RU2373498C2 - Navigation complex, velocity and coordinates' calculation, gimballess inertial attitude-and-heading reference system, correction method for inertial transducers and device for its implementation - Google Patents

Abstract

FIELD: measurement technology.

SUBSTANCE: group of inventions refers to the instrument engineering sphere and can be used for gimballess inertial navigation systems of the aircrafts (AC) and, especially, for low-sized unmanned aircrafts (UMAC). To achieve this result the navigation complex contains gimballess inertial attitude-and-heading reference system (GIAHRS), device for calculation of the velocity and coordinates , three-channel block of linear acceleration transducer (LAT), block of coordinates' measurement, three-stage magnetic direction transducer, three-channel block of angular velocities' transducer. Determination of the angular attitude vector, velocity vector and radius-vector is realised by measuring the angular attitude vector and linear acceleration vector by automatic combination controller.

EFFECT: invention improves the accuracy.

12 cl, 7 dwg

Description

The group of inventions relates to strapdown inertial navigation systems (SINS) of aircraft (LA) and, above all, small unmanned aerial vehicles (UAVs), which use basic measurement information from a block of angular velocity sensors (DLS), from a block of linear acceleration sensors ( DLU), with a three-degree magnetic direction sensor, from an airborne signal system (AHS) and additional information from a satellite radio navigation system (SRNS) and / or a radar measurement system (SRLI).

An analogue of the navigation complex is the well-known integrated navigation system [1], in which the accuracy is improved by using a satellite coordinate sensor and a polar coordinate coordinate sensor, while the errors given to the consumer are calculated and compensated. In small-sized unmanned aircraft in the context of reconnaissance operations, the loss of external information, for example, information from a satellite coordinate sensor, is highly likely. In the absence of external information, correction of an integrated navigation system is impossible, and its accuracy will be determined by the accuracy of inertial sensors. To obtain acceptable accuracy, it is necessary to have high-precision and, therefore, expensive inertial sensors and a sufficiently powerful on-board digital computer. In the case of using the well-known integrated navigation system in small unmanned aerial vehicles, the fulfillment of these requirements is economically disadvantageous, and for some types of unmanned aerial vehicles it is also technically unfeasible.

The navigation complex closest to the claimed device by its technical nature is the navigation complex [2], which consists of the consumer’s equipment of a satellite navigation system that allows determining the current coordinates and components of the velocity vector in the Earth coordinate system, roll and pitch angle sensors, attack and slip angle sensors, three-degree magnetic direction sensor, linear acceleration sensors and angular velocities installed in the associated coordinate system of the aircraft and the on-board computer, you olnennogo, with the co-processing the signals from all sensors.

In the known navigation complex, the accuracy of determining the coordinates, speed and orientation angles of the aircraft is improved by combining the signals of the SRNS and the signals from the roll angle, pitch, attack, slip and yaw angle signals calculated using the same signals and signals from a three-degree magnetic sensor directions. These calculations with acceptable accuracy are possible when using high-precision roll angle and pitch sensors, which, as noted in the description, are gyroscopic sensors. They are quite complex electromechanical systems combined in gyro-verticals [3, p.339-349]. The use of gyroverticals in most small UAVs is not recommended or impossible in terms of mass and other parameters. At the same time, the loss of information from consumer equipment of the satellite navigation system, which is highly likely in the context of reconnaissance operations, completely removes the navigation system from its operational state. The noted shortcomings determine the impossibility of using the known navigation system in small UAVs.

An analogue of the device for calculating speed and coordinates is a coupled inertial navigation system provided in the source [3, p.282], containing accelerometers mounted on the aircraft’s body, gyroscopes also installed on the aircraft’s body, a unit for subtracting the angular velocity of the Earth’s rotation from the angular velocity of the aircraft, block for converting angular velocity and linear acceleration from a connected coordinate system to normal earth using the matrix of guiding cosines, initial exhibition block, system for calculating the speed and coordinates of aircraft, block calculating the velocity vector of the aircraft, unit for calculating the coordinates of the aircraft.

In the known coupled inertial navigation system, the velocity vector and the coordinates of the aircraft are calculated by integrating the three components of inertial acceleration, converted using the matrix of directional cosines, into the three components of the aircraft acceleration in a normal earth coordinate system. In the absence of external information, errors in calculating the velocity vector and aircraft coordinates accumulate due to the integration of inertial sensor errors. To obtain acceptable accuracy, the associated inertial navigation system requires highly accurate and therefore expensive inertial sensors. However, as noted above, the use of such sensors is economically disadvantageous in small unmanned aircraft. Therefore, it is impractical to use the known associated inertial navigation system in small unmanned aircraft.

Closest to the claimed device for calculating speed and coordinates by technical nature are the baro-inertial altimeter, given in the source [3, p.281, Fig. 7.13], containing an accelerometer, a block for introducing Coriolis correction and acceleration of the Earth’s gravity, an acceleration correction block, speed calculation unit, initial speed setting unit, speed correction unit, height calculation unit, initial height setting unit, height error calculation unit, height error filtering unit, and error error estimation accelerated ju, altitude error filtering unit and velocity error estimates, initial speed and altitude setting units, barometric altitude measurement unit, while the inputs of the acceleration correction unit are connected to the accelerometer output, the output of the Coriolis correction and Earth gravity acceleration unit, and the output of the filtration unit coordinate errors and estimates of acceleration errors, inputs of the speed calculation unit are connected to the output of the acceleration correction unit and to the output of the initial speed setting unit, inputs of the correction unit speeds are connected to the output of the unit for filtering the error in height and for estimating the error in speed and to the output of the unit for setting the initial height, the inputs of the unit for calculating the height are connected to the output of the unit for speed correction and with the output of the unit for setting the initial height, the inputs of the unit for calculating the error in height are connected to the output of the unit calculating the height and the output of the barometric height measuring unit, the output of the height error calculation unit is connected to the input of the height error filtering unit and the error error rate and with the input of the height error filtering unit and the acceleration error estimation. In a similar way, a device can be constructed for calculating the other two components of the velocity and coordinate vectors.

In the well-known baro-inertial altimeter, the problem of correcting the errors of calculation of the speed and altitude of the aircraft increasing in time is solved, and the dynamic characteristics are improved. However, offline, i.e. in the absence of external measurements, the error in calculating the velocity and height vector will be determined by the errors of inertial sensors. DLU errors should not exceed 2 · 10 ^-7 g, which is indicated in the source [3, p.272]. Errors of medium-accuracy DLDs of at least 2 · 10 ^-2 g, which does not allow constructing a device for calculating all components of the aircraft’s velocity and coordinate vectors, which also works in autonomous mode, for a small UAV on medium-precision sensors.

An analogue of the strapdown inertial course-line (BIKV) is the BIKV [4, p.29-35], which contains a laser unit (or other type) of DLS, a DLU unit, an initial exhibition unit, an integrator unit, which computes the orientation matrix by integrating the modified Poisson equation, a calculation unit additional angular velocities of the aircraft, due to the curvature of the trajectory of the flight of the earth's ellipsoid, a block for converting the orientation matrix into orientation angles.

In the well-known BIKV, the influence of methodological errors in calculating the roll angles, heading, and pitch due to the curvature of the trajectory of the overhead flight of the Earth's ellipsoid is reduced by algorithmic means. The instrumental errors of the TLS and DLU should be sufficiently small. However, the nonzero signals of the TLS and DLU in the absence of angular velocities and linear accelerations have the greatest influence on the accuracy of calculating orientation angles, since errors accumulate during the integration process. For example, the zero signal of the TLS should not exceed 1-3 deg./h, then the departure of the NIR in an hour will be several degrees. When using in the known device sensors of medium accuracy, which are advisable to use in small unmanned aircraft, the error in calculating the angles can reach hundreds of degrees.

Closest to the claimed BIKV in technical essence is BIKV [5], which contains a three-channel block of TLS, a three-channel block of linear accelerometers, a shaper of derivatives of orientation angles, a block of correction, a block of integrators, a block for calculating the observed vertical, a block for calculating vertical errors, a filter, a block course shows, while the inputs of the driver of the derivatives of the orientation angles are connected to the outputs of the three-channel SDS block and the outputs of the integrator block, the correction block is connected to the outputs of the driver derivatives of the orientation angles and the filter outputs, and the outputs of the correction unit are connected to the integrator block, the inputs of the vertical error calculator are connected to the outputs of the observable vertical calculator, the outputs of the course show block and the outputs of the integrator block, and the outputs of the vertical error calculator are connected to the filter , the inputs of the observable vertical calculation unit are connected to the outputs of the three-channel linear accelerometer unit, the inputs of the course show unit are connected to the output of the correction unit and to the apparatus swarm, calculating the initial or accumulated error rate.

In the well-known BIKV, the error in calculating the orientation angles of the aircraft is reduced by compensating for the zeros of the signals at the input to the integrator block, but during the evolution of the aircraft, the values of the compensating signals will change, then in transient modes the compensation of the zero signals due to the inertia of the processes in the filter will be inaccurate, which will lead to errors calculation of orientation angles. Errors in transient conditions can be reduced only with the complete absence of errors of zeros of the TLS. Additional errors in the calculation of orientation angles during evolution of aircraft will also arise due to errors in the steepness of the characteristics of the TLS, which are not compensated in the well-known BIC. Errors in the calculation of orientation angles will also take place due to inaccuracies in the calculation of the observed vertical and errors in determining the course, and errors in the calculation of the observed verticals will be determined by errors in linear accelerometers, and the error in calculating the course in this device is not defined. Thus, an increase in the accuracy of calculating orientation angles is possible only when addressing the noted drawbacks of the NIR.

Known methods for the correction of measuring devices described in the source [6, p. 54-66, Fig. 9-15], which consist in the formation of the correction signal by the method of auxiliary measurements, by the method of reference signals or by the method of inverse transformation, which is a functional of the measurement error, calculation of the corrective effect using a correction signal, by introducing a correction action on the parameters of the measuring device so that the real static function of the conversion of the measuring device oystva approaching the nominal, or by introducing corrections for the measurement device output transducer calculated additional corrective action.

The disadvantages of the known methods of correction of measuring devices are as follows:

- the impossibility of taking into account all the factors affecting the measurement error when calculating the correction signal by the method of auxiliary measurements and, therefore, the inability to completely compensate for the error, as well as the need to install additional sensors to assess the influence of each factor;

- the need for periodic connection to the input of the measuring device of the reference signal during the formation of the correction signal by the method of reference signals, which for inertial sensors in navigation systems from a technical point of view is not possible;

- the need to use an accurate measured value and perform an exact inverse transformation for the measuring device when generating the correction signal by the inverse transformation method, which is also not possible from an engineering point of view for inertial sensors in navigation systems;

- the complexity of the impact on the conversion characteristic of the measuring device, since inertial sensors in navigation systems are certified objects with limited options for tuning parameters;

- the total error of the measuring device or its part is corrected, which does not significantly increase the accuracy of the navigation system when using known methods for correcting errors of inertial sensors, since individual components of the error make a different contribution to the total error of the navigation system during aircraft evolution.

Closest to the claimed method of correction of inertial sensors in technical essence is the method described in the source [6, p. 74-76], which consists in measuring the auxiliary signals of the correcting signals as known functions of the measured quantity and various factors affecting the accuracy of the measurement, calculating the nominal the measured value as a function of the inverse function of the measuring transducer, using the adjusted measured signal, calculating the measurement error, rivedennoy to the output of the measuring device, as a function of correction signals and the nominal measurand compensate measurement errors.

The disadvantages of the known method of correction of measuring devices are as follows:

- the error of the measuring device is partially corrected, in accordance with the factors measured by auxiliary measuring devices;

- to measure each factor affecting the accuracy of the measurement, you need a separate auxiliary measuring device;

- you need to know the dependence of the error of the measuring device on the combined action of all factors;

- it is necessary to have a computing device that would calculate the nominal measured value and using the measurement results would calculate the error of the measuring device, bring it to the output of the measuring device and subtract from the measurement result;

- it is necessary to coordinate the frequency characteristics of the measuring device, auxiliary measuring devices, the computing device and the frequency spectra of the measured signal and influencing factors;

- if the above requirements are not met, the accuracy of the correction will be low.

An analogue of the inertial sensor correction device is the inertial sensor correction device in the inertial navigation system [7], in which the inertial sensors are corrected by compensation of instrumental errors caused by the temperature drift of the parameters. Correction is carried out by external factors (by changing the temperature of the body of the inertial sensor unit) using the temperature error model built on the basis of statistical data inherent in a particular type of sensor. In this case, the other components of the error of inertial sensors must be sufficiently small, since they are not evaluated and, therefore, are not compensated. At the same time, the navigation parameters issued to the consumer are not controlled using alternative measurements and are not adjusted. In the case of using the known inertial navigation system in small unmanned aircraft with cheap inertial sensors of medium accuracy, the proposed correction of the inertial navigation system does not provide the necessary accuracy.

Closest to the claimed device for the correction of inertial sensors in technical essence is a measuring device shown in the source [6, p. 74-76, Fig. 17], containing a measuring device, n auxiliary measuring devices, a computing device and a unit for compensation of measurement error, implemented in accordance with the above sensor correction method.

A disadvantage of the known measuring device is the difficulty in implementing all the requirements listed in the disadvantages of the sensor correction method, and a significant decrease in accuracy in the partial implementation of the listed requirements. It is possible to build a highly effective correction system only when all the main components of the error of the inertial sensors are compensated separately, since their influence on the result is different in different flight modes. The main components of the error of inertial sensors include: additive and multiplicative errors, and the ratio of the components of the error to the measured value is 0.001 ... 0.0001, and the noise is 0.01 ... 0.001. Small errors of inertial sensors have a significant impact on the errors of the device for calculating speed and coordinates, NIRS and the navigation system as a whole. To completely compensate for the measurement error, it is necessary to determine the measurement error of the inertial sensor with high accuracy, since otherwise the compensation will be incomplete. However, known devices do not allow this function to be fully implemented.

Common features of the claimed navigation system and the known navigation system [2] are an on-board computer, a three-channel unit DLU, a unit for measuring coordinates, a unit for measuring speed, a three-degree magnetic direction sensor, a three-channel unit for remote control systems.

Common features of the inventive device for calculating speed and coordinates and the known baro-inertial altimeter [3, p. 281, Fig. 7.13] are a block for introducing Coriolis corrections and acceleration of gravity of the Earth, an acceleration correction unit, a speed calculation unit, an initial speed setting unit, a block speed corrections, a unit for calculating coordinates, a unit for specifying the initial coordinates, a unit for calculating an error by coordinates, a unit for filtering an error in coordinates, a unit for estimating an error in speed by coordinates, while the first input of the unit acceleration correction is connected to the output of the Coriolis correction and Earth gravity acceleration input unit, the first and second inputs of the speed calculation unit are connected to the output of the acceleration correction unit and to the output of the initial speed setting unit, the first and second inputs of the coordinate calculation unit are connected to the output of the speed correction unit and with the output of the block for setting the initial coordinates, the first input of the block for filtering the error by coordinates is connected to the output of the block for calculating the error in coordinates, the input of the block for estimating the error c The coordinate coordinates are connected to the output of the coordinate error filtering unit, the output of the speed error estimation block by coordinates is connected to the second input of the speed correction block.

Common features of the claimed NIR and the known NIR [5] are the driver of the derivatives of orientation angles, the correction unit, the integrator unit, the unit for calculating the error of the angular orientation, the filter, the unit for calculating the observed vertical, the second input of the driver of the derivatives of the orientation angles is connected to the output of the integrator unit , the inputs of the correction block are connected to the output of the driver of the derivatives of the orientation angles and the output of the filter, the input of the integrator block is connected to the output of the correction block, the first input of the calculation block Ia error angular orientation of integrators connected to the output unit, the first input filter connected to the output of error calculation unit angular orientation.

A common feature of the proposed method of correction of inertial sensors and the known method of correction of sensors [6, p. 74-76] is that they compensate for measurement errors.

A common feature of the claimed device for the correction of inertial sensors and the known measuring device [6, p. 74-76, Fig. 17] is a compensation unit for measurement error.

The technical problem of the proposed group of inventions is the reduction of the error in determining the parameters of the aircraft’s motion when using medium-precision sensors, which are expedient to use in small unmanned aircraft.

The technical result is to reduce the error in calculating the velocity vector, radius vector in the normal earth coordinate system and the angular orientation vector of the aircraft.

The problem is solved due to the fact that:

- in the navigation system, the on-board calculator is made in the form of a BIKV and a device for calculating speed and coordinates, while the first input of the device for calculating speed and coordinates is connected to the output of the three-channel DLU unit, the second and third inputs of the device for calculating speed and coordinates are connected to the first and second outputs of the measurement unit coordinates, the fourth and fifth inputs of the speed calculation device and the coordinates are connected to the first and second outputs of the speed measuring unit, the sixth and seventh inputs of the speed calculation device and coordinates are connected to the first and second outputs of the NECS, the first and second inputs of the NECS are connected to the output of the three-channel DUS unit and to the output of the three-stage magnetic direction sensor, and the third, fourth, fifth and sixth inputs of the NECS are connected to the third, fourth, fifth and first outputs of the calculation device speed and coordinates, respectively, the first and second outputs of the device for calculating speed and coordinates are the outputs of the velocity vector and radius vector in the normal earth coordinate system after correction, and the first output is Busy output of the angular orientation;

- an inertial sensor correction device, a speed conversion unit from a connected coordinate system to a normal earth one, a coordinate correction unit, a speed error presence estimation unit in a connected coordinate system, an acceleration error presence evaluation unit, the first one, the second and third inputs of the inertial sensor correction device are connected to the first input of the device for calculating speed and coordinates and to the first and second outputs of the unit for assessing the presence of For acceleration purposes, respectively, the output of the inertial sensor correction device is connected to the first input of the Coriolis correction and gravity acceleration unit and the fourth output of the speed and coordinate calculation device, the second, third and fourth inputs of the Coriolis correction and Earth gravity acceleration unit are connected to the sixth and seventh inputs of the device for calculating speed and coordinates and with the output of the speed calculation unit, respectively, the second input of the acceleration correction unit is connected to the first output the unit for evaluating the presence of acceleration errors, the first and second inputs of the speed conversion unit from the connected coordinate system to the normal earth are connected to the output of the speed calculation unit and to the sixth input of the speed and coordinate calculation device, the first input of the speed correction unit is connected to the output of the speed conversion unit from the connected coordinate systems to normal earth, the first and second inputs of the coordinate correction block are connected to the output of the coordinate calculation block and to the output of the coordinate error filtering block am, the first, second and third inputs of the coordinate error calculation unit are connected to the output of the coordinate correction unit and to the second and third inputs of the speed and coordinate calculation device, respectively, the second input of the error accuracy filtering unit is connected to the third input of the speed and coordinate calculation device, the first and the second inputs of the unit for estimating the presence of an error in speed in a connected coordinate system are connected to the output of the unit for estimating the error in speed in coordinates and with the sixth input of the device computing speed and coordinates, the first and second inputs of the unit for estimating the presence of errors in acceleration are connected to the output of the unit for evaluating the presence of errors in speed in a connected coordinate system and with the third input of the device for calculating speed and coordinates, the first, second, third and fifth outputs of the device for calculating speed and coordinates are connected to the output of the speed correction unit, with the output of the coordinate correction unit, with the second output of the unit for assessing the presence of acceleration errors and with the output of the unit for evaluating the presence of eshnosti speed in the related coordinate system, respectively;

- and also a speed error calculation unit and a speed error filtering unit are additionally introduced into the speed and coordinate calculation device, while the first, second and third inputs of the speed error calculation unit are connected to the output of the speed correction unit, with fourth and fifth inputs of the calculation device speed and coordinates, respectively, the first and second inputs of the speed error filtering unit are connected to the output of the speed error calculation unit and to the fifth input of the speed spine and coordinates the third input error presence estimator to accelerate coupled to a fifth input of the device the velocity calculation and coordinate error velocity filter block output is connected to the third input of the evaluation unit the presence of an error in speed in the related coordinate system and the third input of the speed correction block;

- a correction device for inertial sensors, a block for correcting the angular velocity of rotation of the Earth, a block for correcting the presence of an error in angular velocity, a block for correcting the observed orientation angles, a block for calculating the observed yaw angle, and a unit for calculating the magnetic course are introduced into the NIRC; the first, second and third inputs of the inertial sensor correction device are connected to the first input of the NIR, the output of the unit for assessing the presence of errors in angular velocity and the third input of the NIR Naturally, the first and second inputs of the block for introducing the correction for the angular velocity of rotation of the Earth are connected to the output of the correction device for inertial sensors and to the output of the unit of integrators, the inputs of the block for correcting the angular velocity of the Earth are connected to the output of the block for correcting the angular velocity of the Earth and with the output of the unit for estimating the presence of error in angular velocity, the first input of the driver of the derivatives of the orientation angles is connected to the output of the block of correction of angular velocities, the first and second inputs of the unit for assessing the presence of the angular velocity decisions are connected to the output of the filter and to the output of the integrator unit, the second input of the angular orientation error calculation unit is connected to the output of the observed orientation angle correction unit, the first input of the observed orientation angle correction unit is connected to the output of the observed vertical calculation unit and the output of the observed angle calculation unit yaw, the input of the unit for calculating the observed vertical is connected to the fourth input of the NIR, the first input of the unit for calculating the observed angle of yaw is connected to the output magnetic heading calculation unit, the first and second inputs connected to the second input and output BIKV integrator unit, the first and second outputs BIKV integrators connected to the output unit and to output the correction inertial sensor device, respectively;

- as well as in the BIKV, an additional block for generating signs of the inclusion of correction of the angular orientation is added, the input of which is connected to the output of the driver of the derivatives of the orientation angles, and the output is connected to the second input of the filter;

- as well as in the NIRC, an additional unit for evaluating the presence of an error in the angular orientation and an inline calculating unit for the observed orientation angles are introduced, the first, second and third inputs of the unit for evaluating the presence of an error in angular orientation are connected to the sixth and fifth inputs of the NIR unit and with the output of the integrator block, respectively, the first and the second inputs of the unit for calculating the error of the observed orientation angles are connected to the output of the unit for assessing the presence of the error of the angular orientation and to the third input of the NIRC, respectively, the output Lok calculation error of the observed orientation angles connected to the second input of the correction of the observed orientation angles;

- as well as a magnetic heading correction unit, the first, second and third inputs of which are connected to the output of the magnetic heading unit, the output of the unit for calculating the error of the observed orientation angles and the third input of the heading unit, respectively, the output of the magnetic heading correction unit is connected to the second input of the unit computing the observed yaw angle;

- in the method of correction of inertial sensors, the presence of measurement error is estimated, the additive component of the total measurement error is calculated, while the presence of the measurement error is estimated from the errors of the calculated motion characteristics, and the additive component of the total measurement error is calculated by isodromic conversion of the estimate of the presence of measurement error;

- as well as in the method of correction of inertial sensors, the slope errors of the characteristics of the inertial sensors are calculated, the sign of the phase-shifted measurement result is determined, the multiplicative component of the total measurement error is calculated, the phase shift of the measurement result is determined by the phase shift of the estimate of the presence of measurement error relative to the measurement result, the slope error characteristics of inertial sensors are calculated by isodromic transformation of the product of the assessment of the presence of burials The measurement accuracy by the sign of the phase-shifted measurement result, and the multiplicative component of the total measurement error is calculated by multiplying the error of the slope of the characteristics of the inertial sensors by the measurement result;

- a unit for calculating the additive error of measurements is introduced into the device for correcting inertial sensors, while the first and second inputs of the unit for compensating for the error of measurements are connected to the first input of the device for correcting the inertial sensors and to the output of the unit for calculating the additive error of measurements, the first input of which is connected to the second input of the device for correcting inertial sensors, the output of the measurement error compensation unit is connected to the output of the inertial sensor correction device;

- as well as an inertial sensor correction device, an inertial sensor slope error calculation unit, a phase matching unit, a multiplicative measurement error calculation unit are additionally introduced, while the first and second inputs of the inertial sensor slope error calculation unit are connected to the second input of the inertial sensor correction device and with the output of the phase matching unit, the first and second inputs of which are connected to the output of the error correction compensation unit ferenity and the third input of the inertial sensor correction device, the first and second inputs of the unit for calculating the multiplicative error of the measurements are connected to the output of the unit for calculating the error of the slope of the characteristics of the inertial sensors and the output of the unit for compensating the error of measurements, the output of the unit for calculating the multiplicative error of measurements is connected to the third input of the unit for compensating the measurement error;

- as well as a correction mode block, an output of which is connected to the second input of the additive measurement error calculation unit and the third input of the inertial sensor characteristics slope error calculation unit is additionally introduced into the inertial sensor correction device.

The proposed invention is illustrated by graphic materials, which represent:

figure 1 - functional diagram of the navigation system, which shows: 1 - BIKV, 2 - device for calculating speed and coordinates, 3 - three-channel unit DLU, 4 - unit for measuring coordinates, 5 - unit for measuring speed, 6 - three-stage magnetic direction sensor , 7 - three-channel block of the TLS, ψ _im is the vector of the measured magnetic field, Ω _u is the vector of the measured angular velocity, n _u is the vector of the measured linear acceleration, L _ug is the measured radius vector in the normal earth coordinate system, J _L is the array of signs of reliability radius vectors, V _ug - measured velocity vector in a normal earth coordinate system, J _V is an array of signs of reliability of a velocity vector, L _gk is a radius vector in a normal earth coordinate system after correction, V _gk is a velocity vector in a normal earth coordinate system after correction, U is an angular orientation vector , Ω _uk - angular velocity after correction, J _U - an array of features of reliability, n _uk error presence of acceleration - vector after correction for linear acceleration, dV _{communication} - vector estimation error rate in the presence of associated coordinates of the system t;

figure 2 is a functional diagram of a device for calculating speed and coordinates, which shows: 8 - a correction device for inertial sensors, 9 - a block for introducing Coriolis corrections and acceleration of gravity of the Earth, 10 - a block for correcting acceleration, 11 - a block for calculating speed, 12 - block for setting the initial speed, 13 - block for converting the speed from the connected coordinate system to the normal earth, 14 - block for correcting the speed, 15 - block for calculating the coordinates, 16 - block for setting the initial coordinates, 17 - block for correcting the coordinates, 18 - block for calculating the error by rdinatam, 19 - unit for filtering the error by coordinates, 20 - unit for estimating the error of speed by coordinates, 21 - unit for evaluating the presence of an error in speed in a connected coordinate system, 22 - unit for evaluating the presence of an error in acceleration, 23 - unit for calculating the error in speed, 24 is the velocity error filtering unit, n _sv is the linear acceleration vector in the coupled coordinate system, n _sv is the linear acceleration vector in the coupled coordinate system after correction, V ₀ is the initial velocity vector in the coupled coordinate system, V _sv is velocity vector in a connected coordinate system, V _g is the velocity vector in the normal earth coordinate system, L ₀ is the radius vector of the initial position in the normal earth coordinate system, L _g is the radius vector in the normal earth coordinate system, dL _g is the error vector radius -vector, dL _gk - filtered error vector of the radius vector, dV _gLk - velocity vector error estimates of coordinates, dn _{communication} - vector error estimates presence of acceleration, dV _g - velocity vector error vector, dV _gVk - vector soon filtered error vector STI, a description of other vectors is presented in the description of Fig. 1;

- вектор производных угловой ориентации,

- вектор производных угловой ориентации после коррекции, ΔU - вектор погрешности угловой ориентации, ΔU_ф - вектор фильтрованной погрешности угловой ориентации, ΔΩ - вектор оценки присутствия погрешности по угловой скорости, U_нk - вектор наблюдаемой угловой ориентации после коррекции, U_н - вектор наблюдаемой угловой ориентации, U_нв - вектор наблюдаемой вертикали, ψ_н - наблюдаемый угол рысканья, ψ_м - магнитный курс, J - массив признаков включения коррекции угловой ориентации, dU_V - вектор оценки присутствия погрешности угловой ориентации, ΔU_н - вектор оценки погрешности наблюдаемой угловой ориентации, Δψ_н - оценка погрешности наблюдаемого угла рысканья, Δψ_м - оценка погрешности магнитного курса, описание других векторов представлено в описании к фиг.1;figure 3 - functional diagram BIKV, which shows: 25 - correction device for inertial sensors, 26 - block for the introduction of corrections for the angular velocity of rotation of the Earth, 27 - block correction of angular velocities, 28 - shaper of derivatives of orientation angles, 29 - block correction 30 - integrator unit, 31 - unit for calculating the error of angular orientation, 32 - filter, 33 - unit for assessing the presence of errors in angular velocity, 34 - unit for correcting observed orientation angles, 35 - unit for calculating the observed vertical, 36 - unit for calculating the observed angle yaw 37 - calculating unit magnetic heading, 38 - unit generation features enable correction of angular orientation, 39 - unit evaluating the presence of error angular orientation, 40 - unit calculating error of the observed orientation angles, 41 - unit magnetic heading correction, Ω _{communication} - the angular velocity vector in a coupled coordinate system, Ω _{St k} - the angular velocity vector in a coupled coordinate system after correction,

- vector of derivatives of angular orientation,

is the vector of the derivatives of the angular orientation after correction, ΔU is the vector of the error of the angular orientation, ΔU _f is the vector of the filtered error of the angular orientation, ΔΩ is the vector of estimation of the presence of errors in the angular velocity, U _nk is the vector of the observed angular orientation after correction, U _n is the vector of the observed angular orientation, U _HB - vector observed vertically, ψ _n - observed yaw angle, ψ _m - magnetic heading, J - array features enable correction of angular orientation, dU _V - vector estimation error presence angular orientation, ΔU _HB Ktorov error estimates of the observed angular orientation, Δψ _n - error estimate observed yaw angle, Δψ _m - estimate of the error rate of the magnetic, description of other vectors is presented herein to Figure 1;

figure 4 is a functional diagram of a correction device for inertial sensors, which shows: 42 - compensation unit for measurement error, 43 - unit for calculating the additive measurement error, 44 - unit for calculating the error in the slope of the characteristics of inertial sensors, 45 - block for phase matching, 46 - block computing a multiplicative error of measurements, 47 - correction unit mode, Q _u - measurement vector inertial sensors, Q _uk - inertial sensor measurement vector after correction, dQ _{communication} - presence estimation error vector measurable eny in the related coordinate system, dQ _k0 - vector additive measurement errors, Q _ukf - a coherent phase vector measurement inertial sensors after the correction, dk - array error estimates transconductance characteristics of inertial sensors, dQ _kk - vector multiplicative error of measurements, J _Q - an array of features enable correction mode;

figure 5 - graphs of the error in determining the coordinates of a small UAV (in the normal Earth coordinate system: a) along the X axis, b) along the Y axis, c) along the Z axis) for horizontal flight along a straight section of the trajectory, moderate wind and atmospheric turbulence, using sensors of medium accuracy (inertial sensor errors: zero TLS ± 0.02 ° / s; slope characteristic of TLS 5%; zero tamper ± 0.1 m / s ² ; slope of characteristic DLT 1%; magnetic direction sensor ± 2 °) and disable correction ( autonomous flight) from 600 to 1200 seconds;

figure 6 - graphs of the error in determining the speed of a small UAV (in a normal Earth coordinate system: a) along the X axis, b) along the Y axis, c) along the Z axis) during horizontal flight along a straight section of the trajectory, moderate wind and atmospheric turbulence, using sensors of medium accuracy (inertial sensor errors: zero TLS ± 0.02%; slope of the TLS characteristic 5%; zero DLU ± 0.1 m / s ² ; slope of the DLT characteristic 1%; magnetic direction sensor ± 2 °) and disable correction (autonomous flight ) from 600 to 1200 seconds;

7 - graphs of the error in determining the orientation angles of a small UAV (coupled coordinate system relative to a normal earth coordinate system: a) roll angle, b) yaw angle, c) pitch angle) for horizontal flight along a straight section of the trajectory, moderate wind and atmospheric turbulence using medium-precision sensors (inertial sensor errors: SDL zero ± 0.02 ° / s; SLD characteristic slope 5%; DLN zero slope ± 0.1 m / s ² ; DLN slope 1%; magnetic direction sensor ± 2 °) and disconnect correction (autonomous flight) from 600 to 1200 seconds.

The inventive navigation system (figure 1) calculates the angular orientation vector U {γ, ψ, ϑ} (output 1 BIKV 1), where γ is the angle of heel; ψ - yaw angle; ϑ - pitch angle, velocity vector in a normal earth coordinate system after correction

V _gk {V _Xgk , V _Ygk , V _zgk } (output 1 of the device for calculating speed and coordinates 2), where V _Xgk , V _Ygk , V _Zgk are projections of the velocity vector after correction on the axis of the normal earth coordinate system, the radius vector in normal Earth coordinate system after correction L _gk {X _gk , Y _gk , Z _gk } (output 2 of the device for calculating speed and coordinates 2), where X _gk , Y _gk , Z _gk are the coordinates in the normal earth coordinate system after correction. In the calculations in the device for calculating speed and coordinates 2, the linear acceleration vector n _u {n _Xu , n _Yu , n _Zu } (input 1), measured by a three-channel block DLU 3, is used, the radius vector in the normal earth coordinate system L _ug {X _ug , Y _ug , Z _ug } (input 2) and an array of signs of reliability of the radius vector J _L {J _X , J _Y , J _Z ] (input 3), evaluated by the coordinate measurement unit 4 (outputs 1 and 2), the velocity vector is normal terrestrial coordinate system V _ug {V _Xug , V _Yug , V _Zug } (input 4) and an array of signs of reliability of the velocity vector J _V {J _VX , J _VY ,

J _VZ } (input 5) evaluated by the speed measuring unit 5 (outputs 1 and 2). In the calculations in BIKV 1, the angular velocity vector Ω _u {Ω _Xu , Ω _Yu , Ω _Zu } (input 1), measured by the three-channel block ДУС 7, and the vector of the measured field ψ _um {X _um , Y _um , Z _um (input 2 ), measured by a three-degree magnetic direction sensor 6.

Between BIKV 1 and the device for calculating speed and coordinates 2 is the exchange of data. From outputs 1, 3, 4 and 5 of the speed and coordinate calculation device 2, inputs V _gk , an array of signs of the presence of an error in acceleration J _U {J _U1 , J _U2 , J _U3 } are transmitted to inputs 6, 3, 4, and 5 of the BIKV 1 , the linear acceleration vector after correction n _uk {n _Xuk , n _Yuk , n _Zuk } and the vector for estimating the presence of a velocity error in the associated coordinate system dV _sv {dV _Xsv , dV _Ysv , dV _Zsv }, respectively. From the outputs 1 and 2 of the BIKV 1, the angular orientation vector U and the angular velocity vector after correction Ω _uk {Ω _Xuk , Ω _Yuk , Ω _Zuk }, respectively, are transmitted to the inputs 6 and 7 of the speed and coordinate calculation device 2.

Measurements of vectors n _u , Ω _u , ψ _{u by} blocks 3, 7 and 6, respectively, are performed continuously. These measurements provide the calculation of the vectors L _gk , V _gk and U with low accuracy. Improving the accuracy of calculations is achieved by using the estimates L _ug and / or V _ug made in the presence of external measurements by blocks 4 and / or 5, as evidenced by the signs of reliability J _L and J _V , the components of which take the values {1 0} along each coordinate. If the corresponding attribute takes a single value, then the corresponding coordinate and / or speed estimate is used to correct the device for calculating speed and coordinates 2. After completion of the correction, which can last from three to five minutes, the calculations L _gk and V _gk are performed with high accuracy, which saved even in the absence of external measurements by blocks 4 and / or 5. Confirmation of the effectiveness of the correction is illustrated by the graphs shown in Fig.5 and Fig.6. Blocks 4 and 5 for the evaluation of L _ug and / or V _ug use, in addition to SRNS, also SRLI and SHS. When measuring the same navigation parameters with different gauges, priority is either given a priori to the gauge, the reliability and accuracy of which is greatest in specific flight conditions, or navigation gauges are complexed in accordance with known methods described in the literature, for example, in the book [8, p. .138-147]. When the external meters are temporarily turned off, which is possible under difficult flight conditions and when interfering with active interference, the calculation error of L _gk and V _gk increases, however, when the reliability of external measurements is restored, the high accuracy of the calculation of L _gk and V _{gk is} restored (see Figs. 5 and 6 ) The vectors n _uk and Ω _uk are also calculated with high accuracy. When the vector n _{uk is} connected to the input 4 of the NIRV 1, and then when the vectors J _U , dV _sv and V _{gk are} connected to the inputs 3, 5 and 6, respectively, the accuracy of the calculation of the vectors U and Ω _uk increases stepwise. High accuracy of calculating U and Ω _{uk is} maintained even in the absence of corrective actions from the device for calculating speed and coordinates 2. Confirmation of the effectiveness of the correction is illustrated by the graphs shown in Fig.7. For 10 minutes of autonomous operation of BIKV 1, errors in the calculation of orientation angles do not increase. The vectors U and Ω _uk calculated with high accuracy provide an increase in the accuracy of the calculation of the vectors L _gk and V _{gk by the} device for calculating the velocity and coordinates 2, as well as the vectors n _uk , dV _sv and V _gk used for the correction of BIKV 1, i.e. mutual correction of the devices included in the navigation system is performed.

The device for calculating the speed and coordinates (figure 2) calculates the vectors V _gk and L _gk (outputs 1 and 2, respectively). At its input 1, a vector n _u is supplied, which contains measurement errors due to the use of medium-precision DLD. The vector n _{u is} fed to input 1 of the inertial sensor correction device 8, which compensates for measurement errors using the acceleration error estimation vector dn _sv {dn _{X sv} , dn _{Y sv} , dn _{Z sv} } and array J _U supplied to inputs 2 and 3 devices 8. Vector n _uk from the output of device 8 is fed to output 4 of the speed and coordinate calculation device and to input 1 of block 9, which subtracts the Coriolis corrections and the acceleration of gravity of the Earth from the vector n _uk [3, Equ. (7.10)], using the vectors U and Ω _uk (inputs 2 and 3 of block 9) supplied to the inputs 6 and 7 of the speed and coordinate calculating device, and the vector V _sv applied to the input 4 of block 9. The output signal of block 9 is the vector linear acceleration in a coupled coordinate system n _sv {n _{X sv} , n _{Y sv} , n _{Z sv} }, however, it is also calculated with errors due to incomplete compensation of the error of the vector n _{u by} device 8 and inaccurate compensation of Coriolis corrections and acceleration of the Earth's gravity by block 9 Block 10 subtracts from the vector n _st (input 1) the vector dn _st (input 2). After the completion of the transient processes in device 8 and blocks 9 and 10, the error in calculating the linear acceleration vector in the coupled coordinate system after correction n _{sv k} {n _{X svk} , n _{Y svk} , n _{Z svk} } decreases by tens of times and reaches the level of error accelerometers of high accuracy. In block 11, the vector n _{sv k} (input 1) is integrated using the initial velocity vector in the associated coordinate system V ₀ {V _X0 , V _Y0 , V _Z0 } (input 2), input from block 12. The velocity vector obtained at the output of block 11 in a connected coordinate system, V _sv {V _{X cv} , V _{Y cv} , V _{Z cv} } is fed to block 13 (input 1), where it is converted into a velocity vector in the normal earth coordinate system V _g {V _Xg , V _Yg , V _Zg } [9, p.41-43] using the vector U (input 2). However, the coordinate transformation can be performed with errors due to errors in the orientation angles U, applied to input 2 of block 13 from input 6 of the device for calculating speed and coordinates. Block 14 subtracts from the vector V _g fed to input 1, the coordinate error estimation vector dV _gLk {dV _gXk , dV _gYk , dV _gZk } _supplied to input 2, and calculates the vector V _gk , which is fed to output 1 of the computing device speed and coordinates and to the input 1 of block 15. The vector V _{gk is} calculated with high accuracy, since its calculation is accompanied by a phased correction that compensates for all possible errors that occur during measurement and calculation, and compensation is performed to bring to zero all components of the error of the vector V _gk . Block 15 integrates the vector V _gk supplied to its input 1, taking into account the radius vector of the initial position in the normal earth coordinate system L ₀ {X ₀ , Y ₀ , Z ₀ }, applied to input 2 from block 16. The radius vector in normal earth coordinate system L _g {X _g , Y _g , Z _g } at the output of block 15 may also contain errors accumulated during the integration process, so it is passed through the coordinate correction block 17, where from the radius vector L _g (input 1) the filtered vector error of the radius vector dL _gk {dX _gk , dY _gk , dZ _gk } is subtracted (input 2). The radius vector L _{gk is} calculated with high accuracy, due to the compensation of all possible errors arising in the process of measurement and calculation, and the compensation is performed to bring to zero all components of the error of the radius vector L _gk . The radius vector L _gk is fed to the output 2 of the speed and coordinate calculation device and to the input 1 of block 18, to the inputs 2 and 3 of which the radius vector L _ug and the array J _L are supplied, which are respectively fed to the inputs 2 and 3 of the speed calculation device and coordinates. Block 18 calculates the error vector of the radius vector dL _g {dX _g , dY _g , dZ _g } and feeds it to input 1 of block 19, to the input 2 of which an array J _L is supplied. The vector dL _g can be calculated either by subtracting the radius vector L _ug from the radius vector L _gk , or by complexing these vectors by known methods [8, p.138-147]. Block 19 filters the errors by coordinates, and a discrete Kalman filter can be used [10, p.40-52] or a simpler filter, for example, a first-order digital filter [11, p.425-426]. With the reliability of external measurements, the vector dL _gk is generated at the output of block 19, which is fed to the input 2 of block 17 and to the input of block 20. Block 17 for a short period of time (5 ... 10 s) compensates for the accumulated error in calculating the radius vector L _gk . The presence of this unit in the device for calculating speed and coordinates is especially important when the radius-vector estimate L _ug is periodically _lost , which is possible under difficult conditions of reconnaissance operations and active jamming. The process of quick compensation of the accumulated error is illustrated by the characteristics shown in Fig.5. Block 20 converts the vector dL _gk into the coordinate error estimation vector dV _gLk {dV _{X gLk} , dV _{Y gLk} , dV _{Z gLk} }, and the transfer function of block 15 is determined from the conditions for obtaining the optimal transient in the circuit from blocks 14 to 20. However, when compensating for a larger share of the error dL _{g by the} circuit from blocks 17 to 19, the transfer function of block 20 can be simplified to a constant coefficient. The vector dV _gLk goes to the input 2 of block 14 and to the input 1 of block 21. Block 21 converts the vector dV _gLk from the normal earth coordinate system to the connected one [9, p. 41-43] using the vector U applied to the input 2 of block 21 s input 6 of the device for calculating speed and coordinates. From the output of block 21, the vector dV _sv goes to input 1 of block 22 and to output 5 of the device for calculating speed and coordinates. Arrays J _L and J _V are supplied to inputs 2 and 3 of block 22 from inputs 3 and 5 of the speed and coordinate calculating device, therefore block 22 calculates and outputs vector dn _cv only for unit values of the corresponding components of the arrays J _L or J _V. At the same time, it forms an array J _U at output 2, depending on the values of the components of the arrays J _L or J _V, and feeds input 3 of the inertial sensor correction device 8 and output 3 of the speed and coordinate calculation device. Therefore, the set of introduced blocks 13, 17, 21, 22 and device 8, as well as the relationships between them, solves the problem of reducing the error in calculating the velocity vector and radius vector in a normal earth coordinate system.

An additional reduction in the error in calculating the vectors L _gk and V _{gk is} achieved by introducing the vectors V _gk supplied from the output of block 14 to the input 1 of block 23, V _ug and the array J _V supplied to inputs 2 and 3 of block 23 from inputs 4 and 5 of the speed calculator and coordinates. Block 23 calculates the error vector of the velocity vector dV _g {dV _Xg , dV _Yg , dV _Zg } and feeds input 1 of block 24, to input 2 of which the array J _V is supplied. The calculation of the vector dV _g is performed similarly to the calculation of the vector dL _g . Block 24 filters errors in speed, and a discrete Kalman filter [10, p.40-52] or a simpler filter, for example, a first-order digital filter [11, p.425-426], can be used. With the reliability of external measurements of the velocity vector at the output of block 24, a vector of the filtered error of the velocity vector dV _gVk {dV _{X gVk} , dV _{Y gVk} , dV _{Z gVk} } is _generated , which is fed to input 3 of block 14 and input 3 of block 21. Block 14 for a short the time interval (5 ... 10 s) compensates for the accumulated error in the calculation of the vector V _gk (see Fig.6). Such compensation in calculating the speed is especially important in the case of periodic loss of measurements of the radius vector L _ug and / or velocity vector V _ug , which is possible under difficult conditions of reconnaissance operations and active interference, since it reduces the errors in speed V _gk and favorably affects dynamic characteristics of subsequent blocks. The dynamic calculation errors of both the velocity vector V _gk and the radius vector L _{gk are reduced} . Additional error compensation on a block rate of 21 refines vector evaluating the presence of errors by dV _COn speed, increasing the accuracy of evaluating the presence of error to accelerate dn _{communication} output 1 of the unit 22 and, thereby, increasing the accuracy of correcting inertial sensors and reducing the error calculating the velocity vector and the radius -vectors in a normal earth coordinate system.

[12, с.36, форм. (2.44)], где

- производная от угла крена,

- производная от угла рысканья и

- производная от угла тангажа, с использованием вектора U, поданного на вход 2. Производные угловой ориентации содержат погрешности, обусловленные систематическими и случайными погрешностями измерений датчиков, не полностью скомпенсированных блоками с 25 по 27, поэтому с выхода блока 28 вектор

подается на вход 1 блока 29, где из него вычитается вектор фильтрованной погрешности угловой ориентации ΔU_ф {Δγ_ф, Δψ_ф, Δϑ_ф}, поданный на вход 2. Полученный на выходе блока 29 вектор производных угловой ориентации после коррекции

интегрируются блоком интеграторов 30. При интегрировании вектора

погрешности не накапливаются, так как в

нет постоянной составляющей погрешности. Блок интеграторов 30 является фильтром нижних частот U, следовательно, подавляет высокочастотную составляющую шумов в векторе U, который подается на выход 1 БИКВ.BIKV calculates the angular orientation vector U (Fig.3). At its input 1, a vector of the measured angular velocity Ω _u is supplied, which contains the measurement errors due to the use of TLS of medium accuracy. The vector Ω _{u is} fed to input 1 of the inertial sensor correction device 25, which compensates for measurement errors using the angular velocity error estimation vector ΔΩ {ΔΩ _X , ΔΩA _Y , ΔΩ _Z } (input 2) and the array J _U applied to input 3 devices 25 from input 3 BIKV. The vector Ω _uk from the output of the device 25 is fed to the output 2 of the BCCI and to the input 1 of block 26. Block 26 subtracts from the vector Ω _uk (input 1) the corrections for the angular velocity of rotation of the Earth using the vector U supplied to input 2. The output signal of block 26 is the angular velocity vector in the coupled coordinate system Ω _sv {Ω _Xsv , Ω _Ysv , Ω _Zsv }, however, it is also calculated with errors due to incomplete compensation of the error of the vector of the measured angular velocity Ω _{u by} device 25 and inaccurate compensation of the angular velocity of the Earth’s rotation by block 26. block 27 of vector Ω _in (input 1) subtracts vector ΔΩ (input 2). After the completion of the transient processes in device 25 and blocks 26 and 27, the error of the angular velocity vector in the coupled coordinate system after the correction of Ω _{sv k} {Ω _{Xsv k} , Ω _{Ysv k} , Ω _{Zsv k} } decreases by a factor of ten and reaches the level of error of the TLS of high accuracy. The vector Ω _{cv k} is fed to the input 1 of the shaper of derivatives of orientation angles 28, which converts it into a vector of derivatives of angular orientation

[12, p. 36, forms. (2.44)], where

- derivative of the angle of heel,

- derivative of the yaw angle and

is the derivative of the pitch angle using the vector U applied to input 2. The derivatives of the angular orientation contain errors due to systematic and random measurement errors of the sensors, not fully compensated by blocks 25 through 27, therefore, from the output of block 28, the vector

fed to input 1 of block 29, where the vector of the filtered error of the angular orientation ΔU _f {Δγ _f , Δψ _f , Δϑ _f } fed to input 2 is subtracted from it. The vector of derivatives of the angular orientation obtained at the output of block 29 after correction

integrated by the integrator unit 30. When integrating a vector

errors do not accumulate, as in

there is no constant component of the error. The integrator unit 30 is a low-pass filter U, therefore, suppresses the high-frequency component of the noise in the vector U, which is fed to the output 1 NIR.

. Эта компенсация будет непрерывно действующей и полной, так как контур, содержащий блоки с 29 по 32, замкнут с инверсией знака, и содержит операцию интегрирования.In the complete absence of TLS errors, the calculated orientation angles would coincide with the true angles. However, the calculated angular orientation vector U contains static and dynamic errors. Static errors are due to the integration of errors that are not fully compensated by blocks 25 to 27 and 29. Dynamic errors are due to the insufficient filtering efficiency of the signals by the unit of integrators 30. Block 31 calculates the angular orientation error vector ΔU {Δγ, Δψ, Δϑ} by subtracting from the angular orientation vector U, applied to input 1, the vector of the observed angular orientation after correction U _нk {γ _нk , ψ _нk , ϑ _нk }, applied to input 2. In the structure of the output signal of block 31 there is no exact information about the orientation angles nations, but errors remain. The signals received at the output of block 31 are passed through a filter 32 (input 1), which calculates the vector of the filtered error of the angular orientation ΔU _f . In block 32, a discrete Kalman filter can be implemented [10, pp. 40-52] or a simpler filter, for example, a first-order digital filter [11, pp. 425-426]. The output of the filter 32 is stored mainly low-frequency components of the error, which upon receipt of the input 2 of the block 29 will compensate for the errors of the vector

. This compensation will be continuous and complete, since the circuit containing blocks 29 through 32 is closed with sign inversion and contains the integration operation.

, причем соотношения между указанными векторами являются нелинейными. Поэтому контур, содержащий блоки с 29 по 32, будет компенсировать погрешность, постоянно находясь в динамическом режиме работы, что определит более высокий уровень погрешности вычисления вектора U. Снижение погрешности вычисления вектора U может иметь место только в случае полной компенсации погрешности вычисления вектора

, а вектор ΔU_ф станет нулевым и в динамическом режиме. В свою очередь, такое состояние может быть достигнуто только в случае полной компенсации погрешностей ДУС. Устройство коррекции инерциальных датчиков 25 компенсирует погрешности ДУС, используя вектор оценки присутствия погрешности по угловой скорости ΔΩ (вход 2), который вычисляется блоком 33, выполняющим операцию преобразования вектора ΔU_ф (вход 1) в вектор ΔΩ как операцию, обратную операции преобразования вектора Ω_{св k} в вектор

[12, с.36, форм. (2.44)] с использованием вектора U (вход 2), причем указанное преобразование оценивает присутствие погрешности по угловой скорости ΔΩ, не давая количественной оценки, что при выбранной структуре системы компенсации погрешности и не требуется. Погрешности ДУС будут полностью скомпенсированы только при нулевой оценке присутствия погрешности по угловой скорости ΔΩ в рабочем диапазоне частот, что произойдет при равенстве нулю вектора ΔU_ф и в установившемся, и динамическом режимах. Тогда корректирующие сигналы на входы 2 устройства 25, блоков 27 и 29 станут нулевыми. Высокая точность скорректированных ДУС обеспечивает высокую точность вычисления вектора U даже при отключении коррекции инерциальных датчиков подачей на вход 3 устройства 25 нулевых компонент массива J_U, поданного на вход 3 БИКВ.A change in the vector of angular orientation U will lead to a change in the error of the vector of derivatives of angular orientation

moreover, the relations between these vectors are nonlinear. Therefore, the circuit containing blocks 29 through 32 will compensate for the error while constantly in the dynamic mode of operation, which will determine a higher level of error in calculating the vector U. A decrease in the error in calculating the vector U can only occur if the error in calculating the vector is fully compensated.

, and the vector ΔU _f becomes zero in the dynamic mode. In turn, such a state can be achieved only in the case of complete compensation for the errors of the TLS. The correction device for inertial sensors 25 compensates for the errors of the TLS using the angular velocity error estimation vector ΔΩ (input 2), which is calculated by the unit 33 that performs the operation of converting the vector ΔU _f (input 1) to the vector ΔΩ as an operation inverse to the transformation of the vector Ω _{c k} to vector

[12, p. 36, forms. (2.44)] using the vector U (input 2), and this transformation estimates the presence of an error by the angular velocity ΔΩ, without giving a quantitative estimate that, with the chosen structure of the error compensation system, it is not required. The TLS errors will be fully compensated only if the error in the angular velocity ΔΩ is zero in the operating frequency range, which will happen if the vector ΔU _{f is} equal to zero in both steady state and dynamic modes. Then the correction signals to the inputs 2 of the device 25, blocks 27 and 29 will become zero. The high accuracy of the corrected TLS provides the high accuracy of calculating the vector U even when the inertial sensors are turned off by applying 25 zero components of the array J _U to the input 3 of the NIRC at the input 3 of the device.

The vector of the observed angular orientation after correction U _nk is formed by block 34 by subtracting from the vector of the observed angular orientation U _n {γ _n , ψ _n , ϑ _n } (input 1) the error estimation vector of the observed angular orientation ΔU _n {Δγ _n , Δψ _n , Δϑ _n } (input 2). If at a given moment of time the vector ΔU _{n is} not calculated, then it is equal to zero. The vector U _n is formed by complementing the vector of the observed vertical U _нв {γ _н , ϑ _н } with the third component - the observed yaw angle ψ _n . The vector U _{nv is} calculated by block 35 using the projections of the linear acceleration vector after the correction n _uk [5], applied to the input 4 NIR. The observed yaw angle ψ _{n is} calculated by block 36 at the magnetic heading ψ _m fed to input 1, taking into account magnetic declination and magnetic deviation [3, p.349-354]. The magnetic course ψ _{m is} calculated by block 37 as the projection of the vector of the measured magnetic field ψ _um , applied to input 2 of the NIRC and to input 1 of block 37, onto a horizontal plane using the angular orientation vector U supplied to input 2 of block 37. Blocks 36 and 37 are tied yaw angle to fairly stable landmarks, which include the Earth's magnetic field vector. Therefore, the combination of the introduced blocks 26, 27, 33, 34, 36, 37 and the device 25, as well as the connections between them, solves the problem - reducing the error in calculating the angular orientation vector.

During long-term evolution of the aircraft in height, direction and roll, the vector of the observed angular orientation after correction U _{nk will} accumulate errors and will differ from the actual one, which will lead to inaccurate calculation of the vectors ΔU and

. Если амплитуда низкочастотной составляющей вектора

превысит некоторый порог, зависящий от конкретных характеристик ЛА, то коррекция отключается блоком 38, если же заданный порог амплитуды низкочастотной составляющей вектора

не превышен, то коррекция включается блоком 38. С этой целью блок 38 выделяет низкочастотную составляющую компоненты вектора

, поданного на его вход, при этом может использоваться дискретный фильтр Калмана [10, с.40-52] или более простой фильтр, например цифровой фильтр первого порядка [11, с.425-426], сравнивает с заданным порогом и вырабатывает массив признаков включения коррекции угловой ориентации J {J_X, J_Y, J_Z}, компоненты которого принимают значения {1 0}. Массив J поступает на вход 2 блока 32, где компонента вектора ΔU_ф умножается на соответствующую компоненту массива J. При отсутствии превышения заданного порога компонента вектора ΔU_ф умножается на единицу, при превышении - на ноль. Ранее выполненная точная компенсация погрешностей ДУС не будет нарушена из-за ошибочной оценки вектора ΔΩ при длительных эволюциях ЛА, и высокая точность вычисления вектора U будет сохранена.ΔU _f . The vector ΔΩ will also contain errors, which will lead to an erroneous correction of the TLS and to an additional error in calculating the vector U. To eliminate the erroneous estimate of the vector ΔΩ during long-term evolution of the aircraft, the correction must be turned off. An assessment of the long-term evolution of an aircraft is the appearance of low-frequency components in a change in the vector

. If the amplitude of the low-frequency component of the vector

exceeds a certain threshold, depending on the specific characteristics of the aircraft, then the correction is disabled by block 38, if the specified threshold amplitude of the low-frequency component of the vector

not exceeded, the correction is turned on by block 38. For this purpose, block 38 selects the low-frequency component of the vector component

fed to its input, in this case, a discrete Kalman filter can be used [10, p.40-52] or a simpler filter, for example a first-order digital filter [11, p.425-426], compares with a given threshold and generates an array of signs inclusion of the correction of angular orientation J {J _X , J _Y , J _Z }, whose components take the values {1 0}. Array J goes to input 2 of block 32, where the component of the vector ΔU _f is multiplied by the corresponding component of the array J. If there is no exceeding the specified threshold, the component of the vector ΔU _f is multiplied by one, and if it is exceeded, it is multiplied by zero. The previously performed exact compensation of the TLS errors will not be violated due to an erroneous estimate of the vector ΔΩ during long-term evolution of the aircraft, and the high accuracy of the calculation of the vector U will be preserved.

Additional errors in the calculation of the angular orientation vector U may be due to an inaccurate determination of the vector of the observed angular orientation U _n due to the presence of an error in determining the vector n _uk and an error in the magnetic course ψ _m . The presence of an error in the calculation of the vector U will lead to an inaccurate transformation of coordinates, errors in the calculation of the velocity vector in a coupled coordinate system, and to an inaccurate adjustment of inertial sensors. To minimize these errors, it is necessary to compensate for the errors in determining the vector U _n . To this end, the vectors dV _sv and V _gk are supplied to inputs 5 and 6 of the BIKV. Block 39 calculates: the velocity vector in the associated coordinate system by converting the vector V _kk fed to input 1, the error vector of the velocity vector in the normal earth coordinate system by converting the vector dV _sv applied to input 2 using the transformation matrix [9, p.41- 43] and the vector U fed to input 3. Then, based on the relative position of the velocity vector in the normal earth coordinate system and the same vector added to the error vector of the velocity vector in the normal earth coordinate system, the error is calculated distance of the path angle and the angle of inclination of the trajectory in accordance with the definitions of these angles [9, p.10] and methods for calculating the angles between the vector and the plane described in analytical geometry in space [13, p. 116]. Using the relative position of the velocity vector in the coupled coordinate system and the same vector, combined with the error vector of the velocity vector in the coupled coordinate system, the errors of the trajectory roll, slip and attack angles are calculated in accordance with the definitions of these angles [14, clause 2.1.2] and techniques for calculating the angles between the vectors set out in analytical geometry in space [13, p.116]. The error of the trajectory roll angle determines the error of the actual angle of roll, the sum of the errors of the trajectory sliding angle and the path angle determines the error of the yaw angle, the sum of the errors of the trajectory angle of attack and the angle of inclination of the trajectory determines the error of the pitch angle in accordance with the definitions of these angles [9, p.9]. The calculated errors of the roll, yaw, and pitch angles are the components of the vector of the presence of the error of the angular orientation dU _V {dγ _V , dψ _V , dϑ _V } at the output of block 39. Block 40 extracts the low-frequency component of the corresponding component of the vector dU _V applied to input 1 at the reliability of the presence of an acceleration error determined by the array J _U fed to input 2; in this case, a discrete Kalman filter [10, p.40-52] or a simpler filter, for example, a first-order digital filter [11, p.425-426 ]. From the output of block 40, the error estimation vector of the observed angular orientation ΔU _n is fed to the input 2 of block 34 and performs the correction of the vector U _n . The introduction of blocks 39 and 40 into the BIKV provides a reduction in the error in calculating the angular orientation vector by calculating and compensating for the possible error in the vector of the observed angular orientation.

Additional errors in the calculation of the vector U can be due to incomplete compensation of the error of the vector U _n in the dynamic mode due to the presence of an error in determining the magnetic course ψ _m and inaccurate conversion of the magnetic course to the observed yaw angle ψ _n . Block 41 on the magnetic heading ψ _m fed to input 1 equates the error estimate of the observed yaw angle Δψ _n fed to input 2, the magnetic head error Δψ _m with the presence of the acceleration error determined by the array J _U fed to input 3, and writes the result to memory. If the presence of an error in the acceleration determined by the array Δψ _{m is} unreliable, the estimate of the error of the magnetic course Δψ _m is taken from the memory of block 41 previously recorded for this magnetic course ψ _m . The error estimate of the magnetic course Δψ _m is fed to input 2 of block 36, where it is subtracted from the magnetic course ψ _m . The introduction of the block 41 in the BIKV provides a reduction in the error in calculating the angular orientation vector in dynamic mode by compensating for the error in calculating the magnetic course and more accurate calculation of the observed yaw angle.

In the proposed method of correction of inertial sensors, an estimate of the presence of an error is used, which is generated in the device for calculating speed and coordinates or NIR. A multi-circuit, specially organized information processing system in the speed and coordinate calculation device or in the BIKV, the description of which is given above, evaluates the presence of measurement errors by the errors of the calculated motion characteristics. The additive component of the total error is calculated by the isodromic transformation of the estimate of the presence of measurement error. The isodromic conversion solves several problems: it accumulates output information until the estimate of the presence of the measurement error is non-zero, remembers the measurement error, suppresses the high-frequency component of the noise with zero mathematical expectation, forces the transition process at the initial stage, provides the necessary quality in the transition and steady state automatic correction of an inertial sensor [15, p. 83, 111]. The additive component of the total measurement error obtained in this way is subtracted from the measurement result. The correction of inertial sensors performed in this way reduces the errors in determining the parameters of the aircraft motion.

In the proposed method of correction of inertial sensors, the deviation of the steepness of the output characteristic, which is the source of the multiplicative error, is detected by the corresponding processing for assessing the presence of the error of the inertial sensor. The essence of the processing is that with a steepness of a characteristic greater than the nominal value and with a positive sign of the measurement result, the estimate of the presence of the measurement error will be positive, and with a negative sign of the measurement result, it will be negative. Therefore, in both cases, the product of the assessment of the presence of the measurement error by the sign of the measurement result will be positive. At the same time, when the slope of the characteristic is less than the nominal value, and if the measurement result is positive, the estimate of the presence of the measurement error will be negative, and if the measurement result is negative, it will be positive. Therefore, in both cases, the product of the assessment of the presence of the measurement error by the sign of the measurement result will be negative. In the absence of an error in the steepness of the characteristic, but in the presence of other components of the error, the sign of the product will change. By multiplying the estimate of the presence of the measurement error by the sign of the measurement result, the error estimate of the slope of the inertial sensor characteristic is calculated. However, in the calculations, it is necessary to coordinate the phase shifts in the estimation of the presence of the measurement error and the measurement result, which are determined by the transfer functions of the corresponding channels in the device for calculating speed and coordinates and in the NIR. Thus, to perform the correction of inertial sensors, the phase shift of the estimation of the presence of measurement errors relative to the measurement result is determined, the sign of the phase-shifted measurement result is determined, the slope errors of the characteristics of the inertial sensors are calculated by isodromic conversion of the product of the measurement of the presence of measurement errors by the sign of the phase-shifted measurement result, and the multiplicative component of the total measurement error by multiplying the error of the slope of the character IR inertial sensors on the measurement result, the multiplicative component total measurement error is subtracted from the measurement result. The correction of inertial sensors made in this way additionally reduces the errors in determining the parameters of the aircraft motion.

The inertial sensor correction device (Fig. 4), in accordance with the inertial sensor correction method, calculates the measurement vector of inertial sensors after the correction Q _uk {Q _Xuk , Q _Yuk , Q _Zuk } supplied to its output. At the input 1 of the inertial sensor correction device, a measurement vector of inertial sensors Q _u {Q _Xu , Q _Yu , Q _Zu } is supplied, at input 2, a vector for evaluating the presence of measurement errors in the associated coordinate system dQ _cv {dQ _Xsv , dQY _sv ,

dQ _Zcb }. Block 42 subtracts from the measurement vector of inertial sensors Q _u supplied to input 1, the additive measurement vector dQ _k0 {dQ _Xk0 , dQ _Yk0 , dQ _Zk0 } applied to input 2, ensuring the calculation of the vector Q _uk . Block 43 calculates a vector error measurements additive dQ _k0 PID transformation vector dQ _{communication} supplied to the input 1. In addition, each PID converting measurement error vector component dQ _k0 is calculated by summing corresponding components of the vector dQ _{communication} and the integral of this component with the coefficients determined from the speed conditions correction, noise reduction intensity, the necessary quality of regulation in the transitional and steady-state modes of automatic correction inertial sensor in [15, p. 83, 111]. By subtracting the vector of additive measurement error from the measurement vector of inertial sensors, the error in determining the parameters of aircraft motion is reduced.

The inertial sensor correction device, in accordance with the inertial sensor correction method, compensates for the multiplicative component of the total measurement error, which is determined by the slope error of the characteristics of the inertial sensors. An array of estimating the error of the slope of the characteristics of the inertial sensors dk {dk _X , dk _Y , dk _Z } is calculated by block 44 by isodromic transformation of the product of the corresponding component of the vector for estimating the presence of the measurement error in the coupled coordinate system dQ _sv applied to input 1 and the sign of the corresponding component matched by phase measurement vector after correction of inertial sensors Q _{ukf Xukf} {dQ, dQ _Yukf, dQ _Zukf} supplied to the input 2. The vector Q _ukf unit 45 is calculated by multiplying the corresponding component measurement vector inertsial Foot sensor after correction Q _uk, applied to the input 1 on a transfer function of a channel estimation error of measurements in the presence and speed calculating device coordinates or BIKV. Calculations are made if the assessment of the presence of measurement error is performed, as evidenced by the array J _U supplied to input 3 of the inertial sensor correction device and to input 2 of block 45. Otherwise, the vector O _ukф is reset. The vector of the multiplicative component of the total measurement error dQ _kk {dQ _Xkk , dQ _Ykk , dQ _Zkk } is calculated by block 46 by multiplying the components of the array dk fed to input 1 by the corresponding component of the vector Q _uk fed to input 2. The vector of the multiplicative component of the total error of measurements is fed input 3 of block 42, where it is subtracted from the measurement vector of inertial sensors Q _u . By subtracting the vector of the multiplicative component of the total measurement error from the measurement vector of inertial sensors, an additional reduction in the error in determining the parameters of the aircraft motion is provided.

The inertial sensor correction device performs error compensation when a special mode is turned on, which carries out the correction mode block 47. Block 47 generates an array of signs for switching on the correction mode J _Q {J _QX0 , J _QY0 , J _QZ0 , J _QXk , J _QYk , J _QZk } depending from the flight conditions of the aircraft. From the output of block 47, the array J _Q is fed to the input 2 of block 43 and the input 3 of block 44. With a single value of the components of the array J _{Q, the} correction of the corresponding component of the additive or multiplicative component of the error of the inertial sensor will be performed. If the value is zero, there will be no correction. The correction is switched on by block 47 in flight modes, in which the errors of inertial sensors are most fully manifested. The efficiency of the inertial sensor correction device is improved, which consists in a smaller residual error and a shorter correction time, which provides an additional reduction in the error in determining the parameters of the aircraft motion.

Thus, the claimed navigation system, a device for calculating speed and coordinates, BIKV, a method for correcting inertial sensors and a device for its implementation contain distinctive features from the closest analogues, the combination of which ensures the achievement of the claimed technical result.

The group's inventions are so interconnected that they form a single inventive concept. The navigation system determines the velocity vector, the radius vector in the normal Earth coordinate system and the angular orientation vector, while the angular orientation vector calculates the NIRS, and the speed vector and radius vector calculates the speed and coordinate calculation device. The velocity vector and radius vector are calculated in the normal Earth coordinate system, and acceleration measurements are carried out in a connected coordinate system. To convert the coordinates in the device for calculating the speed and coordinates, the orientation angles, which are calculated by the NIR. At the same time, for the correction of NIRS, it is necessary to know the vectors of acceleration, velocity, and velocity error estimation, which are calculated by the device for calculating speed and coordinates. The absence in the navigation system of a device for calculating speed and coordinates or NIR makes it inoperative. At the same time, NIR can be used independently as a device for calculating orientation angles with correction only from the three-channel DLU unit. The error in the calculation of the angular orientation vector in this case will be higher, but the BIKV will work autonomously. Its functional purpose can be used as part of other systems, for example, to ensure the angular orientation of UAVs relative to the Earth or to provide the angular orientation of video equipment on board the UAV. The device for calculating speed and coordinates can also be used autonomously, and the orientation angles necessary for its operation can be measured by some other device, for example, a vertical, or the device for calculating speed and coordinates can work according to its functional purpose in other navigation systems, for example, in a platform navigation system, where the orientation angles are stabilized by the platform.

The errors in calculating the velocity vector, radius vector in the normal Earth coordinate system and the angular orientation vector of the aircraft are largely determined by the errors of inertial sensors. To compensate for inertial sensor errors, an inertial sensor correction device constructed in accordance with the inertial sensor correction method is used. The introduction of a correction device for inertial sensors in the speed and coordinate calculation device and in the NIRC reduces the errors in calculating the velocity vector, radius vector in the normal Earth coordinate system and the angular orientation vector of the aircraft, and in this regard is a necessary part of these devices. At the same time, the inertial sensor correction method can be applied to improve the accuracy of other similar sensors, and the inertial sensor correction device can be used in other systems in which the presence of sensor error can be evaluated, for example, correction of inertial sensors of surface and underwater vessels, correction speed sensors and dead reckoning of ground vehicles, correction of sensors for monitoring the passage of trunks by drilling rigs in oil and gas th industry and others.

Thus, firstly, parts of the group of inventions are directly involved in achieving the required technical result — reducing the error in determining the velocity vector, radius vector in the normal Earth coordinate system and the angular orientation vector of the aircraft using medium-precision sensors, which are expedient for use in small unmanned aircraft secondly, they can be used for their functional purpose separately or as part of other objects.

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Claims (12)

1. A navigation system comprising an on-board computer, a three-channel block of linear acceleration sensors, a coordinate measuring unit, a speed measuring unit, a three-stage magnetic direction sensor, a three-channel block of angular velocity sensors, characterized in that the on-board computer is made in the form of a strap-down inertial vertical direction and speed calculating device and coordinates, while the first input of the speed and coordinate calculation device is connected to the output of the three-channel block of linear acceleration sensors, the swarm and third inputs of the speed and coordinate calculating device are connected to the first and second outputs of the coordinate measuring unit, the fourth and fifth inputs of the speed and coordinate computing device are connected to the first and second outputs of the speed measuring unit, the sixth and seventh inputs of the speed and coordinate computing device are connected to the first and the second outputs of the strapdown inertial cursor vertical, the first and second inputs of the strapdown inertial cursor vertical are connected to the output of the three-channel block of angle sensors soon and with the output of a three-degree magnetic direction sensor, and the third, fourth, fifth and sixth inputs of the strapdown inertial cursor are connected to the third, fourth, fifth and first outputs of the device for calculating speed and coordinates, respectively, the first and second outputs of the device for calculating speed and coordinates are outputs of the vector velocity and radius vector in the normal Earth coordinate system after correction, and the first output of the strapdown inertial course-line is the output of the angular tation. 2. A device for calculating speed and coordinates, comprising a block for introducing Coriolis corrections and accelerating the Earth's gravity, an acceleration correction unit, a speed calculation unit, an initial speed setting unit, a speed correction unit, a coordinate calculation unit, an initial coordinate setting unit, an coordinate error calculation unit , a unit for filtering the error by coordinates, a unit for estimating a speed error by coordinates, while the first input of the acceleration correction unit is connected to the output of the Coriolis correction unit and accelerated Earth’s gravity, the first and second inputs of the speed calculation block are connected to the output of the acceleration correction block and to the output of the initial speed setting block, the first and second inputs of the coordinate calculation block are connected to the output of the speed correction block and the output of the initial coordinate block, the first input of the block filtering errors in coordinates is connected to the output of the unit for calculating errors in coordinates, the input of the unit for estimating speed errors in coordinates is connected to the output of the unit for filtering errors in coordinates m, the output of the unit for estimating the speed error by coordinates is connected to the second input of the speed correction unit, characterized in that a correction device for inertial sensors, a unit for converting the speed from the connected coordinate system to normal earth, a unit for correcting coordinates, a unit for evaluating the presence of a speed error are introduced in the associated coordinate system, the unit for assessing the presence of errors in acceleration, while the first, second and third inputs of the inertial sensor correction device are connected to the first input of the device and the calculation of speed and coordinates with the first and second outputs of the unit for assessing the presence of errors in acceleration, respectively, the output of the correction device for inertial sensors is connected to the first input of the Coriolis corrections and acceleration of gravity of the Earth and the fourth output of the device for calculating speed and coordinates, second, third and the fourth inputs of the block for introducing Coriolis corrections and acceleration of gravity of the Earth are connected to the sixth and seventh inputs of the device for calculating speed and coordinates and with the output of the block is calculated speed, respectively, the second input of the acceleration correction unit is connected to the first output of the unit for assessing the presence of an acceleration error, the first and second inputs of the speed conversion unit from the connected coordinate system to the normal earth are connected to the output of the speed calculation unit and to the sixth input of the speed and coordinate calculation device, the first input of the speed correction unit is connected to the output of the speed conversion unit from the associated coordinate system to the normal earth, the first and second inputs of the coordinate correction unit are connected s with the output of the coordinate calculation unit and the output of the error accuracy filtering unit, the first, second and third inputs of the coordinate error calculation unit are connected to the output of the coordinate correction unit and with the second and third inputs of the speed and coordinate calculation device, respectively, the second input of the error filtering unit coordinates connected to the third input of the device for calculating speed and coordinates, the first and second inputs of the unit for assessing the presence of speed errors in a connected coordinate system with the output of the unit for estimating the speed error by coordinates and with the sixth input of the device for calculating the speed and coordinates, the first and second inputs of the unit for evaluating the presence of the error in acceleration are connected to the output of the unit for evaluating the presence of the error in speed in the associated coordinate system and with the third input of the device for calculating the speed and coordinates, the first, second, third and fifth outputs of the device for calculating speed and coordinates are connected to the output of the speed correction block, with the output of the coordinate correction block, with the second output a unit for estimating the presence of an error in acceleration and with the output of a unit for evaluating the presence of an error in speed in a connected coordinate system, respectively. 3. The device for calculating speed and coordinates according to claim 2, characterized in that it additionally includes a unit for calculating the error in speed and a unit for filtering the error in speed, while the first, second and third inputs of the unit for calculating the error in speed are connected to the output of the correction unit speed, with the fourth and fifth inputs of the device for calculating speed and coordinates, respectively, the first and second inputs of the filtering unit for the error in speed are connected to the output of the unit for calculating the error in speed and with the fifth input devices for calculating speed and coordinates, the third input of the unit for assessing the presence of an error in acceleration is connected to the fifth input of the device for calculating speed and coordinates, the output of the filtering unit for the error in speed is connected to the third input of the unit for evaluating the presence of an error in speed in the associated coordinate system and with the third input of the correction unit speed. 4. A strap-down inertial course-line containing a generator of derivatives of orientation angles, a correction unit, an integrator unit, a unit for calculating an error of angular orientation, a filter, a calculation unit for observing the vertical, and the second input of the generator of derivatives of orientation angles is connected to the output of the integrator unit, inputs of the correction unit connected to the output of the driver of the derivatives of the orientation angles and the output of the filter, the input of the integrator unit is connected to the output of the correction unit, the first input of the calculation unit angular orientation errors are connected to the output of the integrator unit, the first input of the filter is connected to the output of the angular orientation error calculation unit, characterized in that a correction device for inertial sensors, a unit for correcting the angular velocity of rotation of the Earth, a block for correcting angular velocities, a unit for assessing the presence of errors in angular velocity, a block for correcting the observed orientation angles, a unit for calculating the observed yaw angle, a unit for calculating the magnetic course, while the first, second, and t The inputs of the inertial sensor correction device are connected to the first input of the strapdown inertial cursor and the output of the unit for estimating the presence of errors in angular velocity and the third input of the strapdown inertial cursor and the third input of the correction block for the angular velocity of the Earth are connected to the output of the correction device for inertial sensors and with the output of the integrator unit, the inputs of the angular velocity correction unit are connected to the output of the correction unit for the global speed of the Earth’s rotation and with the output of the unit for estimating the presence of errors in angular velocity, the first input of the imaging unit of derivatives of orientation angles is connected to the output of the unit for correcting angular velocities, the first and second inputs of the unit for evaluating the presence of errors in angular velocity are connected to the output of the filter and to the output of the integrator unit , the second input of the block for calculating the error of the angular orientation is connected to the output of the block for correcting the observed orientation angles, the first input of the block for correcting the observed orientation angles is Din with the output of the unit for calculating the observed vertical and the output of the unit for calculating the observed yaw angle, the input of the unit for calculating the observed vertical axis is connected to the fourth input of the strapdown inertial vertical cursor, the first input of the unit for calculating the observed yaw angle is connected to the output of the unit for calculating the magnetic course, the first and second inputs of which are connected to the second input of the strapdown inertial course and with the output of the integrator block, the first and second outputs of the strapdown inertial course The verticals are connected to the output of the integrator block and to the output of the inertial sensor correction device, respectively. 5. The strapdown inertial course-line according to claim 4, characterized in that it further includes a block for generating signs for including correction of the angular orientation, the input of which is connected to the output of the driver of the derivatives of the orientation angles, and the output is connected to the second input of the filter. 6. The strapdown inertial course-line according to claim 5, characterized in that it additionally includes a unit for assessing the presence of an error in the angular orientation and a unit for calculating the error of the observed orientation angles, while the first, second and third inputs of the unit for assessing the presence of an error in the angular orientation are connected to the sixth and the fifth inputs of the strapdown inertial course-line and with the output of the integrator block, respectively, the first and second inputs of the error calculation unit of the observed orientation angles are connected to Odom presence error estimation unit and the angular orientation of the third input strapdown inertial AHRS respectively output unit calculating error of the observed orientation angles connected to the second input of the correction of observed angles of orientation. 7. The strapdown inertial heading vertical according to claim 6, characterized in that it additionally introduces a magnetic course correction unit, the first, second and third inputs of which are connected to the output of the magnetic course calculation unit, the output of the error calculation unit of the observed orientation angles and the third input of the strapdown inertial vertical direction, respectively, the output of the magnetic course correction unit is connected to the second input of the unit for calculating the observed yaw angle. 8. The method of correction of inertial sensors, which consists in compensating for measurement errors, characterized in that the presence of the measurement error is estimated, the additive component of the total measurement error is calculated, and the presence of the measurement error is estimated from the errors of the calculated motion characteristics, and the additive component of the total error measurements are calculated by isodromic conversion of the assessment of the presence of measurement error. 9. The method of correction of inertial sensors according to claim 8, characterized in that the error of the slope of the characteristics of the inertial sensors is calculated, the sign of the phase-shifted measurement result is determined, the multiplicative component of the total measurement error is calculated, and the phase shift of the measurement result is determined by the phase shift of the error presence estimate measurements relative to the measurement result, the slope errors of the characteristics of inertial sensors are calculated by isodromic transformation of the product of estimates measurement error in the presence of sign phase-shifted measurement result, and the multiplicative component total measurement error is calculated by multiplying the error transconductance characteristics of the inertial sensors on the measurement result. 10. An inertial sensor correction device comprising a measurement error compensation unit, characterized in that an additive measurement error calculation unit is inserted into it, wherein the first and second inputs of the measurement error compensation unit are connected to the first input of the inertial sensor correction device and to the output of the additive calculation unit measurement errors, the first input of which is connected to the second input of the inertial sensor correction device, the output of the measurement error compensation unit is connected to output device correction of inertial sensors. 11. The inertial sensor correction device according to claim 10, characterized in that it further includes a unit for calculating the slope of the inertial sensor characteristics, a phase matching unit, a unit for calculating the multiplicative measurement error, and the first and second inputs of the unit for calculating the slope of the inertial sensor characteristics connected to the second input of the inertial sensor correction device and to the output of the phase matching unit, the first and second inputs of which are connected to the output of the unit to compensation of the measurement error and the third input of the inertial sensor correction device, the first and second inputs of the unit for calculating the multiplicative measurement error are connected to the output of the unit for calculating the error of the slope of the characteristics of the inertial sensors and the output of the unit for compensating the measurement error, the output of the unit for computing the multiplicative measurement error is connected to the third input of the unit of error compensation measurements. 12. The inertial sensor correction device according to claim 11, characterized in that a correction mode block is additionally introduced into it, the output of which is connected to the second input of the additive measurement error calculation unit and the third input of the inertial sensor characteristics slope error calculation unit.

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