconnected. EFFECT: provision for ensuring stability of flying vehicles under conditions of external and internal disturbing impacts. 20 cl, 18 dwg

Description

 The invention relates to the integrated control of control systems of mobile devices and ensuring the stability of their movement under conditions of action on the device of external and internal disturbing influences. It can be used to control stability and control aircraft, ships, submarines, space objects. In particular, for an aircraft, the invention allows to determine in flight the magnitude and direction of displacement of the center of mass of the apparatus that arose due to a violation of the rules for loading it, spontaneous movement of the load, fuel system failures and asymmetries of fuel generation from tanks, cargo dumping, etc., and also control rudder deflection at low values of this displacement. The relevance of determining the displacement of the center of mass centering of aircraft is confirmed by the statistics of air crashes, where this factor is of paramount importance [1, 2].

где X, Y, Z -искомые координаты центра масс аппарата;
X_i, Y_i, Z_i -расстояния от центра масс i-го элемента до точки начала строительных осей системы координат фюзеляжа;
σ_i - вес каждого элемента конструкции, груза, топлива аппарата;
Σσ_i - вес всего аппарата в целом.A known method for determining the magnitude and direction of displacement of the center of mass, based on the calculation of the position of the point of the resultant gravity of the individual structural elements of the apparatus [3, p. 331; 4, p. 137]. In the construction axes of the apparatus, a centering drawing of the structure with the coordinates of the center of mass and the possible displacements of each component of the structure, fuel, and possible load is arranged. Measure the distances from the centers of mass of each element to the point of start of the building axes of the apparatus, the weight of each element and the weight of the whole apparatus, in general, and then judge the coordinates of the center of mass, the magnitude and direction of displacement by the relations:

where X, Y, Z are the desired coordinates of the center of mass of the apparatus;
X _i , Y _i , Z _i -distance from the center of mass of the i-th element to the point of origin of the building axes of the fuselage coordinate system;
σ _i - the weight of each structural element, cargo, fuel apparatus;
Σσ _i is the weight of the whole apparatus as a whole.

 In practice, it is believed that only the displacement of the center of mass along the longitudinal axis of the building affects the stability of the aircraft [5, p. 231]. Therefore, during the operation of the aircraft, the position of the center of mass is monitored taking into account the location of the goods along the longitudinal axis. In this case, special centering graphs are used [3, p. 334, 5, p. 223; 6, p. 111]. They contain information about the actual load of the aircraft, the location of the load along the longitudinal axis and the resulting alignment — the coordinates of the center of mass, expressed as a percentage of the average aerodynamic chord of the wing. The determination of the magnitude, direction, and possible displacement of the center of mass here is carried out according to the above relations, but the calculation process is simplified and formalized. The daunting task of determining the main safety factor of flight is documented from indirect data affecting the real state of stability. This is due to the importance of the maximum load of the aircraft, at which the center of mass should be within strictly defined limits. The method is easy to use, widely used to determine the estimated location of the center of mass on airplanes, ships and other moving objects. However, it does not reflect the true situation with the stability of the apparatus. This is due to the movement of goods, the uneven generation of fuel from the tanks, a change in the configuration of the device, etc., especially during the flight, when the preflight calculated centering conditions are violated. For example, due to accidental failures of the fuel system, cargo movements or abnormal configuration of the device. A typical example is the failure of a system of symmetrical fuel production from the right and left fuel tanks of an airplane wing [1, p. 25]. The method cannot be used to determine in flight the true position of the center of mass and used to control the apparatus.

 There is an approximate method for determining the magnitude and direction of the displacement of the center of mass of the aircraft in flight at the deflection angles of the steering surfaces, at which the moments of force are balanced relative to the center of mass [7, p. 9-15]. The method is based on the known balancing ratios of the angles of deviation of the rudders of an airplane in a steady flight mode, which depend on speed, flight altitude, mass, alignment, aerodynamic asymmetry and configuration of the aircraft. The size and direction of the center of mass displacement in this case are indirectly estimated by the pilot according to rudder deflection indicators, for example, type IN-3 [7, p. 84; 8, p. 95-99]. The method has an ambiguous relationship between the displacement of the center of mass and the measured angles, which complicates its practical use by especially inexperienced pilots.

 There is a method (prototype) for determining the magnitude and direction of the displacement of the center of mass of aircraft by weighing using special two-platform scales [9, p. 77]. The known method allows you to determine the actual position of the center of mass, as well as to determine the law of change in the position of the center of mass during fuel production and change in aircraft load. Measurement of the parameters of the apparatus is carried out in a hangar on special scales using a level, plumb, measuring tape, leveling ruler, as well as special steps and a crane. The method is based on the position known from mechanics that the center of mass of a solid is the point through which the resultant of gravity always passes, regardless of the orientation of the body in space, and the direction of the resultant in this case coincides with the local earth vertical. This makes it possible to find the center of mass by weighing the aircraft on special two-platform scales at its two to three positions relative to this earth vertical for each of the given variants of its loading. In this case, the main wheels of the chassis of the device are installed on one platform, and the nose wheel on another platform of the scales. The direction of the lines of action of the resultant gravity in the coordinate system associated with the aircraft is determined for each of its angular positions during weighing. At the point of intersection of the lines, the coordinates of the center of mass of the aircraft are found in its plane of symmetry. To determine the displacement of the center of mass in the transverse direction from the plane of symmetry, similar constructions are carried out when the forces acting on the right and left wheels of the main landing gear are separately measured, and at the same time, the distances from the plane of symmetry of the aircraft to the fulcrum of these wheels are measured. All manipulations with the aircraft in both the first and second cases are carried out using a crane. The method is accurate, but very time-consuming, its implementation is possible only in terrestrial conditions and requires the use of special bulky equipment. The change in the position of the center of mass, determined by the method, is of a known character with respect to a limited number of destabilizing factors. An assessment of the position of the center of mass in flight is not possible. The method is applicable at the stage of testing new aircraft. To determine the center of mass of large-sized devices, it is necessary to create complex equipment.

 A device for determining the magnitude and direction of displacement of the center of mass of the aircraft, containing an indicator of the position of the control surfaces - elevators, directions, roll, the input of which through a phase-sensitive converter is connected to feedback sensors on the steering units of these control surfaces [7, p. 15-17, 84; 8, p. 47-48, 95-99, fig. 121]. The device is simple and highly reliable. It indicates the position of the rudders of the aircraft, which in a steady flight depends on the flight parameters and the centering of the aircraft. However, the relationship of the position of the center of mass of the apparatus with the position of its rudders here has an ambiguous relationship. Offset accuracy is low.

 A device (prototype) is known for determining the magnitude and direction of displacement of the center of mass of the apparatus, containing load sensors of the struts of the chassis by gravity in a static position [9, p. 77; 10, p. 108]. Knowing the geometric dimensions of the chassis and their relative position, it is easy to determine the line of the possible position of the center of mass of the apparatus. In practice, it is not the position of the center of mass that is determined, but the so-called compression of the landing gear (strut shock absorbers), that is, their allowable compression with a known payload mass and declared alignment of the aircraft. A disadvantage of the known device selected for the prototype is the inability to use it to determine the magnitude and direction of displacement of the center of mass in flight. The measurement is very approximate, indirect, and the position of the center of mass in the vertical direction, along the normal axis of the connected coordinate system, is not measured at all.

 The main task to be solved by the claimed method and device is to determine the magnitude and direction of the displacement of the center of mass of the device in flight for any parameters of its orientation, change in the configuration of the device, the movement of goods, the effect of external and internal disturbances on it. A comparison of the magnitude and direction of mixing of the center of mass with acceptable values allows us to solve the technical problem of monitoring and ensuring flight safety. The measurement of the magnitude and direction of mixing of the center of mass in flight allows one to control its motion taking into account the exact centering value, which opens up new possibilities for creating highly maneuverable and economical moving objects.

 The single technical result achieved in the implementation of the claimed group of inventions is the creation of integrated control and monitoring systems with high technical and economic indicators.

где ρ - величина смещения центра масс аппарата, м.;
ω - величина угловой скорости аппарата относительно его центра масс, 1/с;
Δ W - величина приращения абсолютного линейного ускорения аппарата по отношению к абсолютному линейному ускорению аппарата в его центре масс, м/с²;
t - время, с.The specified technical result is achieved by the fact that in the known prototype method for determining the magnitude and direction of displacement of the center of mass of the apparatus, based on measuring the parameters of the apparatus, according to the invention, the current magnitude and direction of the absolute angular velocity, gravity acceleration, apparent linear acceleration, current pitch angles and roll, and then determine the magnitude and direction of the absolute linear acceleration of the apparatus, summing up the apparent linear acceleration and acceleration of gravity at the point of the lifetime of the apparatus, then determine the magnitude and direction of the increment of the absolute linear acceleration of the apparatus with respect to the absolute linear acceleration of the apparatus in its center of mass, the magnitude and direction of the angular velocity and angular acceleration of the apparatus relative to its center of mass, and then determine the magnitude and direction of the displacement of the center of mass according to the ratio :

where ρ is the displacement of the center of mass of the apparatus, m .;
ω is the magnitude of the angular velocity of the apparatus relative to its center of mass, 1 / s;
Δ W is the increment of the absolute linear acceleration of the apparatus with respect to the absolute linear acceleration of the apparatus in its center of mass, m / s ² ;
t is the time, s.

где W_A - величина вектора

абсолютного линейного ускорения аппарата в произвольной точке A (фиг. 1), м/с²;
W_O - величина вектора

абсолютного линейного ускорения аппарата в точке O начала подвижной системы координат O X₁ Y₁ Z₁, связанной с его центром масс, м/с²;
ω - величина вектора

абсолютной угловой скорости аппарата, 1/с;
dω /dt - величина вектора

абсолютного углового ускорения аппарата, 1/с²;
ρ - величина вектора

смещения центра масс по отношению к точке A, м;
t - время, с.The essence of the method for determining the magnitude and direction of the displacement of the center of mass of the apparatus is to find the relationship of the increment of the absolute linear acceleration of the apparatus at its arbitrary point with respect to the acceleration of its center of mass with the magnitude and direction of the displacement of this point from the center of mass of the apparatus during movement. The movement of the apparatus is considered as the sum of the translational motion of the center of mass and the relative angular motion around the center of mass [11, p. 368; 12, c. 17]. Then the absolute linear acceleration at an arbitrary point of the apparatus (Fig. 1) by the Coriolis theorem [11, p. 97] is determined by the vector expression:

where W _A is the magnitude of the vector

absolute linear acceleration of the apparatus at an arbitrary point A (Fig. 1), m / s ² ;
W _O is the magnitude of the vector

absolute linear acceleration of the apparatus at point O of the beginning of the moving coordinate system OX ₁ Y ₁ Z ₁ associated with its center of mass, m / s ² ;
ω is the magnitude of the vector

absolute angular velocity of the apparatus, 1 / s;
dω / dt is the magnitude of the vector

absolute angular acceleration of the apparatus, 1 / s ² ;
ρ is the magnitude of the vector

displacements of the center of mass with respect to point A, m;
t is the time, s.

, получаем:

где

- величина и направление, то есть вектор приращения абсолютного линейного ускорения аппарата в точке A по отношению к абсолютному линейному ускорению в его центре масс - точке O.By transforming expression (3) to the form of a classical differential equation with respect to an unknown bias

we get:

Where

- the magnitude and direction, that is, the increment vector of the absolute linear acceleration of the apparatus at point A with respect to the absolute linear acceleration at its center of mass - point O.

[13, с. 79], равное

где

- величина и направление ускорения силы тяжести. Поэтому для определения

суммируют кажущееся ускорение

с измеренным ускорением силы тяжести

, тогда:

Величина ускорения силы тяжести зависит от точки местоположения аппарата, а направление - от его ориентации относительно Земли, определяемой углами тангажа и крена ϑ,γ [12, с. 33; 14, с. 74]: Проекции вектора ускорения силы тяжести на оси подвижной системы координат имеют вид:

где [...]' - знак транспонирования матрицы - строки.The magnitude and direction of the absolute linear acceleration of the apparatus is determined using an accelerometer located at an arbitrary point A. The latter measures the apparent acceleration

[13, p. 79] equal to

Where

- the magnitude and direction of the acceleration of gravity. Therefore, to determine

summarize apparent acceleration

with measured acceleration of gravity

then:

The magnitude of the acceleration of gravity depends on the location of the apparatus, and the direction on its orientation relative to the Earth, determined by the pitch and roll angles ϑ, γ [12, p. 33; 14, p. 74]: The projections of the acceleration vector of gravity on the axis of the moving coordinate system are:

where [...] 'is the transpose sign of the matrix - the string.

возможно гравиметром. Абсолютную угловую скорость измеряет датчиком угловых скоростей. Углы тангажа и крена, так же как координаты точки местоположения аппарата, измеряются инерциальной навигационной системой, в которую входят и датчик угловых скоростей и акселерометр [8, с. 146].Measurement of magnitude and direction of gravity acceleration

possibly a gravimeter. The absolute angular velocity is measured by an angular velocity sensor. The pitch and roll angles, as well as the coordinates of the device’s location point, are measured by an inertial navigation system, which includes both the angular velocity sensor and the accelerometer [8, p. 146].

The specified technical result is also achieved by the fact that in the method for determining the magnitude and direction of displacement of the center of mass of the apparatus, the measurement of the magnitude and direction of the absolute angular acceleration is carried out by first measuring the magnitude and direction of the absolute angular velocity of the apparatus, then at the end of a period of time of a shorter period of the intrinsic short-period components of the angular oscillations of the apparatus relative to its center of mass, measure the magnitude and direction of the increment of the absolute angular velocity and memory t them. After that, the magnitude and direction of the absolute angular acceleration of the apparatus are determined from the increment rate of the absolute angular velocity for a period of time shorter than the period of intrinsic short-period components of the angular oscillations of the apparatus relative to its center of mass. The measurement of the acceleration of gravity is also carried out by the angle, latitude and height of the location point of the apparatus [15, p. 791] according to the ratio:
g = 9.78049 (1 + 5.288 • 10 ^-3 sin ² φ) - 3.086 • 10 ^-6 H, (8)
where g is the magnitude of the acceleration of gravity at the location of the apparatus, m / s ² ,
φ - latitude of the location of the apparatus, ang. hail.;
H - the height of the location of the device above the surface of the Earth, m

 In contrast to the gravimetric measurement of gravity acceleration, its determination by expression (8) is preferable if there is an inertial navigation system on the device. The magnitude and direction of the increment of the absolute linear acceleration of the apparatus with respect to the absolute linear acceleration of the apparatus in its center of mass, the angular velocity and angular acceleration of the apparatus relative to its center of mass is determined narrowband, filtering at the frequency of the natural periodic components of the angular oscillations of the apparatus relative to its center of mass, signals proportional respectively absolute linear acceleration of the apparatus, absolute angular velocity and absolute angular acceleration of the apparatus. This takes into account the known frequency distribution of the angular motion of the apparatus [5, p. 172; 12, p. 27; 16, p. 106 and others.]. Filtering the signals provides the selection of short-period components of the angular motion of the apparatus, which occurs around the center of mass [11, p. 368; 15, p. 843 and others.]. The long-period components of the angular motion of the apparatus associated with the motion of its center of mass are suppressed.

 The specified technical result is also achieved by the fact that in the method for determining the magnitude and direction of displacement of the center of mass of the apparatus, the magnitude and direction of the increment of the absolute linear acceleration of the apparatus with respect to the absolute linear acceleration of the apparatus in its center of mass can also be determined by the difference between the absolute linear acceleration of the apparatus and the absolute linear acceleration apparatus in its center of mass, measured by the acceleration of the apparatus relative to the Earth. In this case, measurements of the navigation parameters of the linear movement of the apparatus are used, which determine the movement of its center of mass [17, 18, 19]. Measurement of the magnitude and direction of the absolute linear acceleration of the center of mass of the apparatus using the navigation system is possible either directly [18, p. 111], or with a double differentiation of the linear coordinates of the location of the apparatus [17, p. 36-37], or with a single differentiation of its linear velocities [22. , from. 106-108, 23 p. 198], or through the values of linear and angular velocities measured in the connected axes of the apparatus [20, p. 263, 318]. Since the spectral characteristics of measurements of the navigation parameters of the linear movement of the apparatus differ significantly from the spectral characteristics of the measurements of the accelerometer, it is not difficult to distinguish the magnitude and direction of the increment of the absolute linear acceleration from the angular motion of the apparatus. The difference between the absolute linear acceleration measured by the accelerometer and the acceleration measured by the signals of the navigation system is the high-frequency component of the signal of the accelerometer.

 The specified technical result is achieved in that in the device for determining the magnitude and direction of displacement of the center of mass of the apparatus containing means for measuring the acceleration of gravity, the means for measuring acceleration of gravity is made in the form of a sensor for accelerating gravity, it also contains a series-connected accelerometer, a first adder, a first a frequency selector, a block of current coordinates of the center of mass, a gravity acceleration sensor and a unit for determining gravity acceleration components, connected in series, the second input of which is connected with the output of the pitch sensor, the third input is with the output of the roll sensor, and the output is with the second input of the first adder, and the angular velocity sensor and the second frequency selector are connected in series, the output of which is connected to the second input of the block of current coordinates of the center of mass, the output which forms the output bus displacement of the center of mass.

 The invention consists in determining on the apparatus the displacement of its center of mass in magnitude and direction of increment of the absolute linear acceleration measured by the accelerometer at its arbitrary point, with its angular movement relative to the center of mass. In this case, the parameters of the angular motion - the angular velocity and angular acceleration are determined by the signals of the angular velocity sensor of the apparatus. Since the coordinates of the installation point of the accelerometer on the apparatus are fixed in the coordinate system of the fuselage [23, p. 90], it is not difficult to determine the generally accepted displacement of the center of mass relative to the average aerodynamic chord of the wing [5, p. 231], including as a percentage. In this case, using the sensors of pitch, roll and acceleration of gravity, the magnitude and direction of the acceleration of gravity are preliminarily determined, and with the help of an accelerometer, the apparent linear acceleration at the installation point of the accelerometer. Summing up the apparent acceleration and acceleration of gravity, we obtain the magnitude and direction of the absolute linear acceleration of the apparatus. Then the increment of the absolute linear acceleration of the apparatus due to its angular motion is determined. For this, from the entire frequency spectrum of absolute linear acceleration signals, using the first frequency selector, a component is selected at the frequency of high-frequency - short-period angular oscillations of the apparatus. Similarly, from the entire spectrum of absolute angular velocities of the apparatus measured by the angular velocity sensor, the signal component at the same frequency is extracted using the second frequency selector. Signals proportional to the increment of the absolute linear acceleration and the selected values of the angular velocities of the apparatus arrive at the block of current coordinates of the center of mass, where the components and coefficients of equation (2) are formed, followed by its solution with respect to the magnitude and direction of the displacement of the center of mass of the apparatus.

от заданного значения смещения центра масс

, связанного с конкретным значением центровки для данного типа аппарата и произвольных координатах точки расположения акселерометра на этом аппарате. Для самолета отклонение смещения центра может быть выражено в общепринятых единицах измерения - процентах средней аэродинамической хорды (САХ) крыла.The specified technical result is also achieved by the fact that the device for determining the magnitude and direction of displacement of the center of mass of the apparatus further comprises a series-connected accelerator of the accelerometer and the first subtraction unit, the second input of which is connected to the output bus of the center of mass displacement, and the output forms the center of mass bias . In this case, the deviation of the displacement of the center of mass is determined

from a given value of the displacement of the center of mass

associated with a specific centering value for a given type of apparatus and arbitrary coordinates of the location of the accelerometer on this apparatus. For an airplane, the deviation of the center offset can be expressed in generally accepted units of measurement — percentages of the average aerodynamic chord (MAR) of the wing.

The specified technical result is also achieved by the fact that in the device for determining the magnitude and direction of displacement of the center of mass of the apparatus, the acceleration sensor contains a series-connected latitude sensor, a first functional converter and a second adder, the second summing input of which is connected to the output of the height sensor, and the third subtracting input - with the output of the setpoint reference value of the acceleration of gravity, and the output with the output of the acceleration sensor of gravity. In this case, the magnitude of the acceleration of gravity is calculated by the expression (8). Instead of the gravimetric determination of the magnitude of the acceleration of gravity, an approximate expression is used in which the acceleration of gravity is obtained with an accuracy sufficient to determine the displacement of the center of mass of the apparatus [15, p. 791]:
g = 9.78049 (1 + 5.288 • 10 ^-3 ) sin ² φ) -3.086 • 10 ^-6 H, (9)
where g is the magnitude of the acceleration of gravity at the location of the apparatus, m / s ² ;
φ - latitude of the location of the apparatus, ang. hail.;
H - the height of the location of the device above the surface of the Earth, m

The first functional converter implements the function sin ² φ latitude.

где [O, -g, O]' - проекции вектора ускорения силы тяжести на оси подвижной земной системы координат,
[g_x, g_y, g_z]' - проекции вектора ускорения силы тяжести на оси связанной системы координат.The specified technical result is also achieved by the fact that in the device for determining the magnitude and direction of displacement of the center of mass of the apparatus, the unit for determining the components of the acceleration of gravity contains a first coordinate converter connected in series, the first input of which is connected to the first input of the unit for determining the components of the acceleration of gravity, the second input - the output of the first sine functional converter, the third input with the output of the first cosine functional converter, the second coordinate generator, the second input of which is connected to the output of the second sine functional converter, the third input - with the output of the second cosine functional converter, the fourth input - with the first output of the first coordinate converter, the fifth input - with the second output of the first coordinate converter, the inputs of the first sine and cosine functional the transducers are connected to the second input of the unit for determining the components of the acceleration of gravity, the third input of which is connected to the inputs of the second sine and cosines of functional transducers, and the output is with the gravity acceleration bus so that the first output of the second coordinate transformer is connected to the gravity acceleration output along the normal axis of the connected coordinate system, the second output is with the gravity acceleration output along the transverse axis of the connected coordinate system, and the third output - with the output of the acceleration of gravity along the longitudinal axis of the associated coordinate system. In this case, the projections of the gravity acceleration vector (7) on the axis of the associated coordinate system OX ₁ Y ₁ Z _{1 of the} apparatus are determined. The unit for determining the components of the acceleration of gravity implements a sequence of rotations of the axes from the moving earth coordinate system, in which the acceleration vector of gravity is directed vertically to the associated coordinate system of the apparatus in which the acceleration is measured. It implements the following relation between the projections of the gravity acceleration vector in the moving earth coordinate system OX _g2 Y _g2 Z _g2 (Fig. 1) and the associated coordinate system OX ₁ Y ₁ Z _{1 of the} apparatus

where [O, -g, O] 'is the projection of the acceleration vector of gravity on the axis of the moving earth coordinate system,
[g _x , g _y , g _z ] '- projection of the acceleration vector of gravity on the axis of the associated coordinate system.

где U_вх.1, U_вх.4, U_вх.5 - сигналы, поступающие соответственно на первый, четвертый и пятый входы преобразователя координат;
U_вых.1, U_вых.2, U_вых.3 - выходные сигналы преобразователя координат соответственно на его первом, втором и третьем выходах;
sin α , cos α - сигналы на втором и третьем входе преобразователя координат;
α - угол поворота систем координат.The indicated technical result is also achieved by the fact that in the device for determining the magnitude and direction of the center of mass displacement of the apparatus, the unit for determining the components of the acceleration of gravity has a coordinate transformer that contains a first multiplier connected in series, the first input of which is connected to the first input of the coordinate transformer, the second input - with the second input of the coordinate transformer, the third adder, the second input of which is connected to the output of the second multiplier, and the output to the first output of the transform dividing the coordinates, the third multiplier is connected in series, the first input of which is connected to the first input of the coordinate transformer, the second input is with the third input of the coordinate transformer, the second subtraction unit, the summing input of which is connected to the output of the third multiplier, the subtractive input is with the output of the fourth multiplier, and the output - with the second output of the coordinate converter, the fourth input of the coordinate converter is connected to its third output, the fifth input is with the first inputs of the second and fourth multipliers, the second inputs are oryh connected respectively to second and third inputs coordinate converter. The coordinate converter implements the transformation of the projections of the vector depending on the sine and cosine of the angle received at its second and third inputs. The rotation is carried out by converting the values of the projections of the vector on the axis of the original coordinate system to the first, fourth and fifth inputs of the converter. The ratio of the input and output signals of the coordinate transformer has the form

where U _{input 1} , U _{input 4} , U _{input 5} - signals received respectively at the first, fourth and fifth inputs of the coordinate transformer;
U _{output 1} , U _{output 2} , U _{output 3} - the output signals of the coordinate Converter, respectively, at its first, second and third outputs;
sin α, cos α - signals at the second and third input of the coordinate transformer;
α is the angle of rotation of coordinate systems.

Выход соединен с шиной смещения центра масс. Проекции вектора смещения центра масс на те же оси имеют вид:
ρ = (x,y,z)′. (13)
Блок определения проекций формирует скалярные коэффициенты левой части дифференциального уравнения (2), а интегратор координат центра масс осуществляет решение этого уравнения относительно искомого смещения. При этом уравнения (2) представляются в проекциях на оси связанной системы координат:

(14)
где

Коэффициенты a₁₁, a₁₂, . . . a₃₃, а также удвоенные проекции угловых скоростей с первого по двенадцатый выход блока определения проекций поступают на одноименные входы интегратора координат центра масс. На тринадцатый, четырнадцатый и пятнадцатый входы поступают приращения абсолютного ускорения, входящие в правую часть дифференциального уравнения (2).The indicated technical result is also achieved by the fact that in the device for determining the magnitude and direction of the center of mass displacement of the apparatus, the block of the current coordinates of the center of mass contains a series-connected block for determining the projections and the integrator of the coordinates of the center of mass so that the first input of the block of the current coordinates of the center of mass is connected to the absolute increment bus acceleration, the second input is with the bus angular velocity of the apparatus, and the output is with the bus of displacement of the center of mass, and the first input of the projection determination unit is connected to the input of angles speed along the transverse axis of the connected coordinate system, the second input - with the input of angular velocity along the normal axis of the connected coordinate system, the third input - with the input of angular velocity along the longitudinal axis of the connected coordinate system, and the first, second, third, fourth, fifth, sixth, the seventh, eighth, ninth, tenth, eleventh and twelfth outputs are with the inputs of the center of mass coordinate integrator of the same name, the thirteenth input of which is connected to the input of the increment of absolute acceleration along the longitudinal axis of the connected coordinate system, four the twentieth input - with the input of the increment of the absolute acceleration of the apparatus along the normal axis of the connected coordinate system, the fifteenth input - with the input of the increment of absolute acceleration along the transverse axis of the connected coordinate system, and the first output - with the output of the displacement of the center of mass along the longitudinal axis of the connected coordinate system, the second output - with the output of the displacement of the center of mass along the normal axis of the associated coordinate system, the third output with the output of the displacement of the center of mass along the transverse axis of the connected coordinate system. The first and second inputs of the block of current coordinates of the center of mass are connected respectively to the increment bus of absolute acceleration and the bus angular velocity of the apparatus. The projections of the corresponding increments of the absolute acceleration and angular velocity of the apparatus on the connected axes are:

The output is connected to the center of mass bias bus. The projections of the displacement vector of the center of mass on the same axis are:
ρ = (x, y, z) ′. (thirteen)
The projection determination unit generates scalar coefficients of the left side of the differential equation (2), and the center of mass coordinate integrator solves this equation with respect to the desired displacement. In this case, equations (2) are represented in projections on the axis of the associated coordinate system:

(14)
Where

Coefficients a ₁₁ , a _12,. . . a ₃₃ , as well as the doubled projections of angular velocities from the first to the twelfth output of the projection determination unit, are supplied to the inputs of the center of mass coordinate integrator of the same name. The thirteenth, fourteenth and fifteenth inputs receive increments of absolute acceleration included in the right side of differential equation (2).

 The specified technical result is also achieved by the fact that in the device for determining the magnitude and direction of displacement of the center of mass of the apparatus, the projection determining unit contains six adders, three subtraction units, three inverters, three amplifiers, six multipliers and three differentiators, the input of the first differentiator and the input the first amplifier, the first inputs of the fifth, sixth and both inputs of the seventh multiplier are connected to the first input of the projection determination unit, the input of the second differentiator, like the input of the second amplifier, the first input the eightth multiplier, the second input of the fifth multiplier and both inputs of the ninth multiplier are connected to the second input of the projection determination unit, the input of the third differentiator, as well as the input of the third amplifier, the second inputs of the sixth, eighth and both inputs of the tenth multiplier are connected to the third input of the projection determination unit, the first input the fourth adder and the subtracting input of the third subtraction block are connected to the output of the first differentiator, and the second input of the fourth adder and the summing input of the third subtraction block are connected to the output of the fifth multiplier, the first input of the fifth adder and the subtracting input of the fourth subtraction block are connected to the output of the second differentiator, and the second input of the fifth adder and the summing input of the fourth subtraction block are connected to the output of the sixth multiplier, the first input of the sixth adder and the subtracting input of the fifth subtraction block are connected to the output of the third differentiator, and the second input of the sixth adder and the summing input of the fifth subtraction unit are connected to the output of the fifth multiplier, the first inputs of the seventh and eighth adders are connected with the output of the seventh multiplier, the second input of the eighth adder and the first input of the ninth adder are connected to the output of the ninth multiplier, the second inputs of the ninth and seventh adders are connected to the output of the tenth multiplier, the input of the first inverter is connected to the output of the eighth adder, and the output to the first output of the determination unit projections, the second output of which is connected to the output of the third subtraction unit, and the third output - with the output of the fifth adder, the output of the fourth adder is connected to the fourth output of the projection determination unit, fifth the output of which is connected to the output of the second inverter connected to the output of the seventh adder, the sixth output of the projection determination unit is connected to the output of the fifth subtraction unit, the seventh output is the output of the fourth subtraction unit, the eighth output is the output of the sixth adder, the ninth output is the output of the third inverter connected to the output of the ninth adder, the tenth output with the output of the first amplifier, the eleventh output with the output of the third amplifier, and the twelfth output with the output of the second amplifier. The projection determination unit implements the function of calculating the coefficients from expressions (15), as well as the doubled projections of the angular velocities included in equations (14).

где p - символ дифференцирования по Лапласу [24; 25 с. 219, 234]. Значение 1/p - обратное дифференцированию, представляет собой операцию интегрирования параметров, стоящих справа от него. Значение 1/p² - двукратное интегрирование.The specified technical result is also achieved by the fact that in the device for determining the magnitude and direction of displacement of the center of mass of the apparatus, the integrator of the center of mass coordinates contains a tenth adder, a first integrator, a second integrator, a fourth inverter, an eleventh multiplier, the second input of which is connected to the first input of the coordinate integrator center of mass, and the output is with the first input of the tenth adder, the second input of which is connected to the thirteenth input of the integrator of the center of mass coordinates, the third input is the output of the twelfth multiplier, the first input connected to the second input of the integrator of the center of mass coordinates, the fourth input - with the output of the thirteenth multiplier, the first input connected to the third input of the integrator of the center of mass, the fifth input - with the output of the fourteenth multiplier, the first input connected to the tenth input of the integrator center of mass, sixth input - with the output of the fifth inverter, eleventh adder connected in series, third integrator, fourth integrator, sixth inverter, fifteenth multiply spruce, the second input of which is connected to the fifth input of the integrator of the center of mass coordinates, and the output - with the first input of the eleventh adder, the second input of which is connected to the fourteenth input of the integrator of the center of mass, the third input - with the output of the sixteenth multiplier, the first input connected to the sixth input of the integrator center of mass coordinates, the fourth input - with the output of the seventeenth multiplier, the first input connected to the fourth input of the integrator of the center of mass coordinates, the fifth input - with the output of the eighteenth multiplier, the first input the house is connected to the eleventh input of the integrator of the center of mass coordinates, the sixth input is with the output of the seventh inverter, the twelfth adder, the fifth integrator, the sixth integrator, the eighth inverter, the nineteenth multiplier are connected in series, the second input of which is connected to the ninth input of the integrator of the center of mass coordinates, and the output is with the first input of the twelfth adder, the second input of which is connected to the fifteenth input of the integrator of the center of mass coordinates, the third input - with the output of the twentieth multiplier, the first input connected to the eighth input of the integrator of the center of mass coordinates, the fourth input - with the output of the twenty-first multiplier, the first input connected to the seventh input of the integrator of the center of mass, the fifth input - with the output of the twenty second multiplier, the first input connected to the twelfth input of the integrator of the center of mass, the sixth input - with the output of the ninth inverter, the twenty-third multiplier, the first input of which is connected to the tenth input of the integrator of the center of mass coordinates, the second input, like the second input of the twenty-second multiplier, with the output of the first integrator and the output is with the input of the seventh inverter, the twenty-fourth multiplier, the first input of which is connected to the eleventh input of the integrator of the center of mass coordinates, the second input, like the second input of the fourteenth multiplier, with the output of the third integrator, twenty the fifth multiplier, the first input of which is connected to the twelfth input of the integrator of the center of mass coordinates, the second input, as the second input of the eighteenth multiplier, with the output of the fifth integrator, and the output with the input of the fifth inverter, the fourth inverter stroke is connected to the second inputs of the seventeenth, twenty-first multipliers and the first output of the integrator of the center of mass coordinates, the output of the sixth inverter is connected to the second inputs of the twelfth, twentieth multipliers and the second output of the integrator of the center of mass, the output of the eighth inverter is connected to the second inputs of the thirteenth, sixteenth multipliers and the third output of the integrator of the center of mass coordinates. The center of mass coordinate integrator realizes the fiction of integrating the system of differential equations (14) with respect to the desired center of mass displacement. In this case, the operator form of solving equations transformed to the form is used:

where p is the symbol of differentiation according to Laplace [24; 25 sec 219, 234]. The value 1 / p - the inverse of differentiation, is the operation of integrating the parameters to the right of it. The value 1 / p ² is double integration.

 The specified technical result is also achieved by the fact that in the device for determining the magnitude and direction of the center of mass displacement of the apparatus, the frequency selector contains a thirteenth adder connected in series, the output of which is connected to the first input of the fourteenth adder, a fifteenth adder whose output is connected to the second input of the fourteenth adder and the first subtracting the input of the sixteenth adder, the fourth amplifier, the output of which is connected to the third, fourth subtracting inputs of the fourteenth adder and the second summing input of the sixteenth adder, the fifth amplifier, the sixth amplifier, the output of which is connected to the fifth subtracting input of the fourteenth adder and the third summing input of the sixteenth adder, the output of which is connected to the input of the seventh amplifier, the seventeenth adder, the first delay circuit, the eighteenth adder, the second input of which connected to the output of the seventh amplifier, the second delay circuit, the nineteenth adder, the second input of which is connected to the output of the fourteenth adder, the third delay circuit, you the course of which is connected to the input of the eighth amplifier, the output connected to the second input of the thirteenth adder, the fourth delay circuit, the output of which is connected to the second subtracting input of the seventeenth adder, as well as the second and third subtracting inputs of the fifteenth adder. The frequency selector implements the function of separating the high-frequency components of the signals from the short-period angular oscillations of the apparatus taking place at the output of the first adder and the angular velocity sensor.

 The specified technical result is also achieved by the fact that in the device for determining the magnitude and direction of displacement of the center of mass of the apparatus containing means for measuring the acceleration of gravity, the means for measuring acceleration of gravity is made in the form of a sensor for accelerating gravity and contains a series-connected accelerometer, a first adder, and a sixth unit subtraction, a block of the current coordinates of the center of mass, a gravity acceleration sensor and a unit for determining the components of the acceleration of gravity connected in series, exit to which is connected to the second input of the first adder, and a geocentric coordinate sensor, a double differentiation unit, a first unit for determining the components of the absolute acceleration of the center of mass, the second input of which is connected to the output of the longitude sensor, the third input to the output of the latitude sensor, the fourth input to the output heading sensor, the fifth input, as well as the second input of the unit for determining the components of acceleration of gravity - with the output of the pitch sensor, the sixth input, like the third input of the unit for determining components of accelerated gravity - with the output of the roll sensor, and the output - with the second input of the sixth subtraction unit, the output of the angular velocity sensor is connected to the second input of the block of current coordinates of the center of mass, the output of which forms the output offset line of the center of mass. In contrast to the prior art execution of the device for determining the magnitude and direction of the displacement of the center of mass of the apparatus, here information of the navigation system on the linear coordinates of the center of mass is used to highlight the increment of absolute linear acceleration. It is twice differentiated, converted in the first block for determining the components of the absolute acceleration of the center of mass to the axes of the associated coordinate system and, via the bus of absolute acceleration of the center of mass, goes to the second input of the sixth subtraction block. At the output of the latter, a signal is generated proportional to the increment of absolute acceleration from the angular movement of the apparatus.

- проекции вектора абсолютного ускорения центра масс аппарата в геоцентрической системе координат;
[W_XO, W_YO, W_ZO] ' - проекции вектора абсолютного ускорения центра масс аппарата в связанной системе координат аппарата.The specified technical result is also achieved by the fact that in the device for determining the magnitude and direction of displacement of the center of mass of the apparatus, the first unit for determining the components of the absolute acceleration of the center of mass contains sequentially connected third, fourth, fifth, sixth and seventh coordinate converters so that the first input of the first block for determining the components absolute acceleration of the center of mass is connected to the bus of absolute acceleration of the geocentric coordinates of the apparatus, the second input - with the inputs of the third sine and cosines integral functional converters, the third input - with the inputs of the fourth sine and cosine functional converters, the fourth input - with the inputs of the fifth sine and cosine functional converters, the fifth input - with the inputs of the sixth sine and cosine functional converters, the sixth input - with the inputs of the seventh sine and cosine functional transducers, and the output with the tire of absolute acceleration of the center of mass of the apparatus, and the first input of the third coordinate transformer is connected to the input of absolute acceleration of the geocentric coordinates of the device along an axis perpendicular to the plane of the zero meridian and located in the plane of the equator, the second input - with the output of the third sine functional converter, the third input - with the output of the third cosine functional converter, the fourth input - with the input of the absolute acceleration of the geocentric coordinates of the device the Earth’s rotation axis, the fifth entrance - with the input of the absolute acceleration of the geocentric coordinates of the device along the axis in the plane of the Earth's equator and the zero meridian , the first input of the fourth coordinate transformer is connected to the third output of the third coordinate transformer, the second input is with the output of the fourth sine functional transducer, the third input is with the output of the fourth cosine functional transducer, the fourth input is with the first output of the third coordinate transducer, the fifth input is with the second output the third coordinate transformer, the first input of the fifth coordinate transducer is connected to the third output of the fourth coordinate transformer, the second input from the output by the fifth sinus functional transducer, the third input is the output of the fifth cosine functional transducer, the fourth input is the first output of the fourth coordinate transducer, the first input of the sixth coordinate transducer is connected to the third output of the fifth coordinate transducer, the second input is the output of the sixth sinus functional transducer, third the input is with the output of the sixth cosine functional transducer, the fourth input is with the first output of the fifth coordinate transducer, the fifth in one - with the second output of the fifth coordinate converter, the first input of the seventh coordinate converter is connected to the third output of the sixth coordinate converter, the second input is with the output of the seventh sine functional converter, the third input is with the output of the seventh cosine functional converter, the fourth input is with the first output of the sixth converter coordinates, the fifth input is with the second output of the sixth coordinate converter, the first output of the seventh coordinate converter is connected to the output of the normal state vlyayuschey absolute acceleration of the mass center unit, the second output - with an absolute yield of the transverse component of the center of mass acceleration device, the third output - with output of the longitudinal center of mass of component absolute acceleration apparatus. In this case, the projections of the absolute linear acceleration vector of the apparatus center of mass on the axis of the apparatus coordinate system are determined. The first block for determining the components of the absolute acceleration of the center of mass implements a sequence of axis rotations from the geocentric coordinate system, in which the geocentric coordinate sensor measures the location of the apparatus, to the associated coordinate system of the apparatus in which the acceleration is measured. It implements the following relationship between the projections of the absolute acceleration vector of the center of mass of the apparatus in the geocentric coordinate system O ₀ X ₀ Y ₀ Z ₀ (Fig. 1) and the associated coordinate system O ₁ X ₁ Y ₁ Z ₁ apparatus

- projections of the absolute acceleration vector of the center of mass of the apparatus in a geocentric coordinate system;
[W _XO , W _YO , W _ZO ] '- projections of the absolute acceleration vector of the center of mass of the apparatus in a connected coordinate system of the apparatus.

 The specified technical result is also achieved by the fact that in the device for determining the magnitude and direction of displacement of the center of mass of the apparatus containing means for measuring the acceleration of gravity, the means for measuring acceleration of gravity is made in the form of a sensor for accelerating gravity and contains a series-connected accelerometer, a first adder, and a sixth unit subtraction, a block of the current coordinates of the center of mass, a gravity acceleration sensor and a unit for determining the components of the acceleration of gravity connected in series, exit to of which is connected to the second input of the first adder, and a geocentric coordinate change speed sensor, a fourth differentiator, a first unit for determining the absolute acceleration of the center of mass, the second input of which is connected to the output of the longitude sensor, the third input to the output of the latitude sensor, the fourth input to the output of the heading sensor, the fifth input, as well as the second input of the unit for determining the components of acceleration of gravity - with the output of the pitch sensor, the sixth input, as the third input of the unit for determining acceleration of gravity - with the output of the roll sensor, and the output with the second input of the sixth subtraction unit, the output of the angular velocity sensor is connected to the second input of the block of current coordinates of the center of mass, the output of which forms the output bias line of the center of mass. Unlike previous versions of the device, to determine the magnitude and direction of the displacement of the center of mass of the apparatus, here, to highlight the increment of absolute acceleration, information from the navigation system on the speed of movement of the center of mass of the apparatus is used. It is differentiated, converted in the first block for determining the components of the absolute acceleration of the center of mass to the axes of the associated coordinate system, and is fed to the second input of the sixth subtraction block via the bus of absolute acceleration of the center of mass. At the output of the latter, a signal is generated proportional to the increment of absolute acceleration from the angular movement of the apparatus.

 The specified technical result is also achieved by the fact that in the device for determining the magnitude and direction of displacement of the center of mass of the apparatus containing means for measuring the acceleration of gravity, the means for measuring acceleration of gravity is made in the form of a sensor for accelerating gravity and contains a series-connected accelerometer, a first adder, and a sixth unit subtraction, a block of the current coordinates of the center of mass, a gravity acceleration sensor and a unit for determining the components of the acceleration of gravity connected in series, exit to the second input of which is connected to the output of the heading sensor, the third input, as well as the second input of the unit for determining the components of the acceleration of gravity - with the output of the pitch sensor, the fourth input, as well as the third input of the unit for determining the components of the acceleration of gravity, with the output of the roll sensor, and the output with the second input of the sixth block Nia, the angular velocity sensor output is connected to a second input of the center of mass coordinates of the current block, the output of which forms the center of mass offset output bus. In contrast to the previous versions of the device, here, information of the navigation system on the linear coordinates of the center of mass in the earth's coordinate system is used to highlight the increment of absolute acceleration. It is twice differentiated, converted in the second block for determining the components of the absolute acceleration of the center of mass to the axes of the associated coordinate system and, via the bus of absolute acceleration of the center of mass, goes to the second input of the sixth subtraction block. At the output of the latter, a signal is generated proportional to the increment of absolute acceleration from the angular movement of the apparatus.

где

- проекции вектора абсолютного ускорения центра масс аппарата в земной системе координат;
[W_XO, W_YO, W_ZO]' - проекции вектора абсолютного ускорения центра масс в связанной системе координат аппарата.The specified technical result is also achieved by the fact that in the device for determining the magnitude and direction of the center of mass displacement of the apparatus, the second unit for determining the components of the absolute acceleration of the center of mass contains the eighth, ninth and tenth coordinate converters connected in series so that the first input of the unit for determining the components of the absolute acceleration of the center of mass is connected with the bus of absolute acceleration of the earth's coordinates of the apparatus, the second input - with the inputs of the eighth sine and cosine functional transforms ateli, the third input is with the inputs of the ninth sine and cosine functional converters, the fourth input is with the inputs of the tenth sine and cosine functional converters, and the output is with the absolute acceleration bus of the center of mass of the apparatus, and the first input of the eighth coordinate converter is connected to the horizontal acceleration input of horizontal the axis of the direction of movement of the Earth's coordinate system, the second input - with the output of the eighth sine functional converter, the third input - with the output of the eighth cosine function of the national transducer, the fourth input with the absolute acceleration input along the axis of the local vertical of the Earth coordinate system, the fifth input - with the absolute acceleration input along the horizontal axis, perpendicular to the axis of movement, the Earth coordinate system, the first input of the ninth coordinate converter is connected to the third output of the eighth coordinate converter , the second input - with the output of the ninth sine functional converter, the third input - with the output of the ninth cosine functional converter, fourth the input is with the first output of the eighth coordinate converter, the fifth input is with the second output of the eighth coordinate converter, the first input of the tenth coordinate converter is connected to the third output of the ninth coordinate converter, the second input is with the output of the tenth sine functional converter, the third input is with the output of the tenth cosine functional transducer, fourth input - with the first output of the ninth coordinate transformer, fifth input - with the second output of the ninth coordinate transformer, first output Tenth coordinate converter connected to the output of the normal component of the absolute acceleration of the center of mass system, the second output - with an absolute yield of the transverse component of the center of mass acceleration device, the third output - with output of the longitudinal center of mass of component absolute acceleration apparatus. In this case, the projections of the absolute acceleration vector of the center of mass of the apparatus on the axis of the associated coordinate system OX ₁ Y ₁ Z _{1 of the} apparatus are determined. The second block for determining the components of the absolute acceleration of the center of mass implements a sequence of axis rotations from the earth coordinate system, in which the earth coordinate sensor measures the location of the device, to the associated coordinate system of the device in which the acceleration is measured. It implements the following relationship between the projections of the absolute acceleration vector of the center of mass of the apparatus in the earth's coordinate system (Fig. 1) and the associated coordinate system OX ₁ Y ₁ Z _{1 of the} apparatus

Where

- projections of the absolute acceleration vector of the center of mass of the apparatus in the earth's coordinate system;
[W _XO , W _YO , W _ZO ] '- projections of the vector of absolute acceleration of the center of mass in the associated coordinate system of the apparatus.

 The specified technical result is also achieved by the fact that in the device for determining the magnitude and direction of displacement of the center of mass of the apparatus containing means for measuring the acceleration of gravity, the means for measuring acceleration of gravity is made in the form of a sensor for accelerating gravity and contains a series-connected accelerometer, a first adder, and a sixth unit subtraction, a block of the current coordinates of the center of mass, a gravity acceleration sensor and a unit for determining the components of the acceleration of gravity connected in series, exit to the second input of which is connected to the output of the heading sensor, the third input, as well as the second input of the unit for determining the components of the acceleration of force gravity - with the output of the pitch sensor, the fourth input, as the third input of the unit for determining the components of the acceleration of gravity - with the output of the roll sensor, and the output with the second input of the sixth of the subtraction unit, the output of the angular velocity sensor is connected to the second input of the block of the current coordinates of the center of mass, the output of which forms the output bias line of the center of mass. In contrast to the previous versions of the device, here, information of the navigation system on the speed of movement of the center of mass of the device in the earth's coordinate system is used to highlight the increment of absolute acceleration. It is differentiated, converted in the second block for determining the components of the absolute acceleration of the center of mass to the axes of the associated coordinate system, and is fed to the second input of the sixth subtraction block via the bus of absolute acceleration of the center of mass. The speed sensor for changing the Earth coordinates differs from the sensor for changing the geocentric coordinates in that it implies the use of a sensor that works at a relatively small distance from the device, in its line of sight. These are, for example, laser speed meters [26, p. 7, 118].

 The specified technical result is also achieved by the fact that in the device for determining the magnitude and direction of displacement of the center of mass of the apparatus containing means for measuring the acceleration of gravity, the means for measuring acceleration of gravity is made in the form of a sensor for accelerating gravity and contains a series-connected accelerometer, a first adder, and a sixth unit subtraction, a block of the current coordinates of the center of mass, a gravity acceleration sensor and a unit for determining the components of the acceleration of gravity, sequentially connected, the second the course of which is connected to the output of the pitch sensor, the third input to the output of the roll sensor, and the output to the second input of the first adder, and the speed sensor of the device, the third unit for determining the components of the absolute acceleration of the center of mass, the second input of which is connected to the output of the angular velocity sensor and the output is with the second input of the sixth subtraction unit, the second input of the current center of mass coordinate unit is connected to the output of the angular velocity sensor, and the output forms the output center of mass displacement bus. In contrast to the previous versions of the device, here the information of the speed sensor of the apparatus in its associated axes is used to highlight the increment of absolute acceleration. It is differentiated and multiplied by the output signal of the angular velocity sensor in the third block for determining the components of the absolute acceleration of the center of mass and is fed to the second input of the sixth subtraction block via the bus of absolute acceleration of the center of mass.

где [W_XO, W_YO, W_ZO] ' - проекции вектора абсолютного ускорения центра масс аппарата в связанной системе координат аппарата;
(ω_x,ω_y,ω_z)′ -проекции вектора угловой скорости аппарата;
[V_X, V_Y, V_Z]' - проекции вектора скорости аппарата.The technical result is also achieved by the fact that in the device for determining the magnitude and direction of the center of mass displacement of the apparatus, the third unit for determining the components of the absolute acceleration of the center of mass contains three differentiators, three adders, six multipliers so that the first input of the third unit for determining the components of the absolute acceleration of the center of mass is connected with the apparatus speed bus, the second input - with the apparatus of the absolute angular velocity of the apparatus, and the output - with the bus of absolute acceleration of the center of mass of the apparatus, the first inputs the fifth differentiator, twenty-sixth and twenty-seventh multipliers are connected to the input of the speed of the apparatus along the longitudinal axis of the associated coordinate system, the first inputs of the sixth differentiator, the twenty-eighth and twenty-ninth multipliers are connected to the speed input of the apparatus along the normal axis of the connected coordinate system, the first inputs of the seventh differentiator, of the thirty and the thirty-first multiplier connected to the input of the speed of the apparatus along the transverse axis of the associated coordinate system, the second inputs of the twenty-sixth and twenty the eighth of the multipliers are connected to the input of angular velocity along the transverse axis of the associated coordinate system, the second inputs of the twenty-seventh and thirty-first multipliers are connected to the input of angular velocity to the normal axis of the connected coordinate system, the second inputs of the twenty-ninth and thirtieth multipliers are connected to the input of angular velocity along the longitudinal axis coordinate system, the first summing input of the twentieth adder is connected to the output of the fifth differentiator, the second subtracting input - with the output of the twenty-eighth multiply I, the third summing input - with the output of the thirty-first multiplier, and the output - with the output of the longitudinal component of the absolute acceleration of the center of mass of the apparatus, the first summing input of the twenty-first adder is connected to the output of the sixth differentiator, the second subtracting input - with the output of the thirtyth multiplier, the third summing input - with the output of the twenty-sixth multiplier, and the output with the output of the normal component of the absolute acceleration of the center of mass of the apparatus, the first summing input of the twenty-second adder is connected to the output of the seventh ifferentsiatora second subtracting input - with the output of the twenty-seventh multiplier, a third summing input of - a twenty-ninth multiplier output, while the output - to yield the transverse component of the absolute acceleration of the center of mass system. In this case, the projections of the absolute linear acceleration vector of the center of mass of the apparatus on the axis of the associated coordinate system are determined by the signals of the navigation speed meter of the apparatus in the connected axes and the angular velocity sensor [12, p. 32 - 34]. Here, for example, as an apparatus speed sensor,
Doppler absolute speed meter. The third block for determining the components of the absolute acceleration of the center of mass of the apparatus implements the following relationship between the projections of the velocity vector of the apparatus, the vector of the angular velocity of the apparatus in the associated axes and the projections of the vector of absolute acceleration of the center of mass in the same axes:

where [W _XO , W _YO , W _ZO ] 'is the projection of the absolute acceleration vector of the center of mass of the apparatus in the associated coordinate system of the apparatus;
(ω _x , ω _y , ω _z ) ′ projections of the angular velocity vector of the apparatus;
[V _X , V _Y , V _Z ] '- projections of the velocity vector of the apparatus.

 The analysis of the prior art by the applicant made it possible to establish that there are no analogues that are characterized by sets of features identical to all the features of the claimed method and device for determining the magnitude and direction of displacement of the center of mass of the apparatus. Therefore, each of the claimed inventions meets the condition of patentability "novelty."

 Search results for known solutions in this and related fields of technology in order to identify features that match the distinctive features of the prototypes of each claimed invention have shown that they do not follow explicitly from the prior art. From the prior art determined by the applicant, the influence of the transformations provided for by the essential features of each of the claimed inventions on the achievement of the indicated technical result has not been revealed. Therefore, each of the claimed inventions meets the condition of patentability "inventive step".

 In the present application for the grant of a patent, the requirement of the unity of the invention is met, since the method and device are designed to determine the magnitude and direction of displacement of the center of mass of the apparatus. The claimed inventions solve the same problem - determining the magnitude and direction of the displacement of the center of mass of the apparatus in flight for any parameters of its orientation, changing the configuration of the apparatus, moving loads, the effect of external and internal disturbances on it, comparing the magnitude and direction of the displacement of the center of mass with acceptable values to control and ensure flight safety and possible control of the movement of the device, taking into account the exact centering value. The only technical result in the implementation of the invention is the creation of integrated control and monitoring systems with high technical and economic indicators.

In FIG. 1 shows the relative position of the coordinate systems of the apparatus (Ap) and the Earth (Z1-Z2), where the following notation is adopted:
O ₀ X ₀ Y ₀ Z ₀ is a geocentric coordinate system whose center - point O ₀ - is located in the center of the Earth, the axis O ₀ Z _{0 is} directed along the axis of rotation of the Earth towards the North Pole, the axis O ₀ X ₀ lies in the plane of the equator E1 - E2 and the zero (Greenwich) meridian, the axis O ₀ Y _{0 is} perpendicular to the plane of the zero meridian and is located in the plane of the equator;
X ₀ - geocentric coordinate of the apparatus along the axis in the plane of the earth's equator and the zero meridian;
Y ₀ is the geocentric coordinate of the apparatus along an axis perpendicular to the plane of the zero meridian and located in the plane of the equator;
Z ₀ - geocentric coordinate of the apparatus along the axis of rotation of the Earth;
O ₀ X _g0 Y _g0 Z _g0 is a geocentric normal coordinate system whose center - point O ₀ - is located in the center of the Earth, the axis O ₀ X _g0 lies in the plane of the equator E1-E2 at an angle λ to the axis O ₀ X ₀ parallel to the direction of motion, the axis O ₀ Y _{g0 is} perpendicular to O ₀ X _g0 and directed vertically at the point O _{0g1 of the} location of the apparatus on Earth, the axis O ₀ Z _g0 , mutually perpendicular to the axes O ₀ X _g0 , O ₀ Y _g0 , lies in the plane of the meridian of point O _{g1 the} location of the apparatus and forms the right coordinate system;
λ, φ are the angles of longitude and latitude of the point O _g1 , the location of the device in the geocentric coordinate system O ₀ X ₀ Y ₀ Z ₀ , determine the angular position O ₀ X ₀ Y ₀ Z ₀ and O ₀ X _g0 Y _g0 Z _g0 , O _g1 X _g1 Y _g1 Z _g1 ;
O _g1 X _g1 Y _g1 Z _g1 - the Earth's coordinate system, the center of which is the point O _g1 - is located at the location of the device on Earth, the axis O _g1 Y _{g1 is} directed vertically, the axis O _g1 X _{g1 is} parallel to O ₀ X _g0 and directed in the direction of movement, the axis O _g1 Z _{g1 is} parallel to O ₀ Z _g0 , the axes O _g1 X _g1 , O _g1 Z _g1 lie in the horizontal plane and form the right coordinate system;
O _g X _g Y _g Z _g - the earth coordinate system of the locator, the center of which is the point O _g - is located at the location of the locator, and the axes are parallel to the axes of the earth coordinate system O _g1 X _g1 Y _g1 Z _g1 ;
X _g - the coordinate of the apparatus along the horizontal axis of the direction of motion of the Earth's coordinate system;
Y _g - the coordinates of the apparatus along the axis of the local vertical of the earth's coordinate system;
Z _g - the coordinate of the apparatus along the horizontal axis perpendicular to the axis of the direction of movement;
X _g , Y _g , Z _g - earth coordinates of the device;
OX _g2 Y _g2 Z _g2 - a moving earth coordinate system whose axes have the same direction as X _g1 , Y _g1 , Z _g1 , but the origin - point O is located on the device in its center of mass; axis OX _g2 - horizontal axis of the direction of movement; axis OY _g2 - local vertical; OZ _g2 - perpendicular to the direction of movement;
O _f X _f Y _f Z _f - fuselage coordinate system, O _f - reference point; O _f X _f - the construction horizontal of the fuselage in its plane of symmetry; the axis O _f Y _{f is} perpendicular to O _f X _f in the plane of symmetry of the apparatus, the axis O _f Z _f extends the coordinate system to the right and is directed towards the right wing;
OX ₁ Y ₁ Z ₁ is a connected coordinate system whose center - point O - is located in the center of mass of the apparatus, the longitudinal axis OX _{1 is} parallel to the construction axis O _f X _f , the normal axis OY _{1 is} parallel to the construction axis O _f Y _f , the transverse axis OZ ₁ perpendicular to the plane of symmetry of the apparatus and directed towards the right wing;
x is the displacement of the center of mass along the longitudinal axis of the associated coordinate system;
y is the displacement of the center of mass along the normal axis of the associated coordinate system;
z is the displacement of the center of mass along the transverse axis of the associated coordinate system;
ψ, ϑ, γ — heading, pitch, and roll angles determine the mutual angular position of the coordinate systems OX ₁ Y ₁ Z ₁ and OX _g2 Y _g2 Z _g2 ;
ω is the value of the angular velocity of the apparatus;
ω _x is the angular velocity along the longitudinal axis of the associated coordinate system;
ω _y is the angular velocity along the normal axis of the associated coordinate system;
ω _z is the angular velocity along the transverse axis of the associated coordinate system;
W _A - the absolute acceleration of the apparatus at point A, where the accelerometer is installed;
W _O - the magnitude of the absolute acceleration of the apparatus at point O - the center of mass of the apparatus;
ρ is the magnitude of the displacement of the center of mass of the apparatus relative to point A - the installation site of the accelerometer on the apparatus;
ρ _A is the distance of the point A of the installation of the accelerometer from the reference point O _f ;
In FIG. 2 shows a structural diagram of a device for determining the magnitude and direction of displacement of the center of mass of the apparatus according to claim 4 of the formula, where the following notation is adopted:
1 - accelerometer;
2-1 - the first adder;
3-1, 3-2 - the first and second frequency selectors;
4 - block of the current coordinates of the center of mass;
5 - gravity acceleration sensor;
6 - block determining the components of the acceleration of gravity;
7 - pitch sensor;
8 - roll sensor;
9 - angular velocity sensor;
10 - tire displacement of the center of mass.

In FIG. 3 is a structural diagram of a device for determining the magnitude and direction of displacement of the center of mass of the apparatus according to claim 5, where the following notation is adopted:
1 - accelerometer;
2-1 - the first adder;
3-1, 3-2 - the first and second frequency selectors;
4 - block of the current coordinates of the center of mass;
5 - gravity acceleration sensor;
6 - block determining the components of the acceleration of gravity.

7 - pitch sensor;
8 - roll sensor;
9 - angular velocity sensor;
10 - tire displacement of the center of mass;
11 - adjuster of the design coordinates of the accelerometer on the apparatus;
12-1 - the first block of subtraction;
13 - tire deviation of the displacement of the center of mass.

In FIG. 4 is a structural diagram of a gravity acceleration sensor 5 according to claim 6, where the following notation is adopted:
14 - latitude sensor;
15-1 - the first functional converter;
2-2 - the second adder;
16 - height sensor.

 17 - the reference value of the acceleration of gravity.

In FIG. 5 is a structural diagram of a unit 6 for determining the components of the acceleration of gravity according to claim 7 of the formula, where the following notation is adopted:
18-1, 18-2 - the first and second coordinate converters;
19-1, 19-2 - the first and second sine functional converters;
20-1, 20-2 - the first and second cosine functional converters;
21 - tire acceleration of gravity.

In FIG. 6 shows the structural diagram of the transducers 18-1 - 18-10 coordinates according to claim 8 of the formula, where the following notation is accepted:
2-3 - the third adder;
12-2 - the second block of subtraction;
22-1, 22-2, 22-3, 22-4 - the first, second, third, fourth multipliers;
In FIG. 7 is a structural diagram of a block of 4 current coordinates of the center of mass according to claim 9 of the formula, where the following notation is adopted:
23 is a block for determining projections;
24 - integrator of the center of mass coordinates;
25 - tire increment absolute acceleration;
26 - tire angular velocity.

In FIG. 8 is a structural diagram of a block 23 for determining projections according to claim 10 of the formula, where the following notation is adopted:
2-4, 2-5, 2-6, 2-7, 2-8, 2-9 - the fourth, fifth, sixth, seventh, eighth, ninth adders;
12-3, 12-4, 12-5 - the third, fourth, fifth blocks of subtraction;
22-5, 22-6, 22-7, 22-8, 22-9, 22-10 - fifth, sixth, seventh, eighth, ninth, tenth multipliers;
27-1, 27-2, 27-2 - the first, second, third inverters;
28-1, 28-2, 28-3 - the first, second, third amplifiers;
29-1, 29-2, 29-3 - the first, second, third differentiators.

In FIG. 9 is a structural diagram of an integrator of 24 coordinates of the center of mass according to claim 11 of the formula, where the following notation is adopted:
2-10, 2-11, 2-12 - the tenth, eleventh, twelfth adders;
22-11, 22-12, 22-13, 22-14, 22-15, 22-16, 22-17, 22-18, 22-19, 22-20, 22-21, 22-22, 22- 23, 22-24, 22-25 - eleventh, twelfth, thirteenth, fourteenth, fifteenth, sixteenth, seventeenth, eighteenth, nineteenth, twentieth, twenty first, twenty second, twenty third, twenty fourth, twenty fifth multipliers;
27-4, 27-5, 27-6, 27-7, 27-8, 27-9 - the fourth, fifth, sixth, seventh, eighth, ninth inverters;
30-1, 30-2, 30-3, 30-4, 30-5, 30-6 - the first, second, third, fourth, fifth, sixth integrators.

In FIG. 10 is a structural diagram of a frequency selector 3-1 - 3-2 according to claim 12 of the formula, where the following notation is adopted:
2-13, 2-14, 2-15, 2-16, 2-17, 2-18, 2-19 - the thirteenth, fourteenth, fifteenth, sixteenth, seventeenth, eighteenth, nineteenth adders;
28-4, 28-5, 28-6, 28-7, 28-8 - the fourth, fifth, sixth, seventh, eighth amplifiers;
31-1, 31-2, 31-3, 31-4 - the first, second, third, fourth delay schemes.

In FIG. 11 is a structural diagram of a device for determining the magnitude and direction of displacement of the center of mass of the apparatus according to claim 13 of the formula, where the following notation is adopted:
1 - accelerometer;
2-1 - the first adder;
4 - block of the current coordinates of the center of mass;
5 - gravity acceleration sensor;
6 - block determining the components of the acceleration of gravity;
7 - pitch sensor;
8 - roll sensor;
9 - angular velocity sensor;
10 - tire displacement of the center of mass;
12-6 - the sixth unit of subtraction;
14 - latitude sensor;
32 - sensor geocentric coordinates;
33 - block double differentiation;
34 - the first block determining the components of the absolute acceleration of the center of mass;
35 - longitude sensor;
36 - heading sensor.

In FIG. 12 is a structural diagram of the first block 34 for determining the components of the absolute acceleration of the center of mass according to claim 14 of the formula, where the following notation is adopted:
18-3, 18-4, 18-5, 18-6, 18-7- third, fourth, fifth, sixth, seventh coordinate converters;
19-3, 19-4, 19-5, 19-6, 19-7 - the third, fourth, fifth, sixth, seventh sinus functional converters;
20-3, 20-4, 20-5, 20-6, 20-7 - the third, fourth, fifth, sixth, seventh cosine functional converters;
37 - tire absolute acceleration of the geocentric coordinates of the apparatus;
38 - tire absolute acceleration of the center of mass of the apparatus.

In FIG. 13 is a structural diagram of a device for determining the magnitude and direction of displacement of the center of mass of the apparatus according to p. 15 of the formula, where the following notation is adopted:
1 - accelerometer;
2-1 - the first adder;
4 - block of the current coordinates of the center of mass;
5 - gravity acceleration sensor;
6 - block determining the components of the acceleration of gravity;
7 - pitch sensor;
8 - roll sensor;
9 - angular velocity sensor;
10 - tire displacement of the center of mass;
12-6 - the sixth unit of subtraction;
14 - latitude sensor;
29-4 - the fourth differentiator;
34 - the first block determining the components of the absolute acceleration of the center of mass;
35 - longitude sensor;
36 - heading sensor;
39 - speed sensor changes geocentric coordinates.

In FIG. 14 is a structural diagram of a device for determining the magnitude and direction of displacement of the center of mass of an apparatus according to claim 16, where the following notation is adopted:
1 - accelerometer;
2-1 - the first adder;
4 - block of the current coordinates of the center of mass;
5 - gravity acceleration sensor;
6 - block determining the components of the acceleration of gravity;
7 - pitch sensor;
8 - roll sensor;
9 - angular velocity sensor;
10 - tire displacement of the center of mass;
12-6 - the sixth unit of subtraction;
33 - block double differentiation;
36 - heading sensor;
40 - sensor of earth coordinates;
41 - the second block for determining the components of the absolute acceleration of the center of mass.

In FIG. 15 is a structural diagram of a second block 41 for determining the components of the absolute acceleration of the center of mass according to claim 17 of the formula, where the following notation is adopted:
18-8, 18-9, 18-10 - the eighth, ninth, tenth coordinate converters;
19-8, 19-9, 19-10 - the eighth, ninth, tenth sinus functional converters;
20-8, 20-9, 20-10 - the eighth, ninth, tenth cosine functional converters;
38 - tire absolute acceleration of the center of mass of the apparatus;
42 - tire absolute acceleration of the earth's coordinates of the apparatus.

In FIG. 16 is a structural diagram of a device for determining the magnitude and direction of displacement of the center of mass of the apparatus according to p. 18 of the formula, where the following notation is adopted:
1 - accelerometer;
2-1 - the first adder;
4 - block of the current coordinates of the center of mass;
5 - gravity acceleration sensor;
6 - block determining the components of the acceleration of gravity;
7 - pitch sensor;
8 - roll sensor;
9 - angular velocity sensor;
10 - tire displacement of the center of mass;
12-6 - the sixth unit of subtraction;
29-4 - the fourth differentiator;
36 - heading sensor;
41 - the second block for determining the components of the absolute acceleration of the center of mass;
43 - speed sensor changes the Earth's coordinates.

In FIG. 17 is a structural diagram of a device for determining the magnitude and direction of displacement of the center of mass of the apparatus according to claim 19 of the formula, where the following notation is adopted:
1 - accelerometer;
2-1 - the first adder;
4 - block of the current coordinates of the center of mass;
5 - gravity acceleration sensor;
6 - block determining the components of the acceleration of gravity;
7 - pitch sensor;
8 - roll sensor;
9 - angular velocity sensor;
10 - tire displacement of the center of mass;
12-6 - the sixth unit of subtraction;
44 - apparatus speed sensor;
45 is the third block for determining the components of the absolute acceleration of the center of mass.

In FIG. 18 is a structural diagram of the third block 45 for determining the components of the absolute acceleration of the center of mass according to p. 20 of the formula, where the following notation:
2-20, 2-21, 2-22 - the twentieth, twenty-first, twenty-second adders;
22-26, 22-27, 22-28, 22-29, 22-30, 22-31 - twenty-sixth, twenty-seventh, twenty-eighth, twenty-ninth, thirtieth, thirty-first multipliers;
29-5, 29-6, 29-7 - fifth, sixth, seventh differentiators;
38 - tire absolute acceleration of the center of mass of the apparatus;
46 - tire speed apparatus;
47 - tire absolute angular velocity of the apparatus.

где W_A - величина абсолютного линейного ускорения точки A;
W_O - величина абсолютного линейного ускорения точки O, являющейся центром масс аппарата;
ω - величина абсолютной угловой скорости аппарата;
d ω /dt - величина абсолютного углового ускорения аппарата;
ρ - величина смещении центра масс по отношению к точке A;
t - время.The method is as follows. In FIG. 1, you can determine the absolute linear acceleration of point A, where the accelerometer is installed [1, p. 97]:

where W _A is the magnitude of the absolute linear acceleration of point A;
W _O - the magnitude of the absolute linear acceleration of the point O, which is the center of mass of the apparatus;
ω is the magnitude of the absolute angular velocity of the apparatus;
d ω / dt is the magnitude of the absolute angular acceleration of the apparatus;
ρ is the displacement of the center of mass with respect to point A;
t is time.

, получаем:

Смешение

центра масс определяется посредством решения этого уравнения. Для этого предварительно определяется абсолютное угловое ускорение

. Оно получается дифференцированием выходного сигнала датчика угловых скоростей. Абсолютное линейное ускорение получается суммированием кажущегося ускорения

, которое измеряет акселерометр, и ускорения

силы тяжести в точке местоположения аппарата:

Все измерения кажущегося ускорения и абсолютных угловых скоростей проводятся в связанной системе координат OX₁Y₁Z₁ аппарата. Проекции ускорения

силы тяжести на эти оси имеют вид:

а величина ускорения силы тяжести определяется по формуле
g = 9,78049(1+5,288•10^-3 sin² φ)- 3,086•10^-6•H, (24)
где φ - широта местоположения аппарата;
H - высота местоположения аппарата относительно поверхности Земли.Transforming expression (20) to the form of a differential equation with respect to the unknown

we get:

Mixing

the center of mass is determined by solving this equation. For this, the absolute angular acceleration is preliminarily determined.

. It is obtained by differentiating the output signal of the angular velocity sensor. Absolute linear acceleration is obtained by summing the apparent acceleration

which measures the accelerometer, and acceleration

gravity at the location of the apparatus:

All measurements of apparent acceleration and absolute angular velocities are carried out in the associated coordinate system OX ₁ Y ₁ Z ₁ apparatus. Acceleration projections

Gravity forces on these axes have the form:

and the magnitude of the acceleration of gravity is determined by the formula
g = 9.78049 (1 + 5.288 • 10 ^-3 sin ² φ) - 3.086 • 10 ^-6 • H, (24)
where φ is the latitude of the location of the apparatus;
H - the height of the location of the device relative to the surface of the Earth.

где [O, -g, O]' - проекции вектора ускорения силы тяжести на оси подвижной земной системы координат OX_g2Y_g2Z_g2;
[g_x, g_y, g_z]' - проекции вектора ускорения силы тяжести на оси связанной системы координат OX₁Y₁Z₁.In FIG. 1, you can determine the relationship between the projections of the acceleration vector of gravity in the moving earth coordinate system OX _g2 Y _g2 Z _g2 and the associated coordinate system OX ₁ Y ₁ Z ₁ apparatus

where [O, -g, O] 'is the projection of the gravity acceleration vector on the axis of the moving earth coordinate system OX _g2 Y _g2 Z _g2 ;
[g _x , g _y , g _z ] '- projections of the acceleration vector of gravity on the axis of the associated coordinate system OX ₁ Y ₁ Z ₁ .

силы силы тяжести возможно гравиметром [14, с. 75]. Однако предпочтительно аналитическое определение проекций g_x, g_y, g_z с помощью датчика 5 ускорения силы тяжести (фиг. 4) и блока 6 определения составляющих ускорения силы тяжести (фиг. 5). Последний содержит одинаковые преобразователи 18-1, 18-2 координат, аналогичные преобразователям 18-3, ... 18-10 координат, применяемым в других блоках. Преобразователи 18-1, ... 18-10 осуществляют преобразование проекций вектора из одной исходной системы координат в другую подвижную систему координат, две оси которой повернуты на угол α по отношению к осям исходной системы координат. При этом проекции вектора в исходной системе координат поступают на первый, четвертый и пятый входы преобразователя 18-1, ... 18-10 координат (фиг. 6), а угол α взаимного поворота, представленный через функции sin α и cos α, поступает соответственно на второй и третий входы. На первом, втором и третьем выходах преобразователей 18-1, ... 18-10 координат получаются проекции вектора на оси подвижной системы координат согласно следующего соотношения:

где U_вх.1, U_вх.4, U_вх.5 - сигналы, поступающие соответственно на первый, второй и пятый входы преобразователя (18-1, ... 18-10) координат;
U_вых.1, U_вых.2, U_вых.3 - выходные сигналы преобразователя координат;
α - угол поворота подвижной системы координат по отношению к исходной системе координат, отсчитываемый против часовой стрелки;
sin α, cos α - сигналы на втором и третьем входах преобразователя координат.Measurement of magnitude and direction of acceleration

gravity is possible with a gravimeter [14, p. 75]. However, it is preferable to analytically determine the projections g _x , g _y , g _z using the gravity acceleration sensor 5 (FIG. 4) and the gravity acceleration component determination unit 6 (FIG. 5). The latter contains the same transducers 18-1, 18-2 coordinates, similar to transducers 18-3, ... 18-10 coordinates used in other blocks. Converters 18-1, ... 18-10 convert the projections of the vector from one source coordinate system to another moving coordinate system, the two axes of which are rotated through an angle α with respect to the axes of the original coordinate system. In this case, the projections of the vector in the initial coordinate system are supplied to the first, fourth and fifth inputs of the coordinate transformer 18-1, ... 18-10 (Fig. 6), and the mutual rotation angle α represented through the functions sin α and cos α respectively to the second and third entrances. At the first, second and third outputs of the transducers 18-1, ... 18-10 coordinates, projections of the vector on the axis of the moving coordinate system are obtained according to the following relation:

where U _{input 1} , U _{input 4} , U _{input 5} - signals received respectively at the first, second and fifth inputs of the transducer (18-1, ... 18-10) coordinates;
U _oy.1 , U _oo.2 , U _oo.3 - output signals of the coordinate transformer;
α is the angle of rotation of the moving coordinate system with respect to the original coordinate system, counted counterclockwise;
sin α, cos α - signals at the second and third inputs of the coordinate transformer.

или в проекциях на оси связанной системы координат:
ΔW_x= W_xA-W_x0;
ΔW_y= W_yA-W_y0;
ΔW_z= W_zA-W_z0.
Оно получается из-за углового движения аппарата относительно центра масс. Причиной непрерывного углового движения аппарата являются внутренние и внешние воздействия от перемещения грузов, пассажиров, топлива, турбулентности воздушной среды. Угловое движение аппарата состоит из составляющих короткопериодического и длиннопериодического движений [5, с. 172; 12, с. 27; 16, с. 106] . Проведя узкополосную фильтрацию сигналов сравнительно интенсивного короткопериодического углового движения, можно выделить приращение

абсолютного ускорения. При этом выходные сигналы первого сумматора 2-1, пропорциональные абсолютному линейному ускорению, и датчика 9 угловых скоростей пропускаются соответственно через первый и второй частотные селекторы 3-1, 3-2. Выходной сигнал первого сумматора 2-1 после фильтрации в первом частотном селекторе 3-1 сохраняет информацию только о составляющей ускорения от короткопериодического углового движения относительно центра масс. Выходной сигнал датчика 9 угловых скоростей после фильтрации во втором частотном селекторе 3-2, сохраняет информацию только о составляющей угловой скорости короткопериодического углового движения аппарата относительно центра масс. После фильтрации параметров, соответствующих короткопериодическому угловому движению аппарата, их значения используются для решения дифференциального уравнения (21) в блоке 4 текущих координат центра масс. Интегрирование уравнения (21) приводит к нахождению смещения

центра масс, проекции X, Y, Z которого получаются на выходе блока 4 текущих координат центра масс. Зная допустимые значения смещения, а также конструктивные координаты

положения акселерометра на аппарате, можно определить и отклонение

смещения

центра масс аппарата от заданного значения по условию безопасного устойчивого движения. При этом заданное смещение

центра масс с задатчика 11 конструктивных координат акселерометра поступает на вход первого блока 12-1 вычитания, на второй вход которого поступает смещение

центра масс (фиг. 3). Выходной сигнал блока 12-1 вычитания пропорционален отклонению смещения центра масс от заданного значения

и может быть проградуирован в процентах средней аэродинамической хорды (САХ) крыла.The increment of the absolute linear acceleration of the apparatus at point A, where the accelerometer is installed, with respect to the absolute linear acceleration in the center of mass - point O - is determined by the formula:

or in projections on the axis of the associated coordinate system:
ΔW _x = W _xA -W _x0 ;
ΔW _y = W _yA -W _y0 ;
ΔW _z = W _zA -W _z0 .
It is obtained due to the angular movement of the apparatus relative to the center of mass. The reason for the continuous angular movement of the apparatus is internal and external influences from the movement of goods, passengers, fuel, and turbulence in the air. The angular movement of the apparatus consists of the components of short-period and long-period movements [5, p. 172; 12, p. 27; 16, p. 106]. After narrow-band filtering of signals of relatively intense short-period angular motion, we can distinguish the increment

absolute acceleration. The output signals of the first adder 2-1, proportional to the absolute linear acceleration, and the angular velocity sensor 9 are passed through the first and second frequency selectors 3-1, 3-2, respectively. The output signal of the first adder 2-1 after filtering in the first frequency selector 3-1 stores information only about the acceleration component of the short-period angular motion relative to the center of mass. The output signal of the angular velocity sensor 9 after filtering in the second frequency selector 3-2 stores information only on the angular velocity component of the short-period angular motion of the apparatus relative to the center of mass. After filtering the parameters corresponding to the short-period angular motion of the apparatus, their values are used to solve differential equation (21) in block 4 of the current coordinates of the center of mass. Integration of equation (21) leads to finding the bias

center of mass, projection X, Y, Z which are obtained at the output of the block 4 of the current coordinates of the center of mass. Knowing the permissible offset values as well as the design coordinates

the position of the accelerometer on the device, you can determine the deviation

bias

the center of mass of the apparatus from a given value under the condition of safe steady movement. In this case, the specified offset

the center of mass from the adjuster 11 of the design coordinates of the accelerometer is fed to the input of the first subtraction unit 12-1, the second input of which receives the offset

center of mass (Fig. 3). The output of the subtraction unit 12-1 is proportional to the deviation of the center of mass offset from the set value

and can be graduated as a percentage of the average aerodynamic chord (MAR) of the wing.

абсолютного ускорения аппарата можно определить и с помощью измерений координат местоположения или скоростей аппарата его бортовой глобальной навигационной системой [20, с. 8]. В частности, с помощью спутниковой навигационной системы, как датчика 32 геоцентрических координат X₀, Y₀, Z₀, после двукратного дифференцирования в блоке 33 двойного дифференцирования

и приведения к проекциям в осях связанной системы координат в первом блоке 34 определения составляющих ускорения центра масс, можно вычислить величину и направление абсолютного ускорения

центра масс аппарата (фиг. 11). Приращение абсолютного ускорения из-за углового движения аппарата получается как разность абсолютного ускорения

) аппарата и абсолютного ускорения

центра масс на выходе блока 12-6 вычитания. В отличие от вышеизложенного варианта устройства здесь и в последующих вариантах для определения приращения абсолютного ускорения аппарата непосредственно вычисляется абсолютное ускорение центра масс. При этом используется основное назначение бортовой навигационной системы - выдавать информацию о положении и/или скорости центра масс аппарата [19, с. 6; 30, с. 5]. В частности, если спутниковая навигационная система выдает информацию о скорости изменения геоцентрических координат

аппарата (фиг. 13), то для определения абсолютного ускорения центра

масс достаточно однократного дифференцирования выходного сигнала датчика 39 скорости изменения геоцентрических координат в четвертом дифференциаторе 29-4 с последующим прохождением сигнала абсолютного ускорения

через тот же первый блок 34 определения составляющих абсолютного ускорения центра масс. Приращение

абсолютного ускорения с выхода блока 12-6 вычитания поступает на вход блока 4 текущих координат центра масс. На второй вход поступает информация об абсолютной угловой скорости аппарата с датчика 9 угловых скоростей. Последующее интегрирование уравнений (21) приводит к нахождению смещения

центра масс. По фиг. 1 можно определить соотношение между проекциями вектора абсолютного ускорения

(или скорости

) центра масс аппарата в геоцентрической системе координат O₀X₀Y₀Z₀ и связанной системе координат OX₁Y₁Z₁:

где

- проекции вектора абсолютного ускорения центра масс аппарата в геоцентрической системе координат;
[W_XO, W_YO, W_ZO] ' - проекции вектора абсолютного ускорения центра масс аппарата в связанной системе координат.Increment

absolute acceleration of the apparatus can also be determined by measuring the coordinates of the location or speeds of the apparatus by its onboard global navigation system [20, p. 8]. In particular, using a satellite navigation system, as a sensor 32 of the geocentric coordinates X ₀ , Y ₀ , Z ₀ , after two differentiation in block 33 double differentiation

and reduction to projections in the axes of the associated coordinate system in the first block 34 of determining the components of the acceleration of the center of mass, you can calculate the magnitude and direction of the absolute acceleration

the center of mass of the apparatus (Fig. 11). The increment of absolute acceleration due to the angular movement of the apparatus is obtained as the difference in absolute acceleration

) apparatus and absolute acceleration

the center of mass at the output of the subtraction block 12-6. In contrast to the foregoing embodiment of the device, here and in subsequent embodiments, to determine the increment of the absolute acceleration of the apparatus, the absolute acceleration of the center of mass is directly calculated. In this case, the main purpose of the on-board navigation system is used - to provide information on the position and / or speed of the center of mass of the apparatus [19, p. 6; 30, p. 5]. In particular, if the satellite navigation system provides information on the rate of change of geocentric coordinates

apparatus (Fig. 13), then to determine the absolute acceleration of the center

a mass of enough one-time differentiation of the output signal of the sensor 39 of the rate of change of geocentric coordinates in the fourth differentiator 29-4 with the subsequent passage of the absolute acceleration signal

through the same first block 34 determining the components of the absolute acceleration of the center of mass. Increment

absolute acceleration from the output of block 12-6 subtraction goes to the input of the block 4 of the current coordinates of the center of mass. The second input receives information about the absolute angular velocity of the apparatus from the sensor 9 angular velocities. Subsequent integration of equations (21) leads to finding the bias

center of mass. In FIG. 1, we can determine the relationship between the projections of the absolute acceleration vector

(or speed

) the center of mass of the apparatus in the geocentric coordinate system O ₀ X ₀ Y ₀ Z ₀ and the associated coordinate system OX ₁ Y ₁ Z ₁ :

Where

- projections of the absolute acceleration vector of the center of mass of the apparatus in a geocentric coordinate system;
[W _XO , W _YO , W _ZO ] '- projections of the absolute acceleration vector of the center of mass of the apparatus in a connected coordinate system.

абсолютного ускорения аппарата можно определить и с помощью измерений координат местоположения или скоростей аппарата его бортовой системой ближней навигации, радиус действия которой ограничен зоной прямой видимости с аппарата точки O_g земной системы координат локатора. В частности, это возможно с помощью лазерных локационных систем [17, с. 183; 26; 27; 28, с. 73] или радиотехнических систем ближней навигации [29, с. 96; 31, с. 94]. Координаты местоположения X_g, Y_g, Z_g аппарата в земной системе координат локатора (фиг. 1) измеряются датчиком 40 земных координат (фиг. 14). В этом устройстве абсолютное ускорение

центра масс получается после дифференцирования координат X_g, Y_g, Z_g в блоке 33 двойного дифференцирования и последующего преобразования этой информации к осям связанной системы координат во втором блоке 41 определения составляющих абсолютного ускорения центра масс аппарата.Increment

The absolute acceleration of the device can also be determined by measuring the coordinates of the location or speeds of the device by its on-board short-range navigation system, the radius of which is limited by the line of sight from the apparatus of the point O _{g of the} earth coordinate system of the locator. In particular, this is possible with the help of laser location systems [17, p. 183; 26; 27; 28, p. 73] or radio systems of near navigation [29, p. 96; 31, p. 94]. The coordinates of the location X _g , Y _g , Z _{g of the} device in the earth coordinate system of the locator (Fig. 1) are measured by the sensor 40 of the Earth coordinates (Fig. 14). In this device, absolute acceleration

the center of mass is obtained after differentiating the coordinates X _g , Y _g , Z _g in the double differentiation block 33 and then converting this information to the axes of the associated coordinate system in the second block 41 for determining the components of the absolute acceleration of the center of mass of the apparatus.

абсолютного ускорения из-за углового движения аппарата получается также на выходе блока 12-6 вычитания в соответствии с формулой (27). Приращение

абсолютного ускорения с выхода блока 12-6 вычитания поступает на вход блока 4 текущих координат центра масс. На второй вход поступает информация об абсолютной угловой скорости аппарата с датчика 9 угловых скоростей. Последующее интегрирование уравнений (21) приводит к нахождению смещения

центра масс. В том случае, если система ближней навигации выдает информацию о скорости изменения земных координат

, то для определения абсолютного ускорения

достаточно однократного дифференцирования выходных сигналов датчика 43 скорости изменения земных координат

c последующим прохождением этого сигнала через второй блок 41 определения составляющих абсолютного ускорения центра масс до поступления на вход блока 12-6 вычитания. После нахождения приращения ускорения

процесс решения уравнения (21) аналогичен вышеизложенному. По фиг. 1 можно определить соотношение между проекциями вектора абсолютного ускорения

(или скорости

) центра масс аппарата в земной системе координат локатора и связанной системой координат:

где

- проекции вектора абсолютного ускорения центра масс аппарата в земной системе координат локатора.Increment

absolute acceleration due to the angular movement of the apparatus is also obtained at the output of the subtraction block 12-6 in accordance with formula (27). Increment

absolute acceleration from the output of block 12-6 subtraction goes to the input of the block 4 of the current coordinates of the center of mass. The second input receives information about the absolute angular velocity of the apparatus from the sensor 9 angular velocities. Subsequent integration of equations (21) leads to finding the bias

center of mass. In the event that the short-range navigation system provides information about the rate of change of earth coordinates

then to determine the absolute acceleration

a single differentiation of the output signals of the sensor 43 of the rate of change of earth coordinates is sufficient

with the subsequent passage of this signal through the second block 41 of determining the components of the absolute acceleration of the center of mass until the input to the block 12-6 subtraction. After finding the increment of acceleration

the process of solving equation (21) is similar to the above. In FIG. 1, we can determine the relationship between the projections of the absolute acceleration vector

(or speed

) the center of mass of the apparatus in the earth coordinate system of the locator and the associated coordinate system:

Where

- projections of the absolute acceleration vector of the center of mass of the apparatus in the earth coordinate system of the locator.

абсолютного ускорения аппарата можно определять и с помощью измерения абсолютной скорости

аппарата в осях связанной системы координат OX₁ Y₁ Z₁. В частности, это возможно делать с помощью доплеровских навигационных измерителей скорости аппарата относительно Земли [26, с. 135, 29, с. 218; 30]. Проекции абсолютной скорости V_x, V_y, V_z в связанных осях измеряются датчиком 44 скорости аппарата и далее поступают на первый вход третьего блока 45 определения составляющих абсолютного ускорения центра масс. Одновременно на второй вход этого же блока 45 определения составляющих поступает сигнал с датчика 9 угловых скоростей о векторе ω_x,ω_y,ω_z абсолютной угловой скорости. Третий блок 45 определения составляющих абсолютного ускорения центра масс вычисляет проекции вектора

абсолютного ускорения центра масс аппарата согласно следующему соотношению:

где [W_XO, W_YO, W_ZO] ' - проекции вектора абсолютного ускорения центра масс аппарата в связанной системе координат OX₁Y₁Z₁;
[V_x, V_y, V_z] ' - проекции вектора абсолютной скорости аппарата в связанной системе координат OX₁Y₁Z₁;
[ω_x,ω_y,ω_z]′ - проекции вектора угловой скорости аппарата в связанной системе координат OX₁Y₁ Z₁;
d/dt - производная по времени.Increment

absolute acceleration of the apparatus can also be determined by measuring the absolute speed

apparatus in the axes of the associated coordinate system OX ₁ Y ₁ Z ₁ . In particular, it is possible to do this with the help of Doppler navigation speed meters of the device relative to the Earth [26, p. 135, 29, p. 218; thirty]. The projections of the absolute velocity V _x , V _y , V _z in the coupled axes are measured by the apparatus speed sensor 44 and then fed to the first input of the third block 45 for determining the components of the absolute acceleration of the center of mass. At the same time, the second input of the same component determination unit 45 receives a signal from the angular velocity sensor 9 about the absolute angular velocity vector ω _x , ω _y , ω _z . The third block 45 for determining the components of the absolute acceleration of the center of mass calculates the projection of the vector

absolute acceleration of the center of mass of the apparatus according to the following ratio:

where [W _XO , W _YO , W _ZO ] 'is the projection of the absolute acceleration vector of the center of mass of the apparatus in the associated coordinate system OX ₁ Y ₁ Z ₁ ;
[V _x , V _y , V _z ] '- projections of the absolute velocity vector of the apparatus in the associated coordinate system OX ₁ Y ₁ Z ₁ ;
[ω _x , ω _y , ω _z ] ′ are the projections of the angular velocity vector of the apparatus in the coupled coordinate system OX ₁ Y ₁ Z ₁ ;
d / dt is the time derivative.

абсолютного ускорения из-за углового движения аппарата вокруг центра масс получается на выходе блока 12-6 вычитания. Далее по уравнению (21) в блоке 4 текущих координат центра масс определяется искомое смещение

.Increment

absolute acceleration due to the angular movement of the apparatus around the center of mass is obtained at the output of the subtraction block 12-6. Further, according to equation (21), in the block 4 of the current coordinates of the center of mass, the desired displacement is determined

.

 The device (Fig. 2) for determining the magnitude and direction of displacement of the center of mass of the apparatus contains a series-connected accelerometer 1, adder 2-1, frequency selector 3-1, block 4 of the current coordinates of the center of mass. It also contains a gravity acceleration sensor 5 connected in series, a unit 6 for determining gravity acceleration components, the second input of which is connected to the output of the pitch sensor 7, the third input - with the output of the roll sensor 8, and the output - with the second input of the adder 2-1. The angular velocity sensor 9 and the frequency selector 3-2 are serially connected, the output of which is connected to the second input of the block 4 of the current coordinates of the center of mass, the output of which forms the output bus 10 of the displacement of the center of mass.

 The device (Fig. 3) for determining the magnitude and direction of displacement of the center of mass of the apparatus contains a series-connected accelerometer 1, adder 2-1, frequency selector 3-1, block 4 of the current coordinates of the center of mass. It also contains a gravity acceleration sensor 5 connected in series, a unit 6 for determining gravity acceleration components, the second input of which is connected to the output of the pitch sensor 7, the third input - with the output of the roll sensor 8, and the output - with the second input of the adder 2-1. The angular velocity sensor 9 and the frequency selector 3-2 are connected in series, the output of which is connected to the second input of the block 4 of the current coordinates of the center of mass. It additionally contains a series-connected unit 11 of the structural coordinates of the accelerometer 1 on the apparatus and a subtraction unit 12-1, the second input of which is connected to the output line 10 of the center of mass displacement, and the output forms a line 13 of the center of mass displacement deviation.

 The gravity acceleration sensor 5 (Fig. 4) contains a latitude sensor 14 connected in series, a first functional converter 15-1 and an adder 12-2, the second summing input of which is connected to the output of the height sensor 16, and the third subtracting input is connected to the output of the reference unit 17 of the reference value acceleration of gravity, and the output with the output of the sensor 5 of the acceleration of gravity.

 The unit 6 for determining the components of the acceleration of gravity (Fig. 5) contains a serially connected transducer 18-1 coordinates, the first input of which is connected to the first input of the unit 6 for determining the components of the acceleration of gravity, the second input with the output of the sine functional Converter 19-1, the third input - with the output of the cosine functional converter 20-1, the coordinate converter 18-2, the second input of which is connected to the output of the sine functional converter 19-2, the third input - with the output of the cosine functional of the second transducer 20-2, the fourth input - with the first output of the coordinate transformer 18-1, the fifth input - with the second output of the coordinate transducer 18-2, the inputs of the sine and cosine functional transducers 19-1, 20-1 are connected to the second input of the determination unit 6 components of the acceleration of gravity, the third input of which is connected to the inputs of the sine and cosine functional converters 19-2, 20 - 2, and the output to the bus 21 of the acceleration of gravity so that the first output of the transducer 18-2 coordinates is connected to the output of the acceleration of gravity along the normal axis of the connected coordinate system, the second exit - with the output of the acceleration of gravity along the transverse axis of the connected coordinate system, and the third exit - with the output of the acceleration of gravity along the longitudinal axis of the connected coordinate system.

 The transducer 18-1, ... 18-10 coordinates (Fig. 6) contains a series-connected multiplier 22-1, the first input of which is connected to the first input of the transformer 18-1, ... 18-10 coordinates, the second input to the second the input of the transducer 18-1, ... 18-10 coordinates, the adder 2-3, the second input of which is connected to the output of the multiplier 22-2, and the output is the first output of the transducer 18-1, ... 18-10 coordinates, in series connected multiplier 22-3, the first input of which is connected to the first input of the transducer 18-1, ... 18-10 coordinates, the second input to the third input of the transform ator 18-1,. . . 18-10 coordinates, a subtraction unit 12-2, the summing input of which is connected to the output of the multiplier 22-3, the subtracting input - with the output of the multiplier 22-4, and the output - with the second output of the transformer of the educator 1 8-1, ... 18- 10 coordinates, the fourth input of the transducer 18-1, ... 18-10 coordinates connected to its third output, the fifth input to the first inputs of the multipliers 22-2, 22-4, the second inputs of which are connected respectively to the third and second inputs of the transducer 18 -1, ... 18-10 coordinates.

 Block 4 of the current coordinates of the center of mass (Fig. 7) contains series-connected block 23 of the definitions of the projections and the integrator 24 of the coordinates of the center of mass so that the first input of the block 4 of the current coordinates of the center of mass is connected to the tire 25 increments of absolute acceleration, the second input to the bus 26 angular the speed of the apparatus, and the output is with the bus 10 of the displacement of the center of mass, the first input of the projection determination unit 23 is connected to the input of the angular velocity along the transverse axis of the associated coordinate system, the second input is connected to the input of angular velocity along the normal axis th coordinate system, the third input - with the input of angular velocity along the longitudinal axis of the connected coordinate system, and the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth, eleventh and twelfth outputs - with the inputs of the same integrator 24 coordinates the center of mass, the thirteenth input of which is connected to the input of the increment of absolute acceleration along the longitudinal axis of the connected coordinate system, the fourteenth input - with the input of the increment of absolute acceleration along the normal axis of the connected coordinate system, the fifteenth input is the input of the increment of absolute acceleration along the transverse axis of the connected coordinate system, and the first output - with the output of the displacement of the center of mass along the longitudinal axis of the connected coordinate system, the second output - with the output of the displacement of the center of mass along the normal axis of the connected coordinate system, the third output - with the output of the displacement of the center of mass along the transverse axis of the associated coordinate system.

 The projection determination unit 23 (Fig. 8) contains a differentiator 29-1, the input of which, like the input of the amplifier 28-1, the first inputs of the multipliers 22-5, 22-6 and both inputs of the multiplier 22-7 are connected to the first input of the determination unit 23 projections, the input of the differentiator 29-2, as well as the input of the amplifier 28-2, the first input of the multiplier 22-8, the second input of the multiplier 22-5, and both inputs of the multiplier 22-9 are connected to the second input of the block 23 for determining the projections, the input of the differentiator 29-3 as the input of the amplifier 28-3, the second inputs of the multipliers 22-6, 22-8 and both inputs of the multiplier 22-10 are connected to the third input of the block 23 opr Projection, the first input of the adder 2-4 and the subtracting input of the subtraction unit 12-3 are connected to the output of the differentiator 29-1, and the second input of the adder 2-4 and the summing input of the subtracting unit 12-3 are connected to the output of the multiplier 22-8, the first input the adder 2-5 and the subtracting input of the subtraction unit 12-4 are connected to the output of the differentiator 29-2, and the second input of the adder 2-5 and the summing input of the subtracting unit 12-4 are connected to the output of the multiplier 22-6, the first input of the adder 2-6 and the subtracting input of the subtraction unit 12-5 is connected to the output of the differentiator 29-3, and the second input is summarized and 2-6 and the summing input of the subtraction block 12-5 are connected to the output of the multiplier 22-5, the first inputs of the adders 2-7, 2-8 are connected to the output of the multiplier 22-7, the second input of the adder 2-8 and the first input of the adder 2- 9 are connected to the output of the multiplier 22-9, the second inputs of the adders 2-9, 2-7 are connected to the output of the multiplier 22-10, the input of the inverter 27-1 is connected to the output of the adder 2-8, and the output is connected to the first output of the projection determination unit 23 the second output of which is connected to the output of the subtraction unit 12-3, and the third output is with the output of the adder 2-5, the output of the adder 2-4 is connected to the fourth output projection determination unit 23, the fifth output of which is connected to the output of the inverter 27-2 connected to the output of the adder 2-7, the sixth output of the projection determination unit 23 is connected to the output of the subtraction unit 12-4, the seventh output is the output of the subtraction unit 12-4, eighth output - with the output of the adder 2-6; the ninth output is with the output of the inverter 27-3 connected to the output of the adder 2-9, the tenth output is with the output of the amplifier 28-1, the eleventh output is with the output of the amplifier 28-3, the twelfth output is with the output of the amplifier 28-2.

 The integrator 24 coordinates of the center of mass (Fig. 9) contains a series-connected adder 2-10, integrator 30-1, integrator 30-2, inverter 27-4, multiplier 22-11, the second input of which is connected to the first input of the integrator 24 coordinates of the center of mass and the output is with the first input of the adder 2-10, the second input of which is connected to the thirteenth input of the integrator 24 of the center of mass coordinates, the third input is with the output of the multiplier 22-12, the first input connected to the second input of the integrator of 24 center of mass coordinates, the fourth input is with the output of the multiplier 22-13, the first input is connected with the third input of the integrator 24 coordinates of the center of mass, the fifth input with the output of the multiplier 22-14, the first input connected to the tenth input of the integrator 24 coordinates of the center of mass, the sixth input with the output of inverter 27-5, the adder 2-11 connected in series, the integrator 30-3, integrator 30-4, inverter 27-6, multiplier 22-15, the second input of which is connected to the fifth input of the integrator 24 coordinates of the center of mass, and the output to the first input of the adder 2-11, the second input of which is connected to the fourteenth input integrator 24 coordinates of the center of mass, the third input with output multiplier 22-16, the first input connected to the sixth input of the integrator 24 coordinates of the center of mass, the fourth input - with the output of the multiplier 22-17, the first input connected to the fourth input of the integrator 24 coordinates of the center of mass, the fifth input - with the output of the multiplier 22-18, the first the input is connected to the eleventh input of the integrator 24 coordinates of the center of mass, the sixth input is with the output of the inverter 27-7, the adder 2-12 is connected in series, the integrator 30-5, the integrator 30-6, the inverter 27-8, the multiplier 22-19, the second input which is connected to the ninth input of the integrator 24 coordinate inat of the center of mass, and the output - with the first input of the adder 2-12, the second input of which is connected to the fifteenth input of the integrator 24 coordinates of the center of mass, the third input - with the output of the multiplier 22-20, the first input connected to the eighth input of the integrator 24 of the coordinates of the center of mass, the fourth input - with the output of the multiplier 22-21, the first input connected to the seventh input of the integrator 24 coordinates of the center of mass, the fifth input - with the output of the multiplier 22-22, the first input connected with the twelfth input of the integrator 24 coordinates of the center of mass, the sixth input - with the output of the inverter 27-9, y a multiplier 22-23, the first input of which is connected to the tenth input of the integrator 24 coordinates of the center of mass, the second input, as the second input of the multiplier 22-22, with the output of the integrator 30-1, and the output - with the input of the inverter 27-7, the multiplier 22- 24, the first input of which is connected to the eleventh input of the integrator 24 coordinates of the center of mass, the second input, as the second input of the multiplier 22-14, with the output of the integrator 30-3, and the output - with the input of the inverter 27-9, the multiplier 22-25, the first the input of which is connected to the twelfth input of the integrator 24 coordinates of the center of mass, the second input, as well as the second input is the mind scissors 22-18 - with the output of the integrator 30-5, and the output with the input of the inverter 27-5, the output of the inverter 27-4 connected to the second inputs of the multipliers 22-17, 22-21 and the first output of the integrator 24 coordinates of the center of mass, the output of the inverter 27-6 is connected to the second inputs of the multipliers 22-12, 22-20 and the second output of the integrator 24 of the center of mass coordinates, the output of the inverter 27-8 is connected to the second inputs of the multipliers 22-13, 22-16 and the third output of the integrator 24 of the center of mass.

 The frequency selector 3-1, 3-2 (Fig. 10) contains a series-connected adder 2-13, the output of which is connected to the first input of the adder 2-14, the adder 2-15, the output of which is connected to the second input of the adder 2-14 and the first subtracting input of adder 2-16, amplifier 28-4, the output of which is connected to the third, fourth subtracting inputs of adder 2-14 and second summing input of adder 2-16, amplifier 28-5, amplifier 28-6, the output of which is connected to the fifth subtracting the input of the adder 2-14 and the third summing input of the adder 2-16, the output of which is connected to the input m of amplifier 28-7, adder 2-17, delay circuit 31-1, adder 2-18, the second input of which is connected to the output of amplifier 28-7, delay circuit 31-2; the adder 2-19, the second input of which is connected to the output of the adder 2-14, the delay circuit 31-3, the output of which is connected to the input of the amplifier 28-8, the output connected to the second input of the adder 2-13, the delay circuit 31-4, the output of which connected to the second subtracting input of the adder 2-17, as well as the second and third subtracting inputs of the adder 2-15. Frequency selectors 3-1, 3-2 contain three identical circuits (Fig. 10) for each component of the signals of the absolute acceleration bus of the apparatus and the bus of the absolute angular velocity of the apparatus.

 A device for determining the magnitude and direction of displacement of the center of mass of the apparatus (Fig. 11) contains a series-connected accelerometer 1, an adder 2-1, a subtraction unit 12-6, a block 4 of the current coordinates of the center of mass, a gravity acceleration sensor 5 and a determination unit 6 gravity acceleration components, the output of which is connected to the second input of the adder 2-1, and geocentric coordinates sensor 32, the double differentiation unit 33, the first absolute acceleration component determination unit 34 a center of mass, the second input of which is connected to the output of the longitude sensor 35, the third input is the output of the latitude sensor 14, the fourth input is the output of the heading sensor 36, the fifth input, as well as the second input of the unit for determining gravity acceleration components 6, is with the sensor output 7 pitch, the sixth input, as well as the third input of the unit 6 for determining the components of the acceleration of gravity with the output of the roll sensor 8, and the output with the second input of the subtraction unit 12-6, the output of the angular velocity sensor 9 is connected to the second input of the block 4 of the current center coordinates mass, the output of which forms a tire 10 of the displacement of the center of mass.

 The first block 34 for determining the components of the absolute acceleration of the center of mass (Fig. 12) contains series-connected transducers 18-3, 18-4, 18-5, 18-6, 18-7 of coordinates so that the first input of the first block 34 for determining the components of the absolute acceleration the center of mass is connected to the bus 37 for absolute acceleration of the geocentric coordinates of the apparatus, the second input is with the inputs of the sine and cosine functional converters 19-3, 20-3, the third input is with the inputs of the sine and cosine functional converters 19-4, 20-4, the fourth input - with syn inputs the current and cosine functional converters 19-5, 20-5, the fifth input - with the inputs of the sine and cosine functional converters 19-6, 20-6, the sixth input - with the inputs of the sine and cosine functional converters 19-7, 20-7, and the output is with the bus 38 of the absolute acceleration of the center of mass of the apparatus, the first input of the coordinate converter 18-3 connected to the input of the absolute acceleration of the geocentric coordinates of the apparatus along an axis perpendicular to the plane of the zero meridian and located in the plane of the equator, the second input with the output of syn of the functional converter 19-3, the third input - with the output of the cosine functional converter 20-3, the fourth input - with the input of the absolute acceleration of the geocentric coordinates of the device along the axis of rotation of the Earth, the fifth input - with the input of the absolute acceleration of the geocentric coordinates of the device along the axis in the plane of the Earth's equator and the zero meridian, the first input of the coordinate transformer 18-4 is connected to the third output of the coordinate transformer 18-3, the second input is the output of the sinus functional transducer 19-4, the third input is the output of the cosine functional converter 20-4, the fourth input is with the first output of the coordinate converter 18-3, the fifth input is with the second output of the coordinate converter 18-3, the first input of the coordinate converter 18-5 is connected to the third output of the coordinate converter 18-4, the second the input is with the output of the sine functional converter 19-5, the third input is with the output of the cosine functional converter 20-5, the fourth input is with the first output of the coordinate converter 18-4, the fifth input is with the second output of the coordinate converter 18-4 nat, the first input of the coordinate transformer 18-6 is connected to the third output of the coordinate transformer 18-5, the second input is the output of the sine function transducer 19-6, the third input is the output of the cosine functional transducer 20-6, the fourth input is the first output of the transducer 18-5 coordinates, the fifth input - with the second output of the transducer 18-5 coordinates, the first input of the transformer 18-7 coordinates is connected to the third output of the transformer 18-6 coordinates, the second input - with the output of the sine functional transducer 19-7, three the first input - with the output of the cosine functional transducer 20-7, the fourth input - with the first output of the transformer 18-6 coordinates, the fifth input - with the second output of the transformer 18-6 coordinates, the first output of the transformer 18-7 coordinates is connected to the output of the normal component of absolute acceleration the center of mass of the apparatus, the second exit — with the exit of the transverse component of the absolute acceleration of the center of mass of the apparatus, the third exit — with the exit of the longitudinal component of the absolute acceleration of the center of mass of the apparatus.

 A device for determining the magnitude and direction of displacement of the center of mass of the apparatus (Fig. 13) contains a series-connected accelerometer 1, an adder 2-1, a subtraction unit 12-6, a block 4 of the current coordinates of the center of mass, a gravity acceleration sensor 5 and a determination unit 6 components of the acceleration of gravity, the output of which is connected to the second input of the adder 2-1, and serially connected sensor 39 of the rate of change of geocentric coordinates, the differentiator 29-4, the first block 34 for determining the components of the absolute a center of mass, the second input of which is connected to the output of the longitude sensors 35, the third input - with the output of the latitude sensor 14, the fourth input - with the output of the 36 course sensor, the fifth input, as well as the second input of the unit for determining gravity acceleration components 6, with the sensor output 7 pitch, the sixth input - as the third input of the unit 6 for determining the components of the acceleration of gravity - with the output of the roll sensor 8, and the output - with the second input of the subtraction unit 12-6, the output of the angular velocity sensor 9 is connected to the second input of the block 4 of the current center coordinates masses, the output of which wow forms the output bus 10 of the displacement of the center of mass.

 A device for determining the magnitude and direction of displacement of the center of mass of the apparatus (Fig. 14) contains a series-connected accelerometer 1, an adder 2-1, a subtraction unit 12-6, a block 4 of the current coordinates of the center of mass, a gravity acceleration sensor 5 and a determination unit 6 components of the acceleration of gravity, the output of which is connected to the second input of the adder 2-1, and serially connected to the sensor 40 of the Earth coordinates, block 33 double differentiation, the second block 41 determining the components of the absolute acceleration center and the masses, the second input of which is connected to the output of the heading sensor 36, the third input, as well as the second input of the unit for determining gravity acceleration components 6, with the output of the pitch sensor 7, the fourth input, as well as the third input of the unit for determining gravity acceleration components 6, with the output of the roll sensor 8, and the output with the second input of the subtraction unit 12-6, the output of the angular velocity sensor 9 is connected to the second input of the block 4 of the current center of mass coordinates, the output of which forms the output bus 10 of the center of mass displacement.

 The second unit 41 for determining the components of the absolute acceleration of the center of mass (Fig. 15) contains sequentially connected coordinate transformers 18-8, 18-9, 18-10 so that the first input of the second unit 41 for determining the components of the absolute acceleration of the center of mass is connected to the absolute acceleration bus 42 earth coordinates of the apparatus, the second input - with the inputs of the sine and cosine functional converters 19-8, 20-8, the third input - with the inputs of the sine and cosine functional converters 19-9, 20-9, the fourth input - with the inputs of sine and cosine of functional converters 19-10, 20-10, and the output is with the bus 38 for the absolute acceleration of the center of mass of the apparatus, the first input of the transformer 18-8 coordinates connected to the input of absolute acceleration along the horizontal axis of the direction of movement of the earth coordinate system, the second input to the output sine functional converter 19-8, the third input - with the output of the cosine functional converter 20-8, the fourth input - with the input of absolute acceleration along the axis of the local vertical axis of the earth coordinate system, the fifth input - with the input of absolute of rotation along the horizontal axis perpendicular to the axis of the direction of motion of the Earth's coordinate system, the first input of the coordinate transformer 18-9 is connected to the third output of the coordinate transformer 18-8, the second input is the output of the sinus functional transducer 19-9, the third input is the output of the cosine functional transducer 20-9, the fourth input - with the first output of the transformer 18-8 coordinates, the fifth input - with the second output of the transformer 18-8 coordinates, the first input of the transformer 18-10 coordinates is connected to the third output of the transformer coordinate generator 18-9, the second input - with the output of the sine function converter 19-10, the third input - with the output of the cosine functional converter 20-10, the fourth input - with the first output of the coordinate converter 18-9, the fifth input - with the second output of the converter 18 -9 coordinates, the first output of the transducer 18-10 coordinates is connected to the output of the normal component of the absolute acceleration of the center of mass of the apparatus, the second output to the output of the transverse component of the absolute acceleration of the center of mass of the apparatus, the third output to the output of the lone component of the absolute acceleration of the center of mass of the apparatus.

 A device for determining the magnitude and direction of displacement of the center of mass of the apparatus (Fig. 16) contains a series-connected accelerometer 1, an adder 2-1, a subtraction unit 12-6, a block 4 of the current coordinates of the center of mass, a gravity acceleration sensor 5 and a determination unit 6 components of the acceleration of gravity, the output of which is connected to the second input of the adder 2-1, and serially connected sensor 43 of the rate of change of earth coordinates, the differentiator 29-4, the second block 41 for determining the components of the absolute acceleration ntra mass, the second input of which is connected to the output of the 36 course sensor, the third input, as well as the second input of the unit for determining gravity acceleration components 6, with the output of the pitch sensor 7, the fourth input, as well as the third input of the unit for determining gravity acceleration components 6, with the output of the roll sensor 8, and the output with the second input of the subtraction unit 12-6, the output of the angular velocity sensor 9 is connected to the second input of the block 4 of the current center of mass coordinates, the output of which forms the output bus 10 of the center of mass displacement.

 A device for determining the magnitude and direction of displacement of the center of mass of the apparatus (Fig. 17) contains a series-connected accelerometer 1, an adder 2-1, a subtraction unit 12-6, a block 4 of the current coordinates of the center of mass, a gravity acceleration sensor 5 and a determination unit 6 components of the acceleration of gravity, the second input of which is connected to the output of the pitch sensor 7, the third input is the output of the roll sensor 8, and the output is the second input of the adder 2-1, and the device speed sensor 44 is connected in series, the third block 45 is determined the components of the absolute acceleration of the center of mass, the second input of which is connected to the output of the angular velocity sensor 9, and the output is connected to the second input of the subtraction unit 12-6, the second input of the block 4 of the current coordinates of the center of mass is connected to the output of the angular velocity sensor 9, and the output forms the output the tire 10 of the displacement of the center of mass.

 The third block 45 for determining the components of the absolute acceleration of the center of mass (Fig. 18) contains differentiators 29-5, 29-6, 29-7, adders 2-20, 2-21, 2-22, multipliers 22-26, 22-27, 22-28, 22-2 9, 22-30, 22-31 so that the first input of the third unit 45 for determining the components of the absolute acceleration of the center of mass is connected to the apparatus speed bus 46, the second input to the apparatus absolute speed angular tire 47, and the output - with a bus 38 of absolute acceleration of the center of mass of the apparatus, the first inputs of the differentiator 29-5, multipliers 22-26, 22-27 are connected to the input of the speed of the apparatus along the longitudinal axis of the connection coordinate system, the first inputs of the differentiator 29-6, multipliers 22-28, 22-29 are connected to the speed input of the device along the normal axis of the connected coordinate system, the first inputs of the differentiator 29-7, multipliers 22-30, 22-31 are connected to the speed input apparatus along the transverse axis of the connected coordinate system, the second inputs of the multipliers 22-26, 22-28 are connected to the input of the angular velocity along the transverse axis of the connected coordinate system, the second inputs of the multipliers 22-27, 22-31 are connected to the input of the angular velocity along the normal axis of the connected system coordinate, second input The multipliers 22-29, 22-30 are connected to the input of angular velocity along the longitudinal axis of the associated coordinate system, the first adder input 2-20 is connected to the output of the differentiator 29-5, the second subtractor input is the output of the multiplier 22-28, the third adder - with the output of the multiplier 22-31, and the output with the output of the longitudinal component of the absolute acceleration of the center of mass of the apparatus, the first summing input of the adder 2-21 is connected to the output of the differentiator 29-6, the second subtracting input is with the output of the multiplier 22-30, the third summing input - with the output of the multiplier 22 -26, and the output - with the output of the normal component of the absolute acceleration of the center of mass of the apparatus, the first summing input of the adder 2-22 is connected to the output of the differentiator 29-7, the second subtracting input - with the output of the multiplier 22-27, the third summing input - with the output of the multiplier 22 -29, and the output is the output of the transverse component of the absolute, accelerated center of mass of the apparatus.

кажущегося линейного ускорения

, текущие углы тангажа ϑ и крена γ аппарата с помощью соответственно датчика угловых скоростей акселерометра, датчиков тангажа и крена гироскопического типа. Одновременно измеряют ускорение

силы тяжести в точке местоположения аппарата, например, гравиметром или с помощью датчиков широты φ и высоты H местоположения аппарата над поверхностью Земли. Величину g определяют согласно соотношения (8). Датчики угловых скоростей, тангажа, крена, широты, высоты, кажущегося ускорения - акселерометр могут входить в состав бортовой инерциальной системы аппарата. Гравиметр может быть расположен на аппарате либо на поверхности Земли в точке местоположения аппарата с одинаковым значением широты места. Значение измеренного ускорения g силы тяжести в последнем случае передается на аппарат, например по радиосвязи. После этого величина g уточняется по известной зависимости (8), в том случае, если аппарат расположен над поверхностью Земли. При этом высота H измеряется датчиком высоты аппарата. Применительно к летательному аппарату измерение величины ускорения g силы тяжести следует вести согласно соотношению (8) по широте φ и высоте H без гравиметрических измерений. Затем определяют величину и направление абсолютного линейного ускорения

аппарата, суммируя кажущееся линейное ускорение

и ускорение

силы тяжести в точке местоположения аппарата. Поскольку величина и направление абсолютного линейного ускорения

аппарата отличается от величины и направления абсолютного линейного ускорения

его центра масс на величину и направление приращения

абсолютного линейного ускорения аппарата из-за его углового движения относительно центра масс, то для нахождения смещения центра масс необходимо предварительно определить характеристики этого углового движения - величину и направление угловой скорости и углового ускорения. Измерение величины и направления абсолютного углового ускорения

осуществляют, предварительно измеряя величину и направление абсолютной угловой скорости

аппарата. Затем по окончании периода времени меньшего периода собственных короткопериодических составляющих угловых колебаний аппарата относительно его центра масс измеряют величину и направление приращения абсолютной угловой скорости аппарата и запоминают их. После этого определяют величину и направление абсолютного углового ускорения

аппарата по скорости приращения абсолютной угловой скорости за период времени меньший периода времени собственных короткопериодических составляющих угловых колебаний аппарата относительно его центра масс. Измерение абсолютного углового ускорения

возможно и с помощью специального датчика абсолютного углового ускорения аппарата, а не вышеуказанным дифференцированием выходной информации датчика угловых скоростей. Величину и направление приращения

абсолютного линейного ускорения аппарата по отношению к абсолютному линейному ускорению

аппарата в его центре масс определяют, узкополосно фильтруя на частоте собственных составляющих угловых колебаний аппарата относительно его центра масс сигнал, пропорциональный абсолютному линейному ускорению

аппарата. Аналогично определяется величина и направление угловой скорости и углового ускорения аппарата относительно его центра масс. На этой же частоте собственных периодических составляющих угловых колебаний аппарата узкополосно фильтруют сигналы, пропорциональные величине и направлению абсолютной угловой скорости и абсолютному угловому ускорению аппарата. Для летательного аппарата в качестве частоты собственных периодических составляющих угловых колебаний, на которой проводится указанная узкополосная фильтрация, выбирается частота короткопериодических составляющих угловых колебаний. Величину и направление приращения

абсолютного линейного ускорения аппарата можно определять и по разности абсолютного линейного ускорения

аппарата и абсолютного линейного ускорения

аппарата в его центре масс, измеренного по ускорению аппарата относительно Земли. При этом используются измерения навигационных параметров линейного перемещения аппарата, которые определяют движение центра масс. Измерения проводится с помощью навигационной системы либо непосредственно [18, с. 111] , либо при двойном дифференцировании линейных координат местоположения аппарата [17, с. 36 - 37), либо при однократном дифференцировании его линейных скоростей [22, с. 106- 108, 23, с. 198], либо через величину и направление линейных и угловых скоростей аппарата, измеренных в его связанных осях [20, с. 263, 318].The method for determining the magnitude and direction of displacement of the center of mass of the apparatus according to p. 1, 2, 3 of the formula is as follows. Measure the current magnitude and direction of absolute angular velocity

apparent linear acceleration

, the current pitch angles ϑ and roll γ of the apparatus using, respectively, the angular velocity sensor of the accelerometer, pitch and roll sensors of the gyroscopic type. At the same time measure acceleration

gravity at the point of location of the device, for example, with a gravimeter or using sensors of latitude φ and height H of the location of the device above the Earth's surface. The value of g is determined according to relation (8). Sensors of angular speeds, pitch, roll, latitude, height, apparent acceleration - the accelerometer can be part of the onboard inertial system of the device. The gravimeter can be located on the device or on the surface of the Earth at the location of the device with the same latitude. The value of the measured acceleration g of gravity in the latter case is transmitted to the device, for example by radio. After that, the value of g is refined according to the well-known dependence (8), if the device is located above the surface of the Earth. In this case, the height H is measured by the apparatus height sensor. In relation to an aircraft, the measurement of the acceleration g of gravity should be carried out according to relation (8) in latitude φ and height H without gravimetric measurements. Then determine the magnitude and direction of the absolute linear acceleration

apparatus, adding up the apparent linear acceleration

and acceleration

gravity at the location of the apparatus. Since the magnitude and direction of absolute linear acceleration

apparatus differs from the magnitude and direction of absolute linear acceleration

its center of mass by the magnitude and direction of the increment

absolute acceleration of the apparatus due to its angular motion relative to the center of mass, then to find the displacement of the center of mass, you must first determine the characteristics of this angular motion - the magnitude and direction of the angular velocity and angular acceleration. Measurement of magnitude and direction of absolute angular acceleration

carry out, pre-measuring the magnitude and direction of the absolute angular velocity

apparatus. Then, at the end of a period of time of a shorter period of the intrinsic short-period components of the angular oscillations of the apparatus relative to its center of mass, the magnitude and direction of the increment of the absolute angular velocity of the apparatus are measured and stored. After that, determine the magnitude and direction of the absolute angular acceleration

apparatus in terms of increment of absolute angular velocity for a period of time shorter than the period of time of its own short-period components of the angular oscillations of the apparatus relative to its center of mass. Absolute angular acceleration measurement

it is possible also with the help of a special sensor of absolute angular acceleration of the apparatus, and not with the above differentiation of the output information of the angular velocity sensor. The size and direction of the increment

absolute linear acceleration of the apparatus with respect to absolute linear acceleration

the apparatus in its center of mass is determined by narrowly filtering at the frequency of the natural components of the angular oscillations of the apparatus relative to its center of mass a signal proportional to the absolute linear acceleration

apparatus. Similarly, the magnitude and direction of the angular velocity and angular acceleration of the apparatus relative to its center of mass are determined. At the same frequency of the natural periodic components of the angular oscillations of the apparatus, the signals proportionally to the magnitude and direction of the absolute angular velocity and the absolute angular acceleration of the apparatus are narrowly filtered. For the aircraft, the frequency of the short-period components of the angular oscillations is selected as the frequency of the natural periodic components of the angular oscillations at which the specified narrow-band filtering is performed. The size and direction of the increment

absolute linear acceleration of the apparatus can be determined by the difference in absolute linear acceleration

apparatus and absolute linear acceleration

apparatus in its center of mass, measured by the acceleration of the apparatus relative to the Earth. In this case, measurements of the navigation parameters of the linear movement of the apparatus are used, which determine the motion of the center of mass. Measurements are carried out using the navigation system or directly [18, p. 111], or with a double differentiation of the linear coordinates of the location of the apparatus [17, p. 36 - 37), or with a single differentiation of its linear velocities [22, p. 106-108, 23, p. 198], or through the magnitude and direction of the linear and angular velocities of the apparatus, measured in its associated axes [20, p. 263, 318].

, поступает на первый вход сумматора 2-1, на второй вход которого поступает сигнал, пропорциональный ускорению

силы тяжести, с выхода блока 6 определения составляющих ускорения силы тяжести. Последний формируется по сигналам датчика 5 ускорения силы тяжести, датчика 7 тангажа и датчика 8 крена, поступающим соответственно на первый, второй и третий входы блока 6 определения составляющих ускорения силы тяжести. После сложения сигналов, пропорциональных кажущемуся ускорению

и ускорению

силы тяжести, на выходе сумматора 2-1 получается сигнал, пропорциональный абсолютному линейному ускорению

аппарата. Он поступает на вход частотного селектора 3-1, где происходит его узкополосная фильтрация. На выходе частотного селектора 3-1 получается сигнал, пропорциональный приращению

абсолютного ускорения из-за углового движения аппарата относительно его центра масс. Сигнал с выхода частотного селектора 3-1 поступает на первый вход блока 4 текущих координат центра масс. Одновременно с выхода датчика 9 угловых скоростей сигнал, пропорциональный абсолютной угловой скорости

аппарата, поступает на вход 18 частотного селектора 3-2, где он также узкополосно фильтруется для выделения сигнала, пропорционального угловому движению аппарата относительно центра масс. Этот сигнал поступает на второй вход блока 4 текущих координат центра масс. В блоке 4 текущих координат центра масс определяется смещение

центра масс по отношению к точке А, где расположен акселерометр 1 на аппарате.A device for determining the magnitude and direction of displacement of the center of mass of the apparatus according to claim 4 of the formula (Fig. 2) works as follows. Accelerometer 1 output proportional to apparent acceleration

arrives at the first input of the adder 2-1, the second input of which receives a signal proportional to the acceleration

gravity, from the output of block 6 determining the components of the acceleration of gravity. The latter is formed by the signals of the sensor 5 of the acceleration of gravity, the pitch sensor 7 and the roll sensor 8, received respectively at the first, second and third inputs of the unit 6 for determining the components of the acceleration of gravity. After adding signals proportional to apparent acceleration

and accelerate

gravity, at the output of the adder 2-1, a signal is obtained proportional to the absolute linear acceleration

apparatus. It arrives at the input of the frequency selector 3-1, where its narrow-band filtering takes place. At the output of the frequency selector 3-1, a signal proportional to the increment is obtained

absolute acceleration due to the angular motion of the apparatus relative to its center of mass. The signal from the output of the frequency selector 3-1 is fed to the first input of the block 4 of the current coordinates of the center of mass. Simultaneously with the output of the 9 angular velocity sensor, a signal proportional to the absolute angular velocity

apparatus, is fed to input 18 of the frequency selector 3-2, where it is also narrow-band filtered to select a signal proportional to the angular movement of the apparatus relative to the center of mass. This signal is fed to the second input of the block 4 of the current coordinates of the center of mass. In block 4 of the current coordinates of the center of mass, the offset is determined

the center of mass with respect to point A, where the accelerometer 1 is located on the apparatus.

, поступает на первый вход сумматора 2-1, на второй вход которого поступает сигнал, пропорциональный ускорению

силы тяжести, с выхода блока 6 определения составляющих ускорения силы тяжести. Последний формируется по сигналам датчика 5 ускорения силы тяжести, датчика 7 тангажа и датчика 8 крена, поступающим соответственно на первый, второй и третий входы блока 6 определения составляющих ускорения силы тяжести. После сложения сигналов, пропорциональных кажущемуся ускорению

и ускорению

силы тяжести, на выходе сумматора 2-1 получается сигнал, пропорциональный абсолютному линейному ускорению

аппарата. Он поступает на вход частотного селектора 3-1, где происходит его узкополосная фильтрация. На выходе частотного селектора 3-1 получается сигнал, пропорциональный приращению

абсолютного ускорения из-за углового движения аппарата относительно его центра масс. Сигнал с выхода частотного селектора 3-1 поступает на первый вход блока 4 текущих координат центра масс. Одновременно с выхода датчика 9 угловых скоростей сигнал, пропорциональный абсолютной угловой скорости

аппарата, поступает на вход частотного селектора 3-2, где он также узкополосно фильтруется для выделения сигнала, пропорционального угловому движению аппарата относительно центра масс. Этот сигнал поступает на второй вход блока 4 текущих координат центра масс. В блоке 4 текущих координат центра масс определяется смещение

центра масс по отношению к точке А, где расположен акселерометр 1 на аппарате. Сигнал, пропорциональный заданному смещению

центра масс с выхода задатчика 11 конструктивных координат акселерометра 1 на аппарате, поступает на первый вход блока 12-1 вычитания. На его второй вход поступает сигнал с выхода блока 4 текущих координат центра масс. Выходной сигнал блока 12-1 вычитания пропорционален отклонению

смещения центра масс от заданного значения

и может быть проградуирован в процентах средней аэродинамической хорды (САХ) крыла для летательного аппарата.A device for determining the magnitude and direction of displacement of the center of mass of the apparatus according to claim 5 of the formula (Fig. 3) works as follows. Accelerometer 1 output proportional to apparent acceleration

arrives at the first input of the adder 2-1, the second input of which receives a signal proportional to the acceleration

gravity, from the output of block 6 determining the components of the acceleration of gravity. The latter is formed by the signals of the sensor 5 of the acceleration of gravity, the pitch sensor 7 and the roll sensor 8, received respectively at the first, second and third inputs of the unit 6 for determining the components of the acceleration of gravity. After adding signals proportional to apparent acceleration

and accelerate

gravity, at the output of the adder 2-1, a signal is obtained proportional to the absolute linear acceleration

apparatus. It arrives at the input of the frequency selector 3-1, where its narrow-band filtering takes place. At the output of the frequency selector 3-1, a signal proportional to the increment is obtained

absolute acceleration due to the angular motion of the apparatus relative to its center of mass. The signal from the output of the frequency selector 3-1 is fed to the first input of the block 4 of the current coordinates of the center of mass. Simultaneously with the output of the 9 angular velocity sensor, a signal proportional to the absolute angular velocity

of the apparatus, it is fed to the input of the frequency selector 3-2, where it is also narrowly filtered to isolate a signal proportional to the angular motion of the apparatus relative to the center of mass. This signal is fed to the second input of the block 4 of the current coordinates of the center of mass. In block 4 of the current coordinates of the center of mass, the offset is determined

the center of mass with respect to point A, where the accelerometer 1 is located on the apparatus. Signal proportional to set offset

the center of mass from the output of the setter 11 of the structural coordinates of the accelerometer 1 on the apparatus, is fed to the first input of the subtraction unit 12-1. Its second input receives a signal from the output of the block 4 of the current coordinates of the center of mass. The output of the subtraction block 12-1 is proportional to the deviation

displacements of the center of mass from the set value

and can be graded as a percentage of the average aerodynamic chord (MAR) of the wing for the aircraft.

The gravity acceleration sensor 5 according to claim 6 of the formula (Fig. 4) works as follows. A signal proportional to the latitude φ of the device’s location is transmitted from the latitude sensor 14 to the input of the first functional converter 15-1, where the output is a signal proportional to 5.288 • 10 ^-3 sin ² φ — a change in the acceleration of gravity from the latitude of the place. This signal is fed to the first subtracting input of the adder 2-2. The second summing input of adder 2-2 receives a signal proportional to 3.086 • 10 ^-6 N from the sensor 16 of the device’s elevation above the Earth’s surface, and the third subtracting input receives a constant signal proportional to the acceleration of gravity at the equator 9.7804 9 m / with ² , from the sensor 17 of the reference value of the acceleration of gravity. From the output of the gravity acceleration sensor 5, a sign-inverted signal is obtained proportional to the magnitude of the gravity acceleration g at the location of the apparatus.

 Block 6 determining the components of the acceleration of gravity according to p. 7 of the formula (Fig. 5) works as follows. The signal from the first input of the unit 6 for determining the components of the acceleration of gravity, proportional to the inverted value of the acceleration g of gravity, is fed to the first input of the transducer 18-1 coordinates, the second and third inputs of which receive signals proportional to sin ϑ and cos соответственно, respectively, from the sine 19 -1 and cosine 20-1 functional converters. The input signal of the latter, proportional to the pitch angle ϑ, comes from the second input of the unit 6 for determining the components of the acceleration of gravity. From the third input of the unit 6 for determining the components of the acceleration of gravity, a signal proportional to the angle of heel γ is fed to the inputs of the sine 19-2 and cosine 20-2 functional converters. The second and third inputs of the coordinate transducer 18-2 receive signals proportional to sin γ and cos γ, respectively, from the sine 19-2 and cosine 20-2 functional converters. The fourth input of the transducer 18-2 coordinates receives a signal proportional to -g sin ϑ from the first output of the transformer 18-1 coordinates. The fifth input receives a signal proportional to -g cos выхода from the second output of the coordinate converter 18-1. In this case, a signal proportional to -g sin ϑ is obtained from the first output of converter 18-2, a signal proportional to g cos ϑ cos γ is received from the second output, and a signal proportional to g cos ϑ sin γ is received from the third output. These signals are sent to the bus 21 accelerations of gravity and are respectively the acceleration of gravity along the normal axis of the associated coordinate system, the acceleration of gravity along the transverse axis of the associated coordinate system and the acceleration of gravity along the longitudinal axis of the associated coordinate system of the apparatus.

 Converter 18-1, ... 18-10 coordinates according to claim 8 of the formula (Fig. 6) works as follows. The signal from the first input of the transducer 18-1, ... 18-10 coordinates is supplied to the first inputs of the multipliers 22-1, 22-3, the second inputs of which receive signals from the second and third inputs of the transducer 18-1, ... 18, respectively -10 coordinates. The output signal of the multiplier 22-1 is supplied to the first input of the adder 2-3, the second input of which receives the output signal of the multiplier 22-2. The latter multiplies the signals arriving at its first and second inputs, respectively, from the fifth and third inputs of the transducer 18-1, ... 18-10 coordinates. The output signal of the multiplier 22-3 is supplied to the summing input of the subtraction unit 12-2, the subtracting input of which receives the output signal of the multiplier 22-4. The latter multiplies the signals arriving at its first and second inputs, respectively, from the fifth and second inputs of the transducer 18-1, ... 18-10 coordinates. The first output of the transducer 18-1, ... 18-10 coordinates receives a signal from the output of the adder 2-3, the second output from the output of the subtraction unit 12-2, and the third output from the fourth input of the transducer 18-1,. .. 18-10 coordinates. Converters 18-1, ... 18-10 coordinates carry out the transformation of vector projections coming in the form of signals to the first, fourth and fifth inputs, from one - the original coordinate system to another - a moving coordinate system, two axes of which are rotated by an angle, information about which in the form of trigonometric functions sin and cos is supplied to the second and third inputs of the transducer 18-1, ... 18-10 coordinates. The projections of the vector in the moving coordinate system are obtained according to relations (11).

 Block 4 of the current coordinates according to p. 9 of the formula (Fig. 7) works as follows. A signal proportional to the magnitude and direction of the increment of absolute acceleration on the bus 25 increments of absolute acceleration, is fed to the first input of the block 4 of the current coordinates. At the same time, a signal proportional to the magnitude and direction of the angular velocity of the device is received at its second input via the bus 26 of the angular velocity of the apparatus. A signal proportional to the magnitude and direction of the displacement of the center of mass of the device is taken from the output of the block 4 of the current coordinates on the bus 10 of the center of mass displacement. Block 4 of the current coordinates contains a series-connected projection determination block 23 and an integrator 24 of the center of mass coordinates so that a signal proportional to the angular velocity along the transverse axis of the associated coordinate system is supplied to the first input of the projection determination block 23, and a signal proportional to the angular velocity normal axis of the associated coordinate system, to the third input, a signal proportional to the angular velocity along the longitudinal axis of the connected coordinate system, from the tire 26 of the angular velocity of the apparatus. The signals from the first to twelfth outputs of the projection determination unit 23, proportional to the values of the coefficients of equation (14), are input to the inputs from the first to twelfth integrator 24 of the center of mass coordinates. At the thirteenth input of the integrator 24 coordinates of the center of mass, a signal is proportional to the increment of absolute acceleration along the longitudinal axis of the connected coordinate system, at the fourteenth input is a signal proportional to the increment of absolute acceleration along the normal axis of the connected coordinate system, and at the fifteenth input is a signal proportional to the increment of absolute acceleration along the transverse axis of the associated coordinate system of the tire 25 increments of absolute acceleration. From the first output of the integrator 24 coordinates of the center of mass, a signal proportional to the displacement of the center of mass along the longitudinal axis of the connected coordinate system is supplied to the bus 10 of the displacement of the center of mass, from the second output, a signal proportional to the displacement of the center of mass along the normal axis of the connected coordinate system, and from the third output, a signal proportional to the displacement of the center of mass along the transverse axis of the associated coordinate system.

Block 23 definitions of projections according to claim 10 of the formula (Fig. 8) works as follows. A signal proportional to the angular velocity along the transverse axis of the associated coordinate system from the first input of the projection determination unit 23 is fed to the input of the differentiator 29-1, amplifier 28-1, the first inputs of the multipliers 22-5, 22-6, and both inputs of the multiplier 22-7. A signal proportional to the angular velocity along the normal axis of the associated coordinate system from the second input of the projection determination unit 23 is fed to the input of the differentiator 29-2, amplifier 28-2, the first input of the multiplier 22-8, the second input of the multiplier 28-5, and both inputs of the multiplier 22 -9. A signal proportional to the angular velocity along the longitudinal axis of the associated coordinate system from the third input of the projection determination unit 23 is fed to the input of the differentiator 29-3, amplifier 28-3, the second inputs of the multipliers 22-6, 22-8, and both inputs of the multiplier 22-10. The signal from the output of the differentiator 29-1 is fed to the first input of the adder 2-4 and the subtracting input of the subtraction unit 12-3, the second summing inputs of which receive a signal from the output of the multiplier 22-8. The signal from the output of the differentiator 29-2 is fed to the first input of the adder 2-5 and the subtracting input of the subtraction unit 12-4, the second summing inputs of which receive a signal from the output of the multipliers 22-6. The signal from the output of the differentiator 29-3 is fed to the first input of the adder 2-6 and the subtracting input of the subtraction unit 12-5, the second summing inputs of which receive a signal from the output of the multiplier 22-5. The signal from the output of the multiplier 22-7 goes to the first inputs of the adders 2-7, 2-8. The second input of the adder 2-8 and the first input of the adder 2-9 receives a signal from the output of the multiplier 22-9. The second inputs of the adders 2-7, 2-9 receive a signal from the output of the multiplier 22-10. The input of the inverter 27-1 receives a signal from the output of the adder 2-8, where, after inverting the sign, a signal is received that goes to the first output of the projection determination unit 23, the second output of which receives a signal from the output of the subtraction unit 12-3, and to the third output, from the output of the adder 2-5, the fourth output from the output of the adder 2-4. The input of the inverter 27-2 receives the signal from the output of the adder 2-7, where, after inverting the sign, a signal is received that goes to the fifth output of the projection determination unit 23, the sixth output of which receives the signal from the output of the subtraction unit 12-5, and the seventh output the output of the block 12-4 subtraction, on the eighth output from the output of the adder 2-6. The input of the inverter 27-3 receives the signal from the output of the adder 2-9, where after the sign is inverted, a signal is received that goes to the ninth output of the projection determination unit 23, the tenth output of which receives the signal from the output of the amplifier 28-1, and the eleventh output from the output amplifier 28-3, on the twelfth output - from the output of amplifier 28-2. At the first output of the projection determination unit 23, the coefficient a _{11 of} equation (14) is obtained, at the second output the value a ₁₂ , at the third output the value a ₁₃ , at the fourth output the value a ₂₁ , at the fifth output the value a ₂₂ , at the sixth output is the value of a ₂₃ , at the seventh output is the value of a ₃₁ , at the eighth output is the value of a ₃₂ , at the ninth output is the value of a ₃₃ , at the tenth output is the value of 2ω _z , at the eleventh output is the value of 2ω _x , at the twelfth output is the value of 2ω _y .

, пропорциональный ускорению смещения центра масс по продольной оси связанной системы координат. Он поступает на вход интегратора 30-1, на выходе которого получается сигнал

, пропорциональный скорости смещения центра масс по продольной оси связанной системы координат и поступающий на вторые входы умножителей 22-22, 22-23 и вход интегратора 30-2. На выходе последнего получается сигнал X, пропорциональный смещению центра масс по продольной оси связанной системы координат, который поступает на первый выход интегратора 24 координат центра масс и после инвертирования по знаку в инверторе 27-4, на вторые входы умножителей 22-17, 22-21 и первый вход умножителя 22-11, на второй вход которого поступает сигнал, пропорциональный a₁₁, с первого входа интегратора 24 координат центра масс. Выходной сигнал умножителя 22-11 поступает на первый вход сумматора 2-10. Сигнал, пропорциональный приращению Δ W_у абсолютного ускорения по нормальной оси связанной системы координат, с четырнадцатого входа интегратора 24 координат центра масс поступает на второй вход сумматора 2-11, на выходе которого получается сигнал

, пропорциональный ускорению смещения центра масс по нормальной оси связанной системы координат. Он поступает на вход интегратора 30-3, на выходе которого получается сигнал

, пропорциональный скорости смещения центра масс по нормальной оси связанной системы координат и поступающий на вторые входы умножителей 22-14, 22-24 и вход интегратора 30-4. На выходе последнего получается сигнал Y, пропорциональный смещению центра масс по нормальной оси связанной системы координат, который поступает на второй выход интегратора 24 координат центра масс и после инвертирования по знаку в инверторе 27-6 на вторые входы умножителей 22-12, 22-20 и первый вход умножителя 22-15, на второй вход которого поступает сигнал пропорциональный a₂₂, с пятого входа интегратора 24 координат центра масс. Выходной сигнал умножителя 22-15 поступает на первый вход сумматора 2-11. Сигнал, пропорциональный
приращению Δ W_z абсолютного ускорения по поперечной оси связанной системы координат с пятнадцатого входа интегратора 24 координат центра масс поступает на второй вход сумматора 2-12, на выходе которого получается сигнал

, пропорциональный ускорению смещения центра масс по поперечной оси связанной системы координат. Он поступает на вход интегратора 30-5, на выходе которого получается сигнал

, пропорциональный скорости смещения центра масс по поперечной оси связанной системы координат и поступающий на вторые входы умножителей 22-18, 22-25 и вход интегратора 30-6. На выходе последнего получается сигнал Z, пропорциональный смещению центра масс по поперечной оси связанной системы координат, который поступает на третий выход интегратора 24 координат центра масс и после инвертирования по знаку в инверторе 27-8 - на вторые входы умножителей 22-13, 22-16 и первый вход умножителя 22-19, на второй вход которого поступает сигнал, пропорциональный a₃₃, с девятого входа интегратора 24 координат центра масс. Выходной сигнал умножителя 22-19 поступает на первый вход сумматора 2-12. Сигнал, пропорциональный a₁₂, со второго входа интегратора 24 координат центра масс поступает на первый вход умножителя 22-12, с выхода которого сигнал поступает на третий вход сумматора 2-10. Сигнал, пропорциональный a₁₃, с третьего входа интегратора 24 координат центра масс поступает на первый вход умножителя 22-13, с выхода которого сигнал поступает на четвертый вход сумматора 2-10. Сигнал, пропорциональный a₂₁, с четвертого входа интегратора 24 координат центра масс поступает на первый вход умножителя 22-17, с выхода которого сигнал поступает на четвертый вход сумматора 2-11. Сигнал, пропорциональный a₂₃, с шестого входа интегратора 24 координат центра масс поступает на первый вход умножителя 22-16, с выхода которого сигнал поступает на третий вход сумматора 2-11. Сигнал, пропорциональный a₃₁, с седьмого входа интегратора 24 координат центра масс поступает на первый вход умножителя 22-21, с выхода которого сигнал поступает на пятый вход сумматора 2-12. Сигнал, пропорциональный a₃₂, с восьмого входа интегратора 24 координат центра масс поступает на первый вход умножителя 22-20, с выхода которого сигнал поступает на третий вход сумматора 2-12. Сигнал, пропорциональный 2ω_z, с десятого входа интегратора 24 координат центра масс поступает на первые входы умножителей 22-14, 22-23. При этом выходной сигнал умножителя 22-14 поступает на пятый вход сумматора 2-10, а выходной сигнал умножителя 22-23, пройдя через инвертор 27-7, поступает на шестой вход сумматора 2-11. Сигнал, пропорциональный 2ω_x, с одиннадцатого входа интегратора 24 координат центра масс поступает на первые входы умножителей 22- 18, 22-24. При этом выходной сигнал умножителя 22-18 поступает на пятый вход сумматора 2-11, а выходной сигнал умножителя 22-24, пройдя через инвертор 27-9, поступает на шестой вход сумматора 2-12. Сигнал, пропорциональный 2ω_y, с двенадцатого входа интегратора 24 координат центра масс поступает на первые входы умножителей 22-22, 22-25. При этом выходной сигнал умножителя 22- 22 поступает на пятый вход сумматора 2-12. а выходной сигнал умножителя 22-25, пройдя через инвертор 27-5, поступает на шестой вход сумматора 2-10.The integrator 24 coordinates of the center of mass according to claim 11 of the formula (Fig. 9) works as follows. A signal proportional to the increment Δ W _{x of} absolute acceleration along the longitudinal axis of the associated coordinate system, from the thirteenth input of the integrator 24 coordinates of the center of mass is fed to the second input of the adder 2-10, the output of which is a signal

proportional to the acceleration of the displacement of the center of mass along the longitudinal axis of the associated coordinate system. He goes to the input of the integrator 30-1, the output of which receives a signal

proportional to the velocity of the center of mass displacement along the longitudinal axis of the associated coordinate system and arriving at the second inputs of the multipliers 22-22, 22-23 and the input of the integrator 30-2. The output of the latter produces a signal X proportional to the displacement of the center of mass along the longitudinal axis of the associated coordinate system, which is fed to the first output of the integrator 24 coordinates of the center of mass and after inversion by sign in the inverter 27-4, to the second inputs of the multipliers 22-17, 22-21 and the first input of the multiplier 22-11, the second input of which receives a signal proportional to a ₁₁ from the first input of the integrator 24 coordinates of the center of mass. The output signal of the multiplier 22-11 is supplied to the first input of the adder 2-10. A signal proportional to the increment Δ W _of absolute acceleration along the normal axis of the associated coordinate system, from the fourteenth input of the integrator 24 coordinates of the center of mass is fed to the second input of the adder 2-11, the output of which is a signal

proportional to the acceleration of the displacement of the center of mass along the normal axis of the associated coordinate system. It is fed to the input of the integrator 30-3, at the output of which a signal is obtained

proportional to the velocity of the center of mass displacement along the normal axis of the associated coordinate system and arriving at the second inputs of the multipliers 22-14, 22-24 and the input of the integrator 30-4. At the output of the latter, a signal Y is obtained proportional to the displacement of the center of mass along the normal axis of the associated coordinate system, which is fed to the second output of the integrator 24 coordinates of the center of mass and after inversion by sign in the inverter 27-6 to the second inputs of the multipliers 22-12, 22-20 and the first input of the multiplier 22-15, the second input of which receives a signal proportional to a ₂₂ , from the fifth input of the integrator 24 coordinates of the center of mass. The output signal of the multiplier 22-15 is supplied to the first input of the adder 2-11. Proportional signal
the increment Δ W _{z of} absolute acceleration along the transverse axis of the associated coordinate system from the fifteenth input of the integrator 24 coordinates of the center of mass is fed to the second input of the adder 2-12, the output of which is a signal

proportional to the acceleration of the displacement of the center of mass along the transverse axis of the associated coordinate system. It is fed to the input of the integrator 30-5, at the output of which a signal is obtained

proportional to the velocity of the center of mass displacement along the transverse axis of the associated coordinate system and arriving at the second inputs of the multipliers 22-18, 22-25 and the input of the integrator 30-6. The output of the latter produces a signal Z proportional to the displacement of the center of mass along the transverse axis of the associated coordinate system, which is fed to the third output of the integrator 24 coordinates of the center of mass and, after inversion by sign in the inverter 27-8, to the second inputs of the multipliers 22-13, 22-16 and the first input of the multiplier 22-19, the second input of which receives a signal proportional to a ₃₃ from the ninth input of the integrator 24 coordinates of the center of mass. The output signal of the multiplier 22-19 is supplied to the first input of the adder 2-12. The signal proportional to a ₁₂ from the second input of the integrator 24 coordinates of the center of mass is fed to the first input of the multiplier 22-12, from the output of which the signal goes to the third input of the adder 2-10. The signal proportional to a ₁₃ from the third input of the integrator 24 coordinates of the center of mass is fed to the first input of the multiplier 22-13, from the output of which the signal goes to the fourth input of the adder 2-10. The signal proportional to a ₂₁ from the fourth input of the integrator 24 coordinates of the center of mass is fed to the first input of the multiplier 22-17, from the output of which the signal goes to the fourth input of the adder 2-11. A signal proportional to a ₂₃ from the sixth input of the integrator 24 coordinates of the center of mass is fed to the first input of the multiplier 22-16, from the output of which the signal goes to the third input of the adder 2-11. The signal proportional to a ₃₁ from the seventh input of the integrator 24 coordinates of the center of mass is fed to the first input of the multiplier 22-21, from the output of which the signal goes to the fifth input of the adder 2-12. The signal proportional to a ₃₂ from the eighth input of the integrator 24 coordinates of the center of mass is fed to the first input of the multiplier 22-20, from the output of which the signal goes to the third input of the adder 2-12. A signal proportional to 2ω _z from the tenth input of the integrator 24 coordinates of the center of mass is fed to the first inputs of the multipliers 22-14, 22-23. In this case, the output signal of the multiplier 22-14 is fed to the fifth input of the adder 2-10, and the output signal of the multiplier 22-23, passing through the inverter 27-7, is fed to the sixth input of the adder 2-11. A signal proportional to 2ω _x from the eleventh input of the integrator 24 coordinates of the center of mass is fed to the first inputs of the multipliers 22-18, 22-24. The output signal of the multiplier 22-18 is fed to the fifth input of the adder 2-11, and the output signal of the multiplier 22-24, passing through the inverter 27-9, is fed to the sixth input of the adder 2-12. A signal proportional to 2ω _y from the twelfth input of the integrator 24 coordinates of the center of mass is fed to the first inputs of the multipliers 22-22, 22-25. The output signal of the multiplier 22-22 is fed to the fifth input of the adder 2-12. and the output signal of the multiplier 22-25, passing through the inverter 27-5, is fed to the sixth input of the adder 2-10.

 The frequency selector 3-1, 3-2 according to claim 12 of the formula (Fig. 10) works as follows. The input signal of the frequency selector 3-1, 3-2 is supplied to the first input of the adder 2-13, where it is added to the output signal of the amplifier 28-8 so that the output signal of the adder 2-13 is fed to the summing first inputs of the adders 2-14, 2 -fifteen. The second and third subtracting inputs of the adder 2-15 receives the output signal of the delay circuit 31-4. From the output of the adder 2-15, the signal goes to the first subtracting input of the adder 2-16, the second summing input of the adder 2-14 and the input of the amplifier 28-4, the output signal of which, in turn, goes to the third and fourth subtracting inputs of the adder 2-14 , the second summing input of the adder 2-16, the amplifier 28-5 and the output of the frequency selector 3-1, 3-2. The output signal of the amplifier 28-5, passing through the amplifier 28-6, is fed to the fifth subtracting input of the adder 2-14, the third summing input of the adder 2-16 and the first subtracting input of the adder 2-17, the output signal of which is input to the circuit 31 -1 delay. After delaying the signal for a time equal to the beat of solving the problem in the frequency selector 3-1, 3-2, the output signal of the delay circuit 31-1 is supplied to the first input of the adder 2-18, the second input of which receives the output signal of the adder 2-16, passed amplifier 28-7. The output signal of the adder 2-18, equal to the sum of the output signals of the delay circuit 31-1 and amplifier 28-7, is input to the delay circuit 31-2. After the delay of this signal at the output of the delay circuit 31-2, a signal is obtained that is fed to the first input of the adder 2-19, the second input of which receives the output signal of the adder 2-14. After summing the signals, the output signal of the adder 2-19 is fed to the input of the delay circuit 31-3, where the signal is also delayed by the time of the tact of solving the problem in the frequency selector 3-1, 3-2. The output signal of the delay circuit 31-3 is input to the delay circuit 31-4 and through the amplifier 28-8 to the second input of the adder 2-13. The signal from the output of the delay circuit 31-3 is also delayed by the time of the tact of solving the problem in the delay circuit 31-4 and from its output it goes to the second and third subtracting inputs of the adder 2-15 and the second subtracting input of the adder 2-17. The frequency selector 3-1, 3-2 provides narrow-band filtering of signals proportional to the absolute acceleration and angular velocity of the apparatus for each component.

, поступает на первый вход сумматора 2-1, на второй вход которого поступает сигнал, пропорциональный ускорению

силы тяжести, с выхода блока 6 определения составляющих ускорения силы тяжести. Последний формируется по сигналам датчика 5 ускорения силы тяжести, датчика 7 тангажа и датчика 8 крена, поступающим соответственно на первый, второй и третий входы блока 6 определения составляющих ускорения силы тяжести. После сложения сигналов, пропорциональных кажущемуся ускорению

и ускорению

силы тяжести, на выходе сумматора 2-1 получается сигнал, пропорциональный абсолютному линейному ускорению

аппарата. Он поступает на первый суммирующий вход блока 12-6 вычитания, где из него вычитается сигнал, пропорциональный абсолютному ускорению

центра масс аппарата, поступающий на второй вычитающий вход блока 12-6 вычитания. Сигнал, пропорциональный абсолютному ускорению

центра масс аппарата, получается на выходе первого блока 34 определения составляющих абсолютного ускорения центра масс. При этом на его первый вход поступает сигнал, пропорциональный абсолютному ускорению

геоцентрических координат аппарата, с выхода блока 33 двойного дифференцирования, на второй вход - сигнал, пропорциональный долготе λ местоположения аппарата, с выхода датчика 35 долготы, на третий вход - сигнал, пропорциональный широте φ местоположения аппарата, с выхода датчика 14 широты, на четвертый вход - сигнал, пропорциональный курсу ψ аппарата, с выхода датчика 36 курса, на пятый вход - сигнал, пропорциональный тангажу ϑ аппарата, с выхода датчика 7 тангажа, на шестой вход - сигнал, пропорциональный крену γ аппарата, с выхода датчика 8 крена. Сигнал, пропорциональный абсолютному ускорению

геоцентрических координат аппарата, получается на выходе блока 33 двойного дифференцирования после двойного дифференцирования в нем выходного сигнала датчика 32 геоцентрических координат. Сигнал с выхода блока 12-6 вычитания, пропорциональный приращению

абсолютного ускорения, поступает на первый вход блока 4 текущих координат центра масс. Одновременно с выхода датчика 9 угловых скоростей сигнал, пропорциональный абсолютной угловой скорости

аппарата, поступает на второй вход блока 4 текущих координат центра масс. В блоке 4 текущих координат центра масс определяется смещение

центра масс по отношению к точке А, где расположен акселерометр 1 на аппарате.A device for determining the magnitude and direction of displacement of the center of mass of the apparatus according to p. 13 of the formula (Fig. 11) works as follows. Accelerometer 1 output proportional to apparent acceleration

arrives at the first input of the adder 2-1, the second input of which receives a signal proportional to the acceleration

gravity, from the output of block 6 determining the components of the acceleration of gravity. The latter is formed by the signals of the sensor 5 of the acceleration of gravity, the pitch sensor 7 and the roll sensor 8, received respectively at the first, second and third inputs of the unit 6 for determining the components of the acceleration of gravity. After adding signals proportional to apparent acceleration

and accelerate

gravity, at the output of the adder 2-1, a signal is obtained proportional to the absolute linear acceleration

apparatus. It arrives at the first summing input of the subtraction block 12-6, where a signal proportional to the absolute acceleration is subtracted from it

the center of mass of the apparatus entering the second subtracting input of the subtraction unit 12-6. Signal proportional to absolute acceleration

the center of mass of the apparatus, it turns out at the output of the first block 34 for determining the components of the absolute acceleration of the center of mass. At the same time, a signal proportional to absolute acceleration is received at its first input

geocentric coordinates of the device, from the output of the double differentiation unit 33, to the second input - a signal proportional to the longitude λ of the device’s location, from the output of the sensor 35 longitude, to the third input - a signal proportional to the latitude φ of the device’s location, from the output of the latitude sensor 14, to the fourth input - a signal proportional to the heading ψ of the apparatus, from the output of the 36-course sensor, to the fifth input - a signal proportional to the pitch ϑ of the apparatus, from the output of the pitch sensor 7, to the sixth input - a signal proportional to the roll γ of the apparatus, from the output of the 8 roll sensor. Signal proportional to absolute acceleration

geocentric coordinates of the apparatus, obtained at the output of the block 33 double differentiation after double differentiation in it the output signal of the sensor 32 geocentric coordinates. The signal from the output of block subtraction 12-6, proportional to the increment

absolute acceleration, is fed to the first input of the block 4 of the current coordinates of the center of mass. Simultaneously with the output of the 9 angular velocity sensor, a signal proportional to the absolute angular velocity

apparatus, enters the second input of the block 4 of the current coordinates of the center of mass. In block 4 of the current coordinates of the center of mass, the offset is determined

the center of mass with respect to point A, where the accelerometer 1 is located on the apparatus.

геоцентрических координат аппарата по оси, перпендикулярной плоскости нулевого меридиана и расположенной в плоскости экватора, на второй и третий вход - сигналы, пропорциональные sin λ и cosλ, соответственно с синусного 19-3 и косинусного 20-3 функциональных преобразователей, на четвертый вход - сигнал, пропорциональный абсолютному ускорению

геоцентрических координат аппарата по оси вращения Земли, на пятый вход - сигнал, пропорциональный абсолютному ускорению

геоцентрических координат аппарата по оси в плоскости экватора и нулевого меридиана. Входной сигнал синусного 19-3 и косинусного 20-3 функциональных преобразователей, пропорциональный углу λ долготы местоположения аппарата, поступает со второго входа первого блока 34 определения составляющих абсолютного ускорения центра масс. На первый вход преобразователя 18-4 координат поступает сигнал с третьего выхода преобразователя 18-3 координат, на второй и третий вход - сигналы, пропорциональные sin φ и cos φ, соответственно с синусного 19-4 и косинусного 20-4 функциональных преобразователей, на четвертый вход - сигнал с первого выхода преобразователя 18-3 координат, на пятый вход - сигнал со второго выхода преобразователя 18-3 координат. Входной сигнал синусного 19-4 и косинусного 20-4 функциональных преобразователей, пропорциональный углу φ широты местоположения аппарата, поступает с третьего входа первого блока 34 определения составляющих абсолютного ускорения центра масс. На первый вход преобразователя 18-5 координат поступает сигнал с третьего выхода преобразователя 18-4 координат, на второй и третий вход - сигналы, пропорциональные sin ψ и cos ψ, соответственно с синусного 19-5 и косинусного 20-5 функциональных преобразователей, на четвертый вход - сигнал с первого выхода преобразователя 18-4 координат, на пятый вход - сигнал со второго выхода преобразователя 18-4 координат. Входной сигнал синусного 19-5 и косинусного 20-5 функциональных преобразователей, пропорциональный углу ψ курса аппараты, поступает с четвертого входа первого блока 34 определения составляющих абсолютного ускорения центра масс. На первый вход преобразователя 18-6 координат поступает сигнал с третьего выхода преобразователя 18-5 координат, на второй и третий вход - сигналы, пропорциональные sin ϑ и cos ϑ, соответственно с синусного 19-6 и косинусного 20-6 функциональных преобразователей, на четвертый вход - сигнал с первого выхода преобразователя 18-5 координат, на пятый вход - сигнал со второго выхода преобразователя 18-5 координат. Входной сигнал синусного 19-6 и косинусного 20-6 функциональных преобразователей, пропорциональный углу ϑ тангажа аппарата, поступает с пятого входа первого блока 34 определения составляющих абсолютного ускорения центра масс. На первый вход преобразователя 18-7 координат поступает сигнал с третьего выхода преобразователя 18-6 координат, на второй и третий вход - сигналы, пропорциональные sin γ и cos γ, соответственно с синусного 19-7 и косинусного 20-7 функциональных преобразователей, на четвертый вход - сигнал с первого выхода преобразователя 18-6 координат, на пятый вход - сигнал со второго выхода преобразователя 18-6 координат. Входной сигнал синусного 19-7 и косинусного 20-7 функциональных преобразователей, пропорциональный углу γ крена аппарата, поступает с шестого входа первого блока 34 определения составляющих абсолютного ускорения центра масс, выход которого соединен с шиной 38 абсолютного ускорения центра масс аппарата так, что сигнал, пропорциональный нормальной составляющей абсолютного ускорения W_YO центра масс аппарата, поступает с первого выхода преобразователя 18-7 координат, сигнал, пропорциональный поперечной составляющей абсолютного ускорения W_ZO центра масс аппарата, поступает со второго выхода преобразователя 18-7 координат, а сигнал, пропорциональный продольной составляющей абсолютного ускорения W_XO центра масс аппарата, поступает с третьего выхода преобразователя 18-7 координат.The first block 34 for determining the components of the absolute acceleration of the center of mass according to p. 14 of the formula (Fig. 12) works as follows. The signal from the tire 37 of the absolute acceleration of the geocentric coordinates of the device is supplied to the first input of the first block 34 for determining the components of the absolute acceleration of the center of mass. Moreover, the signal proportional to the absolute acceleration is received at the first input of its coordinate converter 18-3

the geocentric coordinates of the apparatus along an axis perpendicular to the plane of the zero meridian and located in the plane of the equator, to the second and third inputs are signals proportional to sin λ and cosλ, respectively, from sine 19-3 and cosine 20-3 functional converters, to the fourth input, a signal, proportional to absolute acceleration

geocentric coordinates of the device along the axis of rotation of the Earth, to the fifth input - a signal proportional to absolute acceleration

geocentric coordinates of the device along the axis in the plane of the equator and the zero meridian. The input signal of the sine 19-3 and cosine 20-3 functional converters, proportional to the angle λ of the longitude of the location of the apparatus, comes from the second input of the first block 34 for determining the components of the absolute acceleration of the center of mass. The signal from the third output of the coordinate converter 18-3 is supplied to the first input of the coordinate converter 18-4, the signals proportional to sin φ and cos φ, respectively, from the sinusoidal 19-4 and cosine 20-4 functional converters, to the fourth the input is a signal from the first output of the coordinate converter 18-3, the fifth input is a signal from the second output of the coordinate converter 18-3. The input signal of the sine 19-4 and cosine 20-4 functional converters, proportional to the angle φ of the latitude of the location of the apparatus, comes from the third input of the first block 34 for determining the components of the absolute acceleration of the center of mass. The signal from the third output of the converter 18-4 coordinates is supplied to the first input of the transducer 18-5 coordinates, the signals proportional to sin ψ and cos ψ, respectively, from the sinusoidal 19-5 and cosine 20-5 functional converters, to the fourth the input is the signal from the first output of the transducer 18-4 coordinates, the fifth input is the signal from the second output of the transducer 18-4 coordinates. The input signal of the sine 19-5 and cosine 20-5 functional converters, proportional to the angle ψ of the apparatus heading, comes from the fourth input of the first block 34 for determining the components of the absolute acceleration of the center of mass. The signal from the third output of the coordinate converter 18-5 is received at the first input of the coordinate converter 18-6, the signals proportional to sin ϑ and cos ϑ, respectively, from the sinusoidal 19-6 and cosine 20-6 functional converters, to the fourth the input is a signal from the first output of the transducer 18-5 coordinates, the fifth input is a signal from the second output of the transducer 18-5 coordinates. The input signal of the sine 19-6 and cosine 20-6 functional converters, proportional to the pitch angle аппарата of the apparatus, comes from the fifth input of the first block 34 for determining the components of the absolute acceleration of the center of mass. The signal from the third output of the transducer 18-6 coordinates is supplied to the first input of the transducer 18-7 coordinates, the signals proportional to sin γ and cos γ, respectively, from the sinusoidal 19-7 and cosine 20-7 functional transducers, to the fourth the input is the signal from the first output of the transformer 18-6 coordinates, the fifth input is the signal from the second output of the transformer 18-6 coordinates. The input signal of the sinusoidal 19-7 and cosine 20-7 functional converters, proportional to the angle γ of the roll of the apparatus, comes from the sixth input of the first block 34 for determining the components of the absolute acceleration of the center of mass, the output of which is connected to the bus 38 of the absolute acceleration of the center of mass of the apparatus so that the signal proportional to the normal component of the absolute acceleration W _YO center of mass of the apparatus, comes from the first output of the transducer 18-7 coordinates, a signal proportional to the transverse component of the absolute acceleration W _ZO prices mass of the apparatus arrives from the second output of the transducer 18-7 coordinates, and a signal proportional to the longitudinal component of the absolute acceleration W _{XO of the} center of mass of the apparatus comes from the third output of the transformer 18-7 coordinates.

, поступает на первый вход сумматора 2-1, на второй вход которого поступает сигнал, пропорциональный ускорению

силы тяжести, с выхода блока 6 определения составляющих ускорения силы тяжести. Последний формируется по сигналам датчика 5 ускорения силы тяжести, датчика 7 тангажа и датчика 8 крена, поступающим соответственно на первый, второй и третий входы блока 6 определения составляющих ускорения силы тяжести. После сложения сигналов, пропорциональных кажущемуся ускорению

и ускорению

силы тяжести, на выходе сумматора 2-1 получается сигнал, пропорциональный абсолютному линейному ускорению

аппарата. Он поступает на первый суммирующий вход блока 12-6 вычитания, где из него вычитается сигнал, пропорциональный абсолютному ускорению

центра масс аппарата, поступающий на второй вычитающий вход блока 12-6 вычитания. Сигнал, пропорциональный абсолютному ускорению

центра масс аппарата, получается на выходе первого блока 34 определения составляющих абсолютного ускорения центра масс. При этом на его первый вход поступает сигнал, пропорциональный абсолютному ускорению

геоцентрических координат аппарата, с выхода дифференциатора 29-4, на второй вход - сигнал, пропорциональный долготе λ местоположения аппарата с выхода датчика 35 долготы, на третий вход - сигнал, пропорциональный широте φ местоположения аппарата, с выхода датчика 14 широты, на четвертый вход - сигнал, пропорциональный курсу ψ аппарата, с выхода датчика 36 курса, на пятый вход - сигнал, пропорциональный тангажу ϑ аппарата, с выхода датчика 7 тангажа, на шестой вход - сигнал, пропорциональный крену γ аппараты, с выхода датчика 8 крена. Сигнал, пропорциональный абсолютному ускорению

геоцентрических координат аппарата, получается на выходе дифференциатора 29-4 после однократного дифференцирования в нем выходного сигнала датчика 39 скорости изменения геоцентрических координат. Сигнал с выхода блока 12-6 вычитания, пропорциональный приращению

абсолютного ускорения, поступает на первый вход блока 4 текущих координат центра масс. Одновременно с выхода датчика 9 угловых скоростей сигнал, пропорциональный абсолютной угловой скорости

аппарата, поступает на второй вход блока 4 текущих координат центра масс. В блоке 4 текущих координат центра масс определяется смещение

центра масс по отношению к точке A, где расположен акселерометр 1 на аппарате.A device for determining the magnitude and direction of displacement of the center of mass of the apparatus according to p. 15 of the formula (Fig. 13) works as follows. Accelerometer 1 output proportional to apparent acceleration

arrives at the first input of the adder 2-1, the second input of which receives a signal proportional to the acceleration

gravity, from the output of block 6 determining the components of the acceleration of gravity. The latter is formed by the signals of the sensor 5 of the acceleration of gravity, the pitch sensor 7 and the roll sensor 8, received respectively at the first, second and third inputs of the unit 6 for determining the components of the acceleration of gravity. After adding signals proportional to apparent acceleration

and accelerate

gravity, at the output of the adder 2-1, a signal is obtained proportional to the absolute linear acceleration

apparatus. It arrives at the first summing input of the subtraction block 12-6, where a signal proportional to the absolute acceleration is subtracted from it

the center of mass of the apparatus entering the second subtracting input of the subtraction unit 12-6. Signal proportional to absolute acceleration

the center of mass of the apparatus, it turns out at the output of the first block 34 for determining the components of the absolute acceleration of the center of mass. At the same time, a signal proportional to absolute acceleration is received at its first input

geocentric coordinates of the device, from the output of the differentiator 29-4, to the second input - a signal proportional to the longitude λ of the location of the device from the output of the sensor 35 longitude, to the third input - a signal proportional to the latitude φ of the location of the device, from the output of the sensor 14 latitude, to the fourth input - a signal proportional to the heading ψ of the device from the output of the 36-course sensor, to the fifth input - a signal proportional to the pitch выхода of the device, from the output of the pitch sensor 7, to the sixth input - a signal proportional to the roll γ of the device, from the output of the 8 roll sensor. Signal proportional to absolute acceleration

the geocentric coordinates of the apparatus, obtained at the output of the differentiator 29-4 after a single differentiation in it of the output signal of the sensor 39 of the rate of change of geocentric coordinates. The signal from the output of block subtraction 12-6, proportional to the increment

absolute acceleration, is fed to the first input of the block 4 of the current coordinates of the center of mass. Simultaneously with the output of the 9 angular velocity sensor, a signal proportional to the absolute angular velocity

apparatus, enters the second input of the block 4 of the current coordinates of the center of mass. In block 4 of the current coordinates of the center of mass, the offset is determined

center of mass with respect to point A, where the accelerometer 1 is located on the apparatus.

, поступает на первый вход сумматора 2-1, на второй вход которого поступает сигнал, пропорциональный ускорению

силы тяжести, с выхода блока 6 определения составляющих ускорения силы тяжести. Последний формируется по сигналам датчика 5 ускорения силы тяжести, датчика 7 тангажа и датчика 8 крена, поступающим соответственно на первый, второй и третий входы блока 6 определения составляющих ускорения силы тяжести. После сложения сигналов, пропорциональных кажущемуся ускорению

и ускорению

силы тяжести, на выходе сумматора 2-1 получается сигнал, пропорциональный абсолютному линейному ускорению

аппарата. Он поступает на первый суммирующий вход блока 12-6 вычитания, где из него вычитается сигнал, пропорциональный абсолютному ускорению

центра масс аппарата, поступающий на второй вычитающий вход блока 12-6 вычитания. Сигнал, пропорциональный абсолютному ускорению

центра масс аппарата, получается на выходе второго блока 41 определения составляющих абсолютного ускорения центра массе. При этом на его первый вход поступает сигнал, пропорциональный абсолютному ускорению

, земных координат аппарата, с выхода блока 33 двойного дифференцирования, на второй вход - сигнал, пропорциональный курсу ψ аппарата, с выхода датчика 36 курса, на третий вход - сигнал, пропорциональный тангажу ϑ аппарата, с выхода датчика 7 тангажа, на четвертый вход - сигнал, пропорциональный крену γ аппарата, с выхода датчика 8 крена. Сигнал, пропорциональный абсолютному ускорению

земных координат аппарата, получается на выходе блока 33 двойного дифференцирования после двойного дифференцирования в нем выходного сигнала датчика 40 земных координат. Сигнал с выхода блока 12-6 вычитания, пропорциональный приращению

абсолюного ускорения, поступает на первый вход блока 4 текущих координат центра тяжести. Одновременно с выхода датчика 9 угловых скоростей сигнал, пропорциональный абсолютной угловой скорости

аппарата, поступает на второй вход блока 4 текущих координат центра масс. В блоке 4 текущих координат центра масс определяется смещение

центра масс по отношению к точке A, где расположен акселерометр 1 на аппарате.A device for determining the magnitude and direction of displacement of the center of mass of the apparatus according to p. 16 of the formula (Fig. 14) works as follows. Accelerometer 1 output proportional to apparent acceleration

arrives at the first input of the adder 2-1, the second input of which receives a signal proportional to the acceleration

gravity, from the output of block 6 determining the components of the acceleration of gravity. The latter is formed by the signals of the sensor 5 of the acceleration of gravity, the pitch sensor 7 and the roll sensor 8, received respectively at the first, second and third inputs of the unit 6 for determining the components of the acceleration of gravity. After adding signals proportional to apparent acceleration

and accelerate

gravity, at the output of the adder 2-1, a signal is obtained proportional to the absolute linear acceleration

apparatus. It arrives at the first summing input of the subtraction block 12-6, where a signal proportional to the absolute acceleration is subtracted from it

the center of mass of the apparatus entering the second subtracting input of the subtraction unit 12-6. Signal proportional to absolute acceleration

the center of mass of the apparatus, it turns out at the output of the second block 41 for determining the components of the absolute acceleration of the center of mass. At the same time, a signal proportional to absolute acceleration is received at its first input

, the earth coordinates of the device, from the output of the double differentiation unit 33, to the second input - a signal proportional to the device ψ course, from the output of the 36 course sensor, to the third input - a signal proportional to the device ϑ pitch, from the output of the pitch sensor 7, to the fourth input - a signal proportional to the roll γ of the apparatus from the output of the roll sensor 8. Signal proportional to absolute acceleration

earth coordinates of the apparatus, obtained at the output of the block 33 double differentiation after double differentiation in it the output signal of the sensor 40 earth coordinates. The signal from the output of block subtraction 12-6, proportional to the increment

absolute acceleration, is fed to the first input of the block 4 of the current coordinates of the center of gravity. Simultaneously with the output of the 9 angular velocity sensor, a signal proportional to the absolute angular velocity

apparatus, enters the second input of the block 4 of the current coordinates of the center of mass. In block 4 of the current coordinates of the center of mass, the offset is determined

center of mass with respect to point A, where the accelerometer 1 is located on the apparatus.

по горизонтальной оси направления движения земной системы координат, на второй и третий вход - сигналы, пропорциональные sin ψ и cos ψ , соответственно с синусного 19-8 и косинусного 20-8 функциональных преобразователей, на четвертый вход - сигнал, пропорциональный абсолютному ускорению

по оси местной вертикали земной системы координат, на пятый вход - сигнал, пропорциональный абсолютному ускорению

по горизонтальной оси, перпендикулярной оси направления движения земной системы координат. Выходной сигнал синусного 19-8 и косинусного 20-8 функциональных преобразователей, пропорциональный углу ψ курса аппарата, поступает со второго входа второго блока 41 определения составляющих абсолютного ускорения центра масс. На первый вход преобразователя 18-9 координат поступает сигнал с третьего выхода преобразователя 18-8 координат, на второй и третий вход - сигналы, пропорциональные sin ϑ и cos ϑ , соответственно с синусного 19-9 и косинусного 20-9 функциональных преобразователей, на четвертый вход - сигнал с первого выхода преобразователя 18-8 координат, на пятый вход - сигнал со второго выхода преобразователя 18-8 координат. Входной сигнал синусного 19-9 и косинусного 20-9 функциональных преобразователей, пропорциональный углу ϑ тангажа аппарата, поступает с третьего входа второго блока 41 определения составляющих абсолютного ускорения центра масс. На первый вход преобразователя 18-10 координат поступает сигнал с третьего выхода преобразователя 18-9 координат, на второй и третий вход - сигналы, пропорциональные sin γ и cos γ, соответственно с синусного 19-10 и косинусного 20-10 функциональных преобразователей, на четвертый вход - сигнал с первого выхода преобразователя 18-9 координат, на пятый вход - сигнал со второго выхода преобразователя 18-9 координат. Входной сигнал синусного 19-10 и косинусного 20-10 функциональных преобразователей, пропорциональный углу γ крена аппарата, поступает с четвертого входа второго блока 41 определения составляющих абсолютного ускорения центра масс, выход которого соединен с шиной 38 абсолютного ускорения центра масс аппарата так, что сигнал, пропорциональный нормальной составляющей абсолютного ускорения W_YO центра масс аппарата, поступает с первого выхода преобразователя 18-10 координат, сигнал, пропорциональный поперечной составляющей абсолютного ускорения W_ZO центра масс аппарата, поступает со второго выхода преобразователя 18-10 координат, а сигнал, пропорциональный продольной составляющей абсолютного ускорения W_XO центра масс аппарата, поступает с третьего выхода преобразователя 18-10 координат.The second block 41 for determining the components of the absolute acceleration of the center of mass according to claim 17 of the formula (Fig. 15) works as follows. The signal from the tire 42 of the absolute acceleration of the earth's coordinates of the apparatus is supplied to the first input of the second block 41 for determining the components of the absolute acceleration of the center of mass. Moreover, a signal proportional to absolute acceleration is received at the first input of its transducer 18-8 coordinates

along the horizontal axis of the direction of motion of the Earth's coordinate system, to the second and third input are signals proportional to sin ψ and cos ψ, respectively, from sine 19-8 and cosine 20-8 functional converters, to the fourth input, a signal proportional to absolute acceleration

along the axis of the local vertical of the Earth's coordinate system, to the fifth input is a signal proportional to the absolute acceleration

along the horizontal axis perpendicular to the axis of the direction of movement of the earth's coordinate system. The output signal of the sine 19-8 and cosine 20-8 functional converters, proportional to the angle ψ of the apparatus heading, comes from the second input of the second block 41 for determining the components of the absolute acceleration of the center of mass. A signal from the third output of the transducer 18-8 coordinates is received at the first input of the coordinate converter 18-9, signals proportional to sin ϑ and cos ϑ, respectively, from the sinusoidal 19-9 and cosine 20-9 functional converters, to the fourth the input is the signal from the first output of the transducer 18-8 coordinates, the fifth input is the signal from the second output of the transducer 18-8 coordinates. The input signal of the sine 19-9 and cosine 20-9 functional converters, proportional to the pitch angle ϑ of the apparatus, comes from the third input of the second block 41 for determining the components of the absolute acceleration of the center of mass. A signal from the third output of the transducer 18-9 coordinates is received at the first input of the coordinate converter 18-10, signals proportional to sin γ and cos γ, respectively, from the sinusoidal 19-10 and cosine 20-10 functional converters, to the fourth the input is the signal from the first output of the transducer 18-9 coordinates, the fifth input is the signal from the second output of the transducer 18-9 coordinates. The input signal of the sinusoidal 19-10 and cosine 20-10 functional converters, proportional to the angle γ of the roll of the apparatus, comes from the fourth input of the second unit 41 for determining the components of the absolute acceleration of the center of mass, the output of which is connected to the bus 38 of the absolute acceleration of the center of mass of the apparatus so that the signal proportional to the normal component of the absolute acceleration W _{YO of the} center of mass of the apparatus, received from the first output of the transformer 18-10 coordinates, a signal proportional to the transverse component of the absolute acceleration W _{ZO of the} center of mass of the apparatus, comes from the second output of the transducer 18-10 coordinates, and a signal proportional to the longitudinal component of the absolute acceleration W _{XO of the} center of mass of the apparatus comes from the third output of the transformer of 18-10 coordinates.

, поступает на первый вход сумматора 2-1, на второй вход которого поступает сигнал, пропорциональный ускорению

силы тяжести, с выхода блока 6 определения составляющих ускорения силы тяжести. Последний формируется по сигналам датчика 5 ускорения силы тяжести, датчика 7 тангажа и датчика 8 крена, поступающим соответственно на первый, второй и третий входы блока 6 определения составляющих ускорения силы тяжести. После сложения сигналов, пропорциональных кажущемуся ускорению

и ускорении

силы тяжести, на выходе сумматора 2-1 получается сигнал, пропорциональный абсолютному ускорению

аппарата. Он поступает на первый суммирующий вход блока 12-6 вычитания, где из него вычитается сигнал, пропорциональный абсолютному ускорению

центра масс аппарата, поступающий на второй вычитающий вход блока 12-6 вычитания. Сигнал, пропорциональный абсолютному ускорению

центра масс аппарата, получается на выходе второго блока 41 определения составляющих абсолютного ускорения центра масс. При этом на его первый вход поступает сигнал, пропорциональный абсолютному ускорению

земных координат аппарата, с выхода дифференциатора 29-4, на второй вход - сигнал, пропорциональный курсу ψ аппарата, с выхода датчика 36 курса, на третий вход - сигнал, пропорциональный тангажу ϑ аппарата, с выхода датчика 7 тангажа, на четвертый вход - сигнал, пропорциональный крену γ аппарата, с выхода датчика 8 крена. Сигнал, пропорциональный абсолютному ускорению

земных координат аппарата, получается на выходе дифференциатора 29-4 после дифференцирования в нем выходного сигнала датчика 43 скорости изменения земных координат. Сигнал с выхода блока 12-6 вычитания, пропорциональный приращению

абсолютного ускорения, поступает на первый вход блока 4 текущих координат центра масс. Одновременно с выхода датчика 9 угловых скоростей сигнал, пропорциональный абсолютной угловой скорости

аппарата, поступает на второй вход блока 4 текущих координат центра масс. В блоке 4 текущих координат центра масс определяется смещение

центра масс по отношению к точке A, где расположен акселерометр 1 на аппарате.A device for determining the magnitude and direction of displacement of the center of mass of the apparatus according to p. 18 of the formula (Fig. 16) works as follows. Accelerometer 1 output proportional to apparent acceleration

arrives at the first input of the adder 2-1, the second input of which receives a signal proportional to the acceleration

gravity, from the output of block 6 determining the components of the acceleration of gravity. The latter is formed by the signals of the sensor 5 of the acceleration of gravity, the pitch sensor 7 and the roll sensor 8, received respectively at the first, second and third inputs of the unit 6 for determining the components of the acceleration of gravity. After adding signals proportional to apparent acceleration

and accelerate

gravity, at the output of the adder 2-1, a signal is obtained proportional to the absolute acceleration

apparatus. It arrives at the first summing input of the subtraction block 12-6, where a signal proportional to the absolute acceleration is subtracted from it

the center of mass of the apparatus entering the second subtracting input of the subtraction unit 12-6. Signal proportional to absolute acceleration

the center of mass of the apparatus, it turns out at the output of the second block 41 for determining the components of the absolute acceleration of the center of mass. At the same time, a signal proportional to absolute acceleration is received at its first input

earth coordinates of the device, from the output of the differentiator 29-4, to the second input - a signal proportional to the heading ψ of the device, from the output of the 36 course sensor, to the third input - a signal proportional to the pitch ϑ of the device, from the output of the pitch sensor 7, to the fourth input - a signal proportional to the roll γ of the apparatus, from the output of the roll sensor 8. Signal proportional to absolute acceleration

earth coordinates of the device, it turns out at the output of the differentiator 29-4 after differentiating in it the output signal of the sensor 43 of the rate of change of earth coordinates. The signal from the output of block subtraction 12-6, proportional to the increment

absolute acceleration, is fed to the first input of the block 4 of the current coordinates of the center of mass. Simultaneously with the output of the 9 angular velocity sensor, a signal proportional to the absolute angular velocity

apparatus, enters the second input of the block 4 of the current coordinates of the center of mass. In block 4 of the current coordinates of the center of mass, the offset is determined

center of mass with respect to point A, where the accelerometer 1 is located on the apparatus.

, поступает на первый вход сумматора 2-1, на второй вход которого поступает сигнал, пропорциональный ускорению

силы тяжести, с выхода блока 6 определения составляющих ускорения силы тяжести. Последний формируется по сигналам датчика 5 ускорения силы тяжести, датчика 7 тангажа и датчика 8 крена, поступающим соответственно на первый, второй и третий входы блока 6 определения составляющих ускорения силы тяжести. После сложения сигналов, пропорциональных кажущемуся ускорению

и ускорению

силы тяжести, на выходе сумматора 2-1 получается сигнал, пропорциональный абсолютному линейному ускорению

аппарата. Он поступает на первый суммирующий вход блока 12-6 вычитания, где из него вычитается сигнал, пропорциональный абсолютному ускорению

центра масс аппарата, поступающий на второй вычитающий вход блока 12-6 вычитания. Сигнал, пропорциональный абсолютному ускорению

центра масс аппарата, получается на выходе третьего блока 45 определения составляющих абсолютного ускорения центра масс. При этом на его первый вход поступает сигнал, пропорциональный скорости

аппарата в его связанных осях, с выхода датчика 44 скорости аппарата, а на второй вход - сигнал, пропорциональный абсолютной угловой скорости

аппарата, с датчика 9 угловых скоростей. Сигнал с выхода блока 12-6 вычитания, пропорциональный приращению

абсолютного ускорения, поступает на первый вход блока 4 текущих координат центра масс. Одновременно с выхода датчика 9 угловых скоростей сигнал, пропорциональный абсолютной угловой скорости

аппарата, поступает на второй вход блока 4 текущих координат центра масс. В блоке 4 текущих координат центра масс определяется смещение

центра масс по отношению к точке A, где расположен акселерометр 1 на аппарате.A device for determining the magnitude and direction of displacement of the center of mass of the apparatus according to p. 19 of the formula (Fig. 17) works as follows. Accelerometer 1 output proportional to apparent acceleration

arrives at the first input of the adder 2-1, the second input of which receives a signal proportional to the acceleration

gravity, from the output of block 6 determining the components of the acceleration of gravity. The latter is formed by the signals of the sensor 5 of the acceleration of gravity, the pitch sensor 7 and the roll sensor 8, received respectively at the first, second and third inputs of the unit 6 for determining the components of the acceleration of gravity. After adding signals proportional to apparent acceleration

and accelerate

gravity, at the output of the adder 2-1, a signal is obtained proportional to the absolute linear acceleration

apparatus. It arrives at the first summing input of the subtraction block 12-6, where a signal proportional to the absolute acceleration is subtracted from it

the center of mass of the apparatus entering the second subtracting input of the subtraction unit 12-6. Signal proportional to absolute acceleration

the center of mass of the apparatus, it turns out at the output of the third block 45 for determining the components of the absolute acceleration of the center of mass. At the same time, a signal proportional to speed

the apparatus in its associated axes, from the output of the apparatus speed sensor 44, and to the second input, a signal proportional to the absolute angular velocity

apparatus, with a sensor 9 angular velocities. The signal from the output of block subtraction 12-6, proportional to the increment

absolute acceleration, is fed to the first input of the block 4 of the current coordinates of the center of mass. Simultaneously with the output of the 9 angular velocity sensor, a signal proportional to the absolute angular velocity

apparatus, enters the second input of the block 4 of the current coordinates of the center of mass. In block 4 of the current coordinates of the center of mass, the offset is determined

center of mass with respect to point A, where the accelerometer 1 is located on the apparatus.

аппарата в его связанных осях, по шине 46 скорости аппарата поступает на первый вход третьего блока 45 определения составляющих абсолютного ускорения центра масс, на второй вход которого по шине 47 абсолютной угловой скорости аппарата также поступает сигнал, пропорциональный абсолютной угловой скорости

аппарата, а с выхода по шине 38 абсолютного ускорения центра масс аппарата снимается сигнал, пропорциональный абсолютному ускорению

центра масс. При этом сигнал, пропорциональный скорости V_x аппарата по продольной оси связанной системы координат, поступает на первые входы дифференциатора 29-5 и умножителей 22-26, 22-27. Сигнал, пропорциональный скорости V_y аппарата по нормальной оси связанной системы координат, поступает на первые входы дифференциатора 29-6 и умножителей 22-28, 22-29. Сигнал, пропорциональный скорости V_z аппарата по поперечной оси связанной системы координат, поступает на первые входы дифференциатора 29-7 и умножителей 22-30, 22-31. На вторые входы умножителей 22-26 и 22-28 поступает сигнал, пропорциональный угловой скорости ω_z по поперечной оси связанной системы координат. На вторые входы умножителей 22-27 и 22-31 поступает сигнал, пропорциональный угловой скорости ω_y по нормальной оси связанной системы координат. На вторые входы умножителей 22-29 и 22-30 поступает сигнал, пропорциональный угловой скорости ω_x по продольной оси связанной системы координат. На первый суммирующий вход сумматора 2-20 поступает сигнал с выхода дифференциатора 29-5, на второй вычитающий вход - с выхода умножителя 22-28, на третий суммирующий вход - с выхода умножителя 22-31, а с выхода снимается сигнал, пропорциональный продольной составляющей абсолютного ускорения W_XO центра масс аппарата, на шину 38 абсолютного ускорения центра масс аппарата На первый суммирующий вход сумматора 2-21 поступает сигнал с выхода дифференциатора 29-6, на второй вычитающий вход - с выхода умножителя 22-30, на третий суммирующий вход - с выхода умножителя 22-26, а с выхода снимается сигнал, пропорциональный нормальной составляющей абсолютного ускорения W_YO центра масс аппарата, на шину 38 абсолютного ускорения центра масс аппарата. На первый суммирующий вход сумматора 2-22 поступает сигнал с выхода дифференциатора 29 - 7, на второй вычитающий вход - с выхода умножителя 22-27, на третий суммирующий вход - с выхода умножителя 22-29, а с выхода снимается сигнал, пропорциональный поперечной составляющей абсолютного ускорения W_ZO центра масс аппарата, на шину 38 абсолютного ускорения центра масс аппарата.The third block 45 for determining the components of the absolute acceleration of the center of mass according to p. 20 of the formula (Fig. 18) works as follows. Speed proportional signal

the apparatus in its associated axes, via the apparatus speed bus 46, enters the first input of the third block 45 for determining the components of the absolute acceleration of the center of mass, the second input of which also receives a signal proportional to the absolute angular velocity via the apparatus absolute absolute speed bus 47

apparatus, and a signal proportional to absolute acceleration is taken from the output on the bus 38 of the absolute acceleration of the center of mass of the apparatus

center of mass. In this case, a signal proportional to the speed V _{x of the} apparatus along the longitudinal axis of the associated coordinate system is fed to the first inputs of the differentiator 29-5 and multipliers 22-26, 22-27. A signal proportional to the speed V _{y of the} apparatus along the normal axis of the associated coordinate system is fed to the first inputs of the differentiator 29-6 and multipliers 22-28, 22-29. A signal proportional to the speed V _{z of the} apparatus along the transverse axis of the associated coordinate system is fed to the first inputs of the differentiator 29-7 and multipliers 22-30, 22-31. The second inputs of the multipliers 22-26 and 22-28 receive a signal proportional to the angular velocity ω _z along the transverse axis of the associated coordinate system. The second inputs of the multipliers 22-27 and 22-31 receive a signal proportional to the angular velocity ω _y along the normal axis of the associated coordinate system. The second inputs of the multipliers 22-29 and 22-30 receive a signal proportional to the angular velocity ω _x along the longitudinal axis of the associated coordinate system. The first summing input of adder 2-20 receives a signal from the output of the differentiator 29-5, the second subtracting input - from the output of the multiplier 22-28, the third summing input - from the output of the multiplier 22-31, and the signal proportional to the longitudinal component is taken from the output absolute acceleration W _{XO of the} center of mass of the apparatus, on the bus 38 of the absolute acceleration of the center of mass of the apparatus The first summing input of adder 2-21 receives a signal from the output of the differentiator 29-6, the second subtracting input - from the output of the multiplier 22-30, the third summing input - from the output will multiply eating 22-26, and a signal is output from the output that is proportional to the normal component of the absolute acceleration W _{YO of the} center of mass of the apparatus, to the bus 38 of the absolute acceleration of the center of mass of the apparatus. The first summing input of adder 2-22 receives a signal from the output of the differentiator 29 - 7, the second subtracting input - from the output of the multiplier 22-27, the third summing input - from the output of the multiplier 22-29, and the signal proportional to the transverse component is taken from the output absolute acceleration W _{ZO of the} center of mass of the apparatus, to the bus 38 of the absolute acceleration of the center of mass of the apparatus.

 The practical implementation of the method and device for determining the magnitude and direction of displacement of the center of mass of the apparatus is possible on an analog and digital circuitry base. It should be noted that acceleration sensors - accelerometer 1, pitch 7, roll 8, course 36, acceleration of gravity 5, angular velocities 9, digital computer - to implement the calculations of the adder 2-1, the first and second frequency selectors 3-1 , 3-2, blocks 4 of the current coordinates of the center of mass and block 6 for determining the components of the acceleration of gravity are part of the commercially available inertial navigation systems I-11, I-21, BINS-85, I-42, etc. [32, p. . 77, 33, p. 63]. For high-precision measurements, geodetic and gravimetric systems such as GNS, GINS-3 are preferred [34, 35]. Implementation is possible with the use of separate meters: acceleration - accelerometers A-15 or A-L2 [32. from. 131]; angular velocity sensors DUS-500, DUS-700 [32, p. 127]. The latitude sensor 14 and the longitude sensor 35 are part of the inertial navigation systems. The bar or radio altimeter of the apparatus is a height sensor 16. Pitch sensors 7, roll 8, course 36 can use on-board gyroscopes like IKV, TKS, BSKV [33, p. 42-53; 32, p. 119]. Computational operations for the gravity acceleration sensor 5, block 6 for determining the components of gravity acceleration, adder 2-1, frequency selectors 3-1, 3-2, block 4 of the current coordinates of the center of mass, blocks 12-1 - 12-6 of subtraction, the first 34, second 41, third 45 blocks for determining the components of the absolute acceleration of the center of mass are also implemented in the aviation digital computer TsVM 20, TsVM 80, TsVM 90 [32, p. 337-343]. The implementation option of the device on board the device depends on its flight characteristics and instrumentation. It is preferable to use the information of sensors and systems included in its digital flight-navigation system, for example TsNPK-114 (IL-114 aircraft), where there is a strap-on system of heading and vertical SBKV-85, airborne signal system SVS-85, radio navigation and short-range landing system RSBN A-331-05, radio-navigation satellite navigation system SNS-85-01 (GLONASS), Doppler speed and drift angle meter DISS-MVL (P-11), radio altitude meter RV-85, precision radio range finder DME / R-85; CVM VSS-85 MVL-1. Similarly, you can use the complex KSCSPNO (aircraft IL-96, TU-204) [32, p. 63 - 66]. All sensors, systems, calculators of these complexes provide all the initial information for the implementation of variants of the proposed method and device. It is proposed to use GPS / GLONASS GPS navigation systems (SN-3301, A-737, A-744, [32, p. 181-185]. The sensor 40 of terrestrial coordinates and the sensor 43 of the rate of change of terrestrial coordinates can be short-range navigation and landing radio engineering systems (RSBN) A-312-09, A-324 [32, p. 171-179], as well as laser location systems [26, p. 129, 135; 17, p. 183], preferred for measurements in direct visibility of the apparatus. The speed sensor 44 of the apparatus, which detects speeds in a coupled coordinate system, is preferably implemented on Doppler devices of type A-078, P-11, SHO-13 [32, p. 244-246, 29; thirty]. As a specialized on-board computer, it is possible to use a microprocessor system with input / output devices of the MD series [32, p. 355-357] and super-miniature single-board airborne vehicles SB-3580, SB-5580, Credo-486 [32, p. 344-346; 36, p. 86, 140-143, 183]. For marine devices, it is possible to use sensors and systems of increased accuracy of marine performance [37, p. 18, 28, 176; 38].

 The inventive method and device have high reliability in determining the real displacement of the center of mass of the apparatus due to all possible reasons for its occurrence in flight. In this they are radically different from the known means of solving a technical problem, which are, as a rule, indirect, predictive in nature. So in the method chosen as a prototype, it is necessary to implement complex manipulations with a bulky plane on Earth, assuming in advance all the places and positions of its cargo. Similarly, the effect on the displacement of the center of mass of fuel in the aircraft tanks is estimated. It is believed that fuel, like cargo, is distributed in a known manner on an airplane, and the fuel metering and distribution system is reliable and provides accurate information to the pilot. Flight practice shows the limitations of such centering assessments and their negative consequences on flight safety [1; 2; 39, p. 163-165; 40, c. 34, 41, p. 7 and others]. Promising aircraft and aerospace systems AN-124, AN-225, ASX-500-100, ASX-600-400, M-90. Air ferry Boeing TSTO, AN-124-100 BC Flight [42; 43; 44; 45] have significant loads moving on the fuselage, taking into account the effect of which on the position of the center of mass of the apparatus in flight is difficult both in regular and in emergency situations. The proposed method and device can improve the security of such systems by taking into account the real position of the center of mass for all weight loads of the apparatus and for any configuration. They complement the ground device - the prototype [9, p. 77; 10, c. 108] with load sensors of the landing gear in the static position of the aircraft on Earth, providing flight control centering. For transport aircraft, the method and device can accurately determine the current alignment when dropping cargo, structural damage, changing wing geometry, refueling in flight and emergency situations, including damage to the fuel metering system, fuel tanks, and take adequate measures to control the device in a timely manner. The accuracy of estimating the displacement of the center of mass is less than 0.1 m. The measurement of the displacement of the center of mass in flight makes it possible to increase the fuel efficiency of the apparatus due to more precise control of the rear alignment and lower drag of the aerodynamically unstable apparatus. The signal on the position of the center of mass is used to control the fuel transfer pumps along the longitudinal axis of the fuselage. Using the proposed device, it is possible to create control systems for aircraft with active control of the center of mass position, which extends the range of control of the angular position not only with the traditional deflection of the aerodynamic control surfaces and permutation of the stabilizer. The application of the method and device for cargo ships and container ships allows you to control their stability during navigation, which is of great importance when the sea is rough and the possible displacement of the cargo. The current stability control when loading vessels at the berth provides reliable, but not declaring information about the permissible load and its distribution on the vessel. As for aircraft, the opportunity arises for optimal control of the stability of the vessel by pumping specific ballast tanks to ensure acceptable stability of the vessel’s movement with high efficiency of the propulsion system to overcome the drag of the submerged part of the ship’s hull.

Thus, the above information shows that when implementing the claimed troupe of inventions, the following conditions are met:
- means embodying the invention in their implementation, are intended for use in industry, namely in integrated systems for monitoring and controlling mobile devices;
- for the claimed inventions in the form as described in the independent claims, the possibility of their implementation using the described or other means and methods known prior to the filing date of the application is confirmed;
- means embodying the invention in their implementation, are able to provide the said technical result. Therefore, the claimed invention meets the condition of patentability "industrial applicability".

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Claims (20)

1. The method of determining the magnitude and direction of displacement of the center of mass of the apparatus, based on measuring the parameters of the apparatus, characterized in that the current magnitude and direction of the absolute angular velocity, gravity, apparent linear acceleration, the current pitch and roll angles are measured, and then the magnitude and the direction of the absolute linear acceleration of the apparatus, summing the apparent linear acceleration and acceleration of gravity at the location of the apparatus, then determine the magnitude and direction of the increment of the absolute linear acceleration of the apparatus with respect to the absolute linear acceleration of the apparatus in its center of mass, the magnitude and direction of the angular velocity and angular acceleration of the apparatus relative to its center of mass, and then determine the magnitude and direction of the displacement of the center of mass according to the ratio

where ρ is the displacement of the center of mass of the apparatus, m;
ω is the magnitude of the angular velocity of the apparatus relative to its center of mass, 1 / s;
ΔW is the increment of the absolute linear acceleration of the apparatus with respect to the absolute linear acceleration of the apparatus in its center of mass, m / s ² ;
t is the time, s. 2. The method of determining the magnitude and direction of the displacement of the center of mass of the apparatus according to claim 1, characterized in that the magnitude and direction of the absolute angular acceleration are measured by first measuring the magnitude and direction of the absolute angular velocity of the apparatus, then at the end of a period of time of a shorter period of intrinsic short-period components of angular oscillations the apparatus relative to its center of mass, measure the magnitude and direction of the increment of the absolute angular velocity and remember them, and then determine the magnitude the inu and the direction of the absolute angular acceleration of the apparatus in terms of the increment rate of the absolute angular velocity for a period of time shorter than the period of its own short-period components of the angular oscillations of the apparatus relative to its center of mass, the measurement of the acceleration of gravity is carried out by the angle of latitude and height of the location point of the apparatus according
g = 9.78049 (1 + 5.288 • 10 ^-3 sin ² φ) - 3.086 • 10 ^-6 N,
where g is the magnitude of the acceleration of gravity at the location of the apparatus, m / s ² ;
φ is the latitude of the location of the apparatus, angles;
N - the height of the location of the device above the surface of the Earth, m,
the magnitude and direction of the increment of the absolute linear acceleration of the apparatus relative to the absolute linear acceleration of the apparatus in its center of mass, the angular velocity and angular acceleration of the apparatus relative to its center of mass is determined narrowband, filtering at the frequency of the natural periodic components of the angular oscillations of the apparatus relative to its center of mass, signals proportional respectively absolute linear acceleration of the apparatus, absolute angular velocity and absolute angular acceleration of the apparatus.  3. The method of determining the magnitude and direction of displacement of the center of mass of the apparatus according to claim 1, characterized in that the magnitude and direction of the increment of the absolute linear acceleration of the apparatus with respect to the absolute linear acceleration of the apparatus in the center of mass is determined by the difference between the absolute linear acceleration of the apparatus and the absolute linear acceleration of the apparatus in its center of mass, measured by the acceleration of the apparatus relative to the Earth.  4. A device for determining the magnitude and direction of displacement of the center of mass of the apparatus, containing means for measuring the acceleration of gravity, characterized in that the means of measuring gravity is made in the form of a sensor for accelerating gravity, and the device further comprises a series-connected accelerometer, a first adder, a first frequency selector , a block of current coordinates of the center of mass, a gravity acceleration sensor and a unit for determining gravity acceleration components, the second input of which is inen with the pitch sensor output, the third input with the roll sensor output, and the output with the second input of the first adder, and the angular velocity sensor and the second frequency selector connected in series, the output of which is connected to the second input of the block of current coordinates of the center of mass, the output of which forms the output center of mass displacement tire.  5. A device for determining the magnitude and direction of the displacement of the center of mass of the apparatus according to claim 4, characterized in that it further comprises a series-connected accelerometer coordinate adjuster on the apparatus and a first subtraction unit, the second input of which is connected to the output displacement bus of the center of mass, and the output forms a tire deflecting the displacement of the center of mass.  6. The device for determining the magnitude and direction of displacement of the center of mass of the apparatus according to claim 4, characterized in that the gravity acceleration sensor comprises a latitude sensor in series, a first functional converter and a second adder, the second summing input of which is connected to the output of the height sensor, the third subtracting the input is with the output of the reference unit of the gravity acceleration reference value, and the output is with the output of the gravity acceleration sensor.  7. A device for determining the magnitude and direction of displacement of the center of mass of the apparatus according to claim 4, characterized in that the unit for determining the components of the acceleration of gravity contains a first coordinate converter connected in series, the first input of which is connected to the first input of the unit for determining the components of the acceleration of gravity, the second input - with the output of the first sine functional converter, the third input - with the output of the first cosine functional converter, the second coordinate converter, the second input to It is connected to the output of the second sine functional converter, the third input is to the output of the second cosine functional converter, the fourth input is to the first output of the first coordinate converter, the fifth input is to the second output of the first coordinate converter, the inputs of the first sine and cosine functional converters are connected to the second input unit for determining the components of the acceleration of gravity, the third input of which is connected to the inputs of the second sine and cosine functional transform the output, with the acceleration bus of gravity so that the first, second and third outputs of the second coordinate transformer form the output of the unit for determining the components of the acceleration of gravity and are designed to output the acceleration of gravity along the normal, transverse and longitudinal axes of the associated coordinate system.  8. A device for determining the magnitude and direction of displacement of the center of mass of the apparatus according to claim 7, characterized in that the coordinate transformer comprises a first multiplier connected in series, the first input of which is connected to the first input of the coordinate transformer, the second input to the second input of the coordinate transformer, and the third adder the second input of which is connected to the output of the second multiplier, and the output to the first output of the coordinate transformer, the third multiplier connected in series, the first input of which is connected to the first m is the input of the coordinate transformer, the second input is with the third input of the coordinate transformer, the second subtraction unit, the summing input of which is connected to the output of the third multiplier, the subtractive input is with the output of the fourth multiplier, and the output is with the second output of the coordinate transformer, the fourth input of the coordinate transformer is connected to its third output, the fifth input - with the first inputs of the second and fourth multipliers, the second inputs of which are connected respectively to the third and second inputs of the coordinate transformer.  9. A device for determining the magnitude and direction of displacement of the center of mass of the apparatus according to claim 4, characterized in that the block of current coordinates of the center of mass contains a series-connected block for determining projections and an integrator of coordinates of the center of mass so that the first input of the block of current coordinates of the center of mass is connected to the bus increments of absolute acceleration, the second input is with the bus of the angular velocity of the apparatus, and the output is with the bus of displacement of the center of mass, and the first input of the projection determination unit is connected to the input of angular velocity along the transverse axis coordinate system, the second input - with the input of angular velocity along the normal axis of the connected coordinate system, the third input - with the input of angular velocity along the longitudinal axis of the connected coordinate system, and the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth , the tenth, eleventh and twelfth outputs are with the inputs of the center of mass coordinate integrator of the same name, the thirteenth input of which is connected to the input of the increment of absolute acceleration along the longitudinal axis of the connected coordinate system, the fourteenth input is with the input of the increment I am the absolute acceleration along the normal axis of the connected coordinate system, the fifteenth input is with the input of the absolute acceleration increment along the transverse axis of the connected coordinate system, and the first output is with the output of the center of mass displacement along the longitudinal axis of the connected coordinate system, the second output is with the output of the center of mass displacement normal axis of the connected coordinate system, the third output is the output of the displacement of the center of mass along the transverse axis of the connected coordinate system.  10. A device for determining the magnitude and direction of displacement of the center of mass of the apparatus according to claim 9, characterized in that the projection determination unit contains six adders, three subtraction units, three inverters, three amplifiers, six multipliers and three differentiators, the input of the first differentiator being and the input of the first amplifier, the first inputs of the fifth, sixth and both inputs of the seventh multiplier are connected to the first input of the projection determination unit, the input of the second differentiator, like the input of the second amplifier, the first input of the eighth multiplier, the second input the fifth multiplier and both inputs of the ninth multiplier are connected to the second input of the projection determination unit, the input of the third differentiator, as well as the input of the third amplifier, the second inputs of the sixth, eighth and both inputs of the tenth multiplier are connected to the third input of the projection determination unit, the first input of the fourth adder and subtracting input the third subtraction block is connected to the output of the first differentiator, and the second input of the fourth adder and the summing input of the third subtraction block are connected to the output of the eighth multiplier, the first input the fifth adder and the subtracting input of the fourth subtraction block are connected to the output of the second differentiator, and the second input of the fifth adder and the summing input of the fourth subtraction block are connected to the output of the sixth multiplier, the first input of the sixth adder and the subtracting input of the fifth subtraction block are connected to the output of the third differentiator, and the second input the sixth adder and the summing input of the fifth subtraction unit are connected to the output of the fifth multiplier, the first inputs of the seventh and eighth adders are connected to the output of the seventh multiplier I, the second input of the eighth adder and the first input of the ninth adder are connected to the output of the ninth multiplier, the second inputs of the ninth and seventh adders are connected to the output of the tenth multiplier, the input of the first inverter is connected to the output of the eighth adder, and the output to the first output of the projection determination unit, the second output which is connected to the output of the third subtraction unit, and the third output to the output of the fifth adder, the output of the fourth adder is connected to the fourth output of the projection determination unit, the fifth output of which is connected to the output ohm of the second inverter connected to the output of the seventh adder, the sixth output of the projection determination unit is connected to the output of the fifth subtraction unit, the seventh output is with the output of the fourth subtraction unit, the eighth output is with the output of the sixth adder, the ninth output is with the output of the third inverter connected to the output the ninth adder, the tenth output with the output of the first amplifier, the eleventh output with the output of the third amplifier, and the twelfth output with the output of the second amplifier.  11. The device for determining the magnitude and direction of displacement of the center of mass of the apparatus according to claim 9, characterized in that the integrator of the center of mass coordinates contains a tenth adder, a first integrator, a second integrator, a fourth inverter, an eleventh multiplier, the second input of which is connected to the first input integrator of the center of mass coordinates, and the output - with the first input of the tenth adder, the second input of which is connected to the thirteenth input of the integrator of the center of mass coordinates, the third input - with the output of the twelfth For the first input connected to the second input of the integrator of the center of mass coordinates, the fourth input - with the output of the thirteenth multiplier, the first input connected to the third input of the integrator of the center of mass, the fifth input - with the output of the fourteenth multiplier, the first input connected to the tenth input of the integrator of the center of mass , the sixth input - with the output of the fifth inverter, the eleventh adder connected in series, the third integrator, the fourth integrator, the sixth inverter, the fifteenth multiplier, the second input of which is connected nen with the fifth input of the integrator of the center of mass coordinates, and the output with the first input of the eleventh adder, the second input of which is connected to the fourteenth input of the integrator of the center of mass, the third input with the output of the sixteenth multiplier, the first input connected to the sixth input of the integrator of the center of mass, fourth input - with the output of the seventeenth multiplier, the first input connected to the fourth input of the integrator of the center of mass coordinates, the fifth input - with the output of the eighteenth multiplier, the first input connected to the eleventh the input of the integrator of the center of mass coordinates, the sixth input - with the output of the seventh inverter, the twelfth adder connected in series, the fifth integrator, the sixth integrator, the eighth inverter, the nineteenth multiplier, the second input of which is connected to the ninth input of the integrator of the center of mass, and the output - with the first input of the twelfth an adder, the second input of which is connected to the fifteenth input of the integrator of the center of mass coordinates, the third input - with the output of the twentieth multiplier, the first input connected to the eighth input of the integrator the center of mass, the fourth input - with the output of the twenty-first multiplier, the first input connected to the seventh input of the integrator of the center of mass coordinates, the fifth input - with the output of the twenty-second multiplier, the first input connected with the twelfth input of the integrator of the center of mass coordinates, the sixth input - with the output of the ninth inverter, twenty-third multiplier, the first input of which is connected to the tenth input of the integrator of the center of mass coordinates, the second input, like the second input of the twenty-second multiplier, with the output of the first integrator, and the output from by the seventh inverter, the twenty-fourth multiplier, the first input of which is connected to the eleventh input of the integrator of the center of mass coordinates, the second input, as the second input of the fourteenth multiplier, with the output of the third integrator, and the output - with the input of the ninth inverter, the twenty-fifth multiplier, whose first input connected to the twelfth input of the integrator of the center of mass coordinates, the second input, like the second input of the eighteenth multiplier, with the output of the fifth integrator, and the output with the input of the fifth inverter, the output of the fourth inverter with the second inputs of the seventeenth, twenty-first multipliers and the first output of the integrator of the center of mass coordinates, the output of the sixth inverter is connected to the second inputs of the twelfth, twentieth multipliers and the second output of the integrator of the center of mass, the output of the eighth inverter is connected to the second inputs of the thirteenth, sixteenth multipliers and the third output integrator of the center of mass coordinates.  12. A device for determining the magnitude and direction of displacement of the center of mass of the apparatus according to claim 4, characterized in that each frequency selector contains three identical circuits, each of which contains a thirteenth adder connected in series, the output of which is connected to the first input of the fourteenth adder, the fifteenth adder, the output of which is connected to the second input of the fourteenth adder and the first subtracting input of the sixteenth adder, the fourth amplifier, the output of which is connected to the third, fourth subtracting input of the thirteenth adder and the second summing input of the sixteenth adder, the fifth amplifier, the sixth amplifier, the output of which is connected to the fifth subtracting input of the fourteenth adder and the third summing input of the sixteenth adder, the output of which is connected to the input of the seventh amplifier, seventeenth adder, the first delay circuit, the eighteenth adder the input of which is connected to the output of the seventh amplifier, the second delay circuit, the nineteenth adder, the second input of which is connected to the output of the fourteenth adder, t a delay circuit, the output of which is connected to the input of the eighth amplifier, the output connected to the second input of the thirteenth adder, a fourth delay circuit, the output of which is connected to the second subtracting input of the seventeenth adder, as well as the second and third subtracting inputs of the fifteenth adder, while the first input of the thirteenth adder It is designed to supply the input signal of the frequency selector, and the output of the fourth amplifier forms the output of the frequency selector.  13. A device for determining the magnitude and direction of displacement of the center of mass of the apparatus, containing means for measuring the acceleration of gravity, characterized in that the means of measuring acceleration of gravity is made in the form of a sensor for accelerating gravity, and the device further comprises a series-connected accelerometer, a first adder, a sixth unit subtraction, a block of current coordinates of the center of mass, a gravity acceleration sensor and a unit for determining gravity acceleration components, the output of which is is dined with the second input of the first adder, and a geocentric coordinate sensor, a double differentiation unit, a first unit for determining the absolute acceleration of the center of mass, the second input of which is connected to the output of the longitude sensor, the third input to the output of the latitude sensor, the fourth input to the output of the sensor the course, the fifth input, as well as the second input of the unit for determining the components of acceleration of gravity - with the output of the pitch sensor, the sixth input, as the third input of the unit for determining components of the acceleration of gravity if - with the output of the roll sensor, and the output with the second input of the sixth subtraction unit, the output of the angular velocity sensor is connected to the second input of the block of current coordinates of the center of mass, the output of which forms the output bus of displacement of the center of mass.  14. The device for determining the magnitude and direction of displacement of the center of mass of the apparatus according to item 13, wherein the first block for determining the components of the absolute acceleration of the center of mass contains a third, fourth, fifth, sixth and seventh coordinate converters in series so that the first input of the first block determining the components of the absolute acceleration of the center of mass is connected to the absolute acceleration bus of the geocentric coordinates of the apparatus, the second input - with the inputs of the third sine and cosine functional transforms the third input - with the inputs of the fourth sine and cosine functional converters, the fourth input - with the inputs of the fifth sine and cosine functional converters, the fifth input - with the inputs of the sixth sine and cosine functional converters, the sixth input - with the inputs of the seventh sine and cosine functional converters, and the output - with the tire of absolute acceleration of the center of mass of the apparatus, and the first input of the third coordinate transformer is connected to the input of the absolute acceleration of geocentric the coordinates of the apparatus along an axis perpendicular to the plane of the zero meridian and located in the plane of the equator, the second input - with the output of the third sine functional transducer, the third input - with the output of the third cosine functional transducer, the fourth input - with the input of the absolute acceleration of the geocentric coordinates of the apparatus along the Earth's rotation axis, fifth entrance - with the input of the absolute acceleration of the geocentric coordinates of the device along the axis in the plane of the earth's equator and the zero meridian, the first input of the fourth transformation the coordinate generator is connected to the third output of the third coordinate converter, the second input to the output of the fourth sine functional converter, the third input to the output of the fourth cosine functional converter, the fourth input to the first output of the third coordinate converter, the fifth input to the second output of the third coordinate converter, the first input of the fifth coordinate converter is connected to the third output of the fourth coordinate converter, the second input is with the output of the fifth sine function transducer, the third input - with the output of the fifth cosine functional transducer, the fourth input - with the first output of the fourth coordinate transformer, the fifth input - with the second output of the fourth coordinate transformer, the first input of the sixth coordinate transducer is connected to the third output of the fifth coordinate transformer, the second input - the output of the sixth sine functional converter, the third input with the output of the sixth cosine functional converter, the fourth input with the first output coordinate converter, the fifth input is with the second output of the fifth coordinate converter, the first input of the seventh coordinate converter is connected to the third output of the sixth coordinate converter, the second input is with the output of the seventh sine functional converter, the third input is with the output of the seventh cosine functional converter, the fourth input is with the first output of the sixth coordinate converter, the fifth input - with the second output of the sixth coordinate converter, the first output of the seventh coordinate converter connected to the output of the normal component of the absolute acceleration of the center of mass system, the second output - with an absolute yield of the transverse component of the center of mass acceleration device, the third output - with output of the longitudinal center of mass of component absolute acceleration apparatus.  15. A device for determining the magnitude and direction of displacement of the center of mass of the apparatus, containing means for measuring the acceleration of gravity, characterized in that the means of measuring gravity is made in the form of a sensor for accelerating gravity, and the device further comprises a series-connected accelerometer, a first adder, a sixth subtraction unit , a block of current coordinates of the center of mass, a gravity acceleration sensor and a unit for determining gravity acceleration components, the output of which is connected to the second input of the first adder, and the geocentric coordinate change speed sensor, the fourth differentiator, the first unit for determining the components of the absolute acceleration of the center of mass, the second input of which is connected to the output of the longitude sensor, the third input to the output of the latitude sensor, the fourth input to the output of the heading sensor , the fifth input, as well as the second input of the unit for determining the components of acceleration of gravity - with the output of the pitch sensor, the sixth input, as the third input of the unit for determining components of the acceleration of force t toughness - with the output of the roll sensor, and the output with the second input of the sixth subtraction unit, the output of the angular velocity sensor is connected to the second input of the block of the current coordinates of the center of mass, the output of which forms the output offset line of the center of mass.  16. A device for determining the magnitude and direction of displacement of the center of mass of the apparatus, containing means for measuring the acceleration of gravity, characterized in that the means of measuring gravity is made in the form of a sensor for accelerating gravity, and the device further comprises a series-connected accelerometer, a first adder, a sixth subtraction unit , a block of current coordinates of the center of mass, a gravity acceleration sensor and a unit for determining gravity acceleration components, the output of which is connected to the second input of the first adder, and the earth coordinates sensor, a double differentiation unit, the second unit for determining the components of the absolute acceleration of the center of mass, the second input of which is connected to the output of the heading sensor, the third input, as well as the second input of the unit for determining the components of the acceleration of gravity, with the output pitch sensor, the fourth input, as well as the third input of the unit for determining the components of the acceleration of gravity with the output of the roll sensor, and the output with the second input of the sixth subtraction unit, the output of the angle sensor velocity is connected to the second input of the block of current coordinates of the center of mass, the output of which forms the output bus of displacement of the center of mass.  17. The device for determining the magnitude and direction of displacement of the center of mass of the apparatus according to clause 16, wherein the second block for determining the components of absolute acceleration of the center of mass contains the eighth, ninth and tenth coordinate converters connected in series so that the first input of the second block for determining the components of absolute acceleration the center of mass is connected to the bus of absolute acceleration of the earth's coordinates of the apparatus, the second input - with the inputs of the eighth sine and cosine functional converters, the third input - the inputs of the ninth sine and cosine functional converters, the fourth input with the inputs of the tenth sine and cosine functional converters, and the output with the tire of absolute acceleration of the center of mass of the apparatus, and the first input of the eighth coordinate converter is connected to the input of absolute acceleration along the horizontal axis of the direction of movement of the Earth coordinate system , the second input - with the output of the eighth sine functional converter, the third input - with the output of the eighth cosine functional transform atelier, the fourth input is with the absolute acceleration input along the local vertical axis of the Earth coordinate system, the fifth input is with the absolute acceleration input along the horizontal axis perpendicular to the axis of movement, the Earth coordinate system, the first input of the ninth coordinate converter is connected to the third output of the eighth coordinate converter, the second input - with the output of the ninth sine functional converter, the third input - with the output of the ninth cosine functional converter, the fourth input - with the first output the eighth coordinate converter, the fifth input is with the second output of the eighth coordinate converter, the first input of the tenth coordinate converter is connected to the third output of the ninth coordinate converter, the second input is with the output of the tenth sine functional converter, the third input is with the output of the tenth cosine functional converter, the fourth input is with the first output of the ninth coordinate transformer, the fifth input - with the second output of the ninth coordinate transformer, the first output of the tenth transform ator coordinates connected to the output of the normal component of the absolute acceleration of the center of mass system, the second output - with an absolute yield of the transverse component of the center of mass acceleration device, the third output - with output of the longitudinal center of mass of component absolute acceleration apparatus.  18. A device for determining the magnitude and direction of displacement of the center of mass of the apparatus, containing means for measuring the acceleration of gravity, characterized in that the means of measuring gravity is made in the form of a sensor for accelerating gravity, and the device further comprises a series-connected accelerometer, a first adder, a sixth subtraction unit , a block of current coordinates of the center of mass, a gravity acceleration sensor and a unit for determining gravity acceleration components, the output of which is connected to the second input of the first adder, and the speed sensor for changing Earth coordinates, the fourth differentiator, the second unit for determining the components of the absolute acceleration of the center of mass, the second input of which is connected to the output of the heading sensor, the third input, as well as the second input of the unit for determining the components of the acceleration of gravity, with the output of the pitch sensor, the fourth input, as well as the third input of the unit for determining the components of the acceleration of gravity with the output of the roll sensor, and the output with the second input of the sixth subtraction unit, output d angular velocity sensor is connected to a second input of the center of mass coordinates of the current block, the output of which forms the center of mass offset output bus.  19. A device for determining the magnitude and direction of displacement of the center of mass of the apparatus, containing means for measuring the acceleration of gravity, characterized in that the means of measuring gravity is made in the form of a sensor for accelerating gravity, and the device further comprises a series-connected accelerometer, a first adder, a sixth subtraction unit , a block of current coordinates of the center of mass, a gravity acceleration sensor and a unit for determining gravity acceleration components, the second input of which is connected n with the output of the pitch sensor, the third input with the output of the roll sensor, and the output with the second input of the first adder, and the speed sensor of the apparatus connected in series, the third unit for determining the components of the absolute acceleration of the center of mass, the second input of which is connected to the output of the angular velocity sensor, and the output is with the second input of the sixth subtraction unit, the second input of the current center of mass coordinate unit is connected to the output of the angular velocity sensor, and the output forms the output center of mass displacement bus.  20. The device for determining the magnitude and direction of displacement of the center of mass of the apparatus according to claim 19, characterized in that the third block for determining the components of the absolute acceleration of the center of mass contains three differentiators, three adders, six multipliers so that the first input of the third block for determining the components of the absolute acceleration of the center the mass is connected to the apparatus’s speed bus, the second input to the apparatus’s absolute angular velocity bus, and the output to the absolute acceleration bus of the apparatus’s center of mass, the first inputs of the fifth differentiator, twenty The sixth and twenty-seventh multipliers are connected to the apparatus speed input along the longitudinal axis of the associated coordinate system, the first inputs of the sixth differentiator, the twenty-eighth and twenty-ninth multipliers are connected to the apparatus speed input along the normal axis of the connected coordinate system, the first inputs of the seventh differentiator, thirty and thirty-first multipliers are connected to the speed input of the apparatus along the transverse axis of the associated coordinate system, the second inputs of the twenty-sixth and twenty-eighth multipliers are connected with the input of the angular velocity along the transverse axis of the coupled coordinate system, the second inputs of the twenty-seventh and thirty-first multipliers are connected to the input of the angular velocity along the normal axis of the coupled coordinate system, the second inputs of the twenty-ninth and thirtieth multipliers are connected to the input of angular velocity along the longitudinal axis of the connected coordinate system, the first summing input of the twentieth adder is connected to the output of the fifth differentiator, the second subtracting input is with the output of the twenty-eighth multiplier, the third summing input is with the output of the thirty-first multiplier, and the output with the longitudinal component of the absolute acceleration of the center of mass of the apparatus, the first summing input of the twenty-first adder is connected to the output of the sixth differentiator, the second subtractive input is with the output of the thirtyth multiplier, the third summing input is with the output of the twenty-sixth multiplier, and output - with the output of the normal component of the absolute acceleration of the center of mass of the apparatus, the first summing input of the twenty-second adder is connected to the output of the seventh differentiator, the second subtract conductive input - with the output of the twenty-seventh multiplier, a third summing input of - a twenty-ninth multiplier output, while the output - to yield the transverse component of the absolute acceleration of the center of mass system.

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