RU2536365C1 - Apparatus for monitoring inertial navigation system - Google Patents

Abstract

FIELD: radio engineering, communication.

SUBSTANCE: apparatus comprises sensors for measuring angular velocities on axes of an object, coordinate converters, function generators, adders, subtractor circuits, differentiators, multipliers, integrators, a gravitational acceleration setting device and comparators, connected such that output signals of the adders are compared with threshold values of estimates of accuracy of measured and calculated accelerations. The monitoring apparatus simultaneously measures and compares apparent and absolute acceleration of the object. To this end, absolute angular and linear velocities of the object are measured by angular velocity sensors and sensors for measuring velocities of the inertial system. The difference between acceleration estimates and measured values thereof on comparators of the apparatus indicates the inertial navigation system is faulty.

EFFECT: high efficiency of monitoring when performing flight tasks.

2 cl, 4 dwg

Description

The invention relates to the field of monitoring the operability of control systems of maneuverable moving objects and, in particular, to the means of complex hardware-redundant monitoring of platform inertial navigation systems, manned and unmanned ground, air and spacecraft, minimum weight, dimensions, power consumption, complexity and cost. It can also be used to create simple and highly reliable means of control and backup channels for flight and navigation systems of a modern aircraft, protected from failures and failures of the main multiple redundant complex gyro-inertial control system.

A control device for the flight control and navigation system of the aircraft IL-86 [Vorobev V.G., Glukhov V.V., Kadyshev I.K. Aviation devices, information-measuring systems and complexes. M .: Transport, 1992. S.290, 368, 375; Morozov V.V., Barinova T.V. Instrumentation of the aircraft IL-86 and its operation. Tutorial. Ulyanovsk: Center for GA SEV, 1989], in which hardware redundancy of heading, yaw, pitch, and roll sensors of three inertial navigation systems (ANS), redundant blocks of angular velocity sensors (BDG), speed sensors, and other devices sold by majority control units is widely used roll (BKK), the basic course and vertical system (BSKV), the unit for the formation of teams (BFK). The average value of the three flight parameters of the same name from the majority block is compared with the output signals of the sensors and, after a mismatch, a conclusion is made about the serviceability of the corresponding sensor of the system. This ensures high information performance monitoring platform ANN I ₁ = I _Vξ + I _Vη + I _Vζ + I _ψ + I _ϑ + I _γ = 0.698 bit / s [1, pp. 11-13]. Three-fold increase in weight, dimensions, energy consumption, the cost of instrumentation in order to improve flight safety is quite acceptable here. However, the complexity of the control, and as a result, its low reliability and reliability of failure detection of precisely the sensors of the complex, containing for example typical elements: the INS-2000 platform inertial navigation system (average MTBF T _INS = 1000 hours), on-board digital computer BTsVM 80- 30301 (mean time between failures T _BCMC = 18000 hours), makes it ineffective in reliability P _D1 = 0.526 and reliable control time T _D1 = 3.1 hours, for flight time t = 2 hours. This requires a large amount of scheduled, preflight operations [2, 3]. The reliability of the platform inertial navigation system, which consists of three ANN-2000 and BTsVM 80-30301, is very high here and is T = 16300 hours. Weighted G ₁ = 21 × 3 + 8 = 71 kg and overall characteristics V ₁ = (385 × 264 × 195) × 3 + (140 × 140 × 22) × 2 = 60322 cm ^{3 are} significant. The device is extremely expensive, since its operation is associated with the consumption of a resource of three very expensive inertial systems.

Known control devices for inertial navigation systems using state observers combined by a Kalman or Lewenberger filter [N. Kuzovkov Aircraft stabilization systems. M .: Higher school, 1976, pp. 191-205; Aviation Radio Navigation: A Handbook. Ed. A.A. Sosnovsky. M .: Transport, 1990.p.30-31; Kolodezhny L.P., Chernodarov A.V. Reliability and technical diagnostics. M .: Publishing. VVA them. prof. NOT. Zhukovsky and Yu.A. Gagarina, 2010. p.178]. The state observer is built on the basis of the model of the monitoring and interference object, connected in parallel and covered by additional feedback on the model and object mismatch signal. The model of the control object, as a rule, has a simplified linearized character. In this case, the feedback coefficient is selected so that the model output matches the output of the controlled inertial navigation system as closely as possible. By monitoring the magnitude of the mismatch, you can continuously monitor the health of the system. The main difficulty in the implementation of the device lies in the determination of variable feedback coefficients using an adequate model of a complex and dimensional platform inertial navigation system and non-stationary correlation functions of its random interference [4, p.205; 5, p. 111, 125, 128, 132, etc.].

A device for monitoring the platform inertial navigation system in the pre-flight state [Vorobev V.G., Glukhov V.V., Kadyshev I.K. Aviation devices, information-measuring systems and complexes. M.: Transport, 1992. S. 374-375]. After horizontal stabilization of the gyro platform, a health check is performed on the condition that the sum of the squares of the output signals of the correction of the gyroscopes should be equal to the square of the voltage corresponding to the angular velocity of the Earth's rotation. Information capacity is I ₂ = I + I _{ωX ωY ωZ} + I = 2.843 bit / s [1, s.11-13]. Control is possible only in the pre-flight mode of the inertial system and is limited by the signals of the angular velocity of the platform. Information about the angular orientation, linear speeds of the aircraft on which the inertial navigation system is located is not controlled.

A device for monitoring an inertial navigation system is known as a prototype [RF Patent Application No. 2012127 530, IPC G05B 23/00, 02/02/2012], comprising longitudinal, normal, lateral angular velocity sensors, roll, pitch, gyroscopic sensors, longitudinal, transverse, normal accelerometers, sensors of the vertical component of the linear velocity, the western horizontal component of the linear velocity, the northern horizontal component of the linear velocity. The output of the roll sensor is connected to the inputs of the first and second functional converters. The output of the pitch sensor is connected to the inputs of the third and fourth functional converters. The output of a normal accelerometer is connected to the first subtracting input of the first adder, the second summing and third subtracting inputs of which are connected respectively to the outputs of the first and second multipliers, the fourth summing input is connected to the output of the third multiplier, the inputs of which are connected to the outputs of the first and fourth functional converters, the fifth summing input - with the output of the first differentiator. The output of the first adder is connected to the input of the first comparator. The output of the transverse accelerometer is connected to the first subtracting input of the second adder, the second summing and third subtracting inputs of which are connected respectively to the outputs of the fourth and fifth multipliers, the fourth subtracting input is connected to the output of the sixth multiplier, the inputs of which are connected to the outputs of the second and fourth functional converters, the fifth summing input - with the output of the second differentiator. The output of the second adder is connected to the input of the second comparator. The output of the longitudinal accelerometer is connected to the first subtracting input of the third adder, the second summing and third subtracting inputs of which are connected respectively to the outputs of the seventh and eighth multipliers, the fourth summing input to the output of the third functional converter, and the fifth summing input to the output of the third differentiator. The output of the third adder is connected to the input of the third comparator. The first inputs of the first and eighth multipliers are connected to the output of the transverse angular velocity sensor. The first inputs of the second and fourth multipliers are connected to the output of the longitudinal angular velocity sensor. The first inputs of the fifth and seventh multipliers are connected to the output of the normal angular velocity sensor. The outputs of the first, second, third comparators are connected to the inputs of the OR circuit. The control device also includes the first, second, third coordinate converters, fifth, sixth functional converters. The sensor output of the northern horizontal component of linear velocity is connected to the first input of the first coordinate transformer, the second and third inputs of which are connected respectively to the fifth and sixth functional transducers, connected by the inputs to the output of the gyroscopic heading sensor, the fourth and fifth inputs are connected to the outputs of the sensor of the vertical linear velocity component, respectively and a sensor of the western horizontal component of linear velocity. The first output of the first coordinate transformer is connected to the fifth input of the second coordinate transformer, the second output is connected to the fourth input of the second coordinate transformer, and the third output is connected to the first input of the second coordinate transformer, the second and third inputs of which are connected respectively to the outputs of the third and fourth functional transducers. The first output of the second coordinate transformer is connected to the fourth input of the third coordinate transformer, the second output to the fifth input of the third coordinate transformer, the third output to the first input of the third coordinate transformer, the second and third inputs of which are connected to the second and first functional transducers, respectively. The first output of the third coordinate converter is connected to the input of the first differentiator and the second inputs of the fourth and eighth multipliers, the second output of the third coordinate converter is connected to the input of the second differentiator and the second inputs of the second and seventh multipliers, the third output of the third coordinate converter is connected to the input of the third differentiator and the second inputs of the first and fifth multipliers.

The control device of the inertial navigation system contains a coordinate transformer comprising a ninth multiplier connected in series, the first input of which is connected to the first input of the coordinate transformer, the second input to the second input of the coordinate transformer, the fourth adder, the second input of which is connected to the output of the tenth multiplier, and the output to the first output of the coordinate converter, the eleventh multiplier connected in series, the first input of which is connected to the first input of the coordinate converter dynamite, the second input is with the third input of the coordinate transformer, the first subtraction circuit, the summing input of which is connected to the output of the eleventh multiplier, the subtracting input is connected with the output of the twelfth multiplier, and the output is with the second output of the coordinate transformer, the fourth input of the coordinate transformer is connected to its third output fifth entrance - with the first inputs of the tenth and twelfth multipliers, the second inputs of which are connected respectively to the third and second inputs of the coordinate transformer.

The lack of redundant sensors necessary for detecting a failure has made it advisable to use this device in flight-navigation complexes of moving objects. The device uses the information of sensors already on board and included in the standard instrumentation equipment. The control device adopted for the prototype has the lowest cost, weight G ₃ = 38 + 8 = 46 kg, power consumption and dimensions V ₃ = 670 × 310 × 230 + (140 × 140 × 22) × 2 = 48633 cm ³ . The information productivity [1, pp. 11-13] of the control for the prototype is I ₃ = I _Vξ + I _Vη + I _Vζ + I _ψ + I _ϑ + I _γ + I _ωX + I _ωY + I _ωZ + I _aX + I _aY + I _aZ = 4.114 bit / s, and the reliability of the control is -P _D3 = 0.882502. The average time of reliable control is T _D3 = 16 hours, for the strapdown inertial navigation system I-42 (mean time between failures T _I-42 = 2400 hours, digital computer 80-30301 T _BTsVM = 18000 hours [6, 7]).

A disadvantage of the known device - the prototype is its inability to control any platform inertial navigation system of the classical four-frame scheme (figure 3) [Vorobev V.G., Glukhov V.V., Kadyshev I.K. Aviation devices, information-measuring systems and complexes. M .: Transport, 1992. P.360, 371], on which the majority of semi-analytical type systems are built [Pomykaev I.I., Seleznev V.P., Dmitrochenko L.A. Navigation devices and systems. M.: Mechanical Engineering, 1983. P.294] control maneuverable moving objects. This is due to the fact that the longitudinal, normal, transverse accelerometers connected to the inputs of the control device in the strapdown inertial system are connected to the body of the object. The western, northern and vertical accelerometers of the platform inertial system are connected to the platform in a gimbal. There is no external roll sensor in the platform system. The operation of the platform stabilization system is not checked. For effective control, the completeness of control of the output signals of the platform inertial navigation system, high information performance, reliability, hardware break-evenness, universality of control by the type of platform gyrostabilization means with a minimum of weight, dimensions and cost are desirable.

The main task, which the claimed device is aimed at, is to create a hardware-redundant integrated automatic control system for a very common semi-analytical platform inertial navigation system of increased accuracy, reliability, information performance, reliability of control with high technical and economic indicators in weight, dimensions, energy consumption, the cost, versatility of gyro stabilization control platform with accelerometers, convenience kspluatatsii for easy maneuverability object, the practical realization of which can be free-wheeling simplest algorithm calculating internal or external analog or digital type.

The technical result achieved by the implementation of the claimed invention is to increase the reliability of failure detection, information performance, accuracy of parameter control with redundant means of minimum weight, dimensions, power consumption, complexity and cost, while increasing the efficiency of the flight mission. Full control includes all system output signals. The device is applicable to a large number of platform inertial systems with electromechanical, float, two-three-degree, laser, vibration, fiber-optic, micromechanical and other gyroscopes in the stabilization circuits of the platform with accelerometers. At the same time, work is ensured both in flight and in pre-flight state of the complex. Control is carried out by inertialess relations containing the simplest operations implemented by the calculator on board a mobile maneuverable object. The control is direct, not indirect, since it is carried out according to the output signals of the system, which protects consumers from possible failures and failures of such an important control device as an inertial navigation system.

The specified technical result is achieved by the fact that in a known control device of an inertial navigation system comprising a longitudinal angular velocity sensor, a normal angular velocity sensor, a transverse angular velocity sensor, a first adder, the first subtracting input of which is connected to the output of the first differentiator, the second summing input - with the output the first multiplier, the third subtracting input - with the output of the second multiplier, and the output, through the first comparator - with the first input of the OR circuit, the second adder, the first subtracting the path of which is connected to the output of the second differentiator, the second summing input - the output of the third multiplier, the third subtracting input - with the output of the fourth multiplier, and the output, through the second comparator - with the second input of the OR circuit, the third adder, the first subtracting input of which is connected to the output of the third differentiator , the second summing input is with the output of the fifth multiplier, the third subtracting input is with the output of the sixth multiplier, and the output, through the third comparator, is with the third input of the OR circuit, the roll sensor, the output of which is connected to the inputs the first and second functional transducers, the outputs of which are connected respectively to the first and second inputs of the first coordinate transformer, a pitch sensor, the output of which is connected to the inputs of the third and fourth functional transducers, the outputs of which are connected respectively to the first and second inputs of the second coordinate transducer, gyroscopic heading sensor, the output of which is connected to the inputs of the fifth and sixth functional converters, the outputs of which are connected respectively to the first and second the first inputs of the third coordinate converter, a vertical speed sensor, a northern speed sensor, a western speed sensor, the fourth coordinate converter, the first, second, third, fourth subtraction schemes, the first, second integrators, the fourth, fifth, sixth, seventh differentiators, the fourth, fifth are introduced , sixth comparators, seventh, eighth functional converters, accelerator of gravity, western accelerometer, northern accelerometer, vertical accelerometer, internal roll sensor, the output of which, h the result of the seventh and eighth functional transducers, respectively connected to the first and second inputs of the fourth coordinate transducer, the third, fourth, fifth inputs of the first coordinate transducer are connected respectively to a normal angular velocity sensor, a longitudinal angular velocity sensor, a transverse angular velocity sensor, a third input of the second coordinate transformer connected to the output of the first subtraction circuit, the subtracting input of which, through the fourth differentiator, is connected to the roll sensor, the fourth and fifth nth inputs - respectively, to the first and second outputs of the first coordinate transformer, the summing input of the first subtraction circuit is connected to the third output of the first coordinate transformer, the third and fourth inputs of the fourth coordinate transducer are connected respectively to the first and second outputs of the second coordinate transformer, the fifth input - with the output of the second a subtraction circuit, the subtracting input of which, through the fifth differentiator, is connected to the pitch sensor, the summing input of the second subtraction circuit is connected to the third output of w coordinate converter, the third and fourth inputs of the third coordinate converter are connected respectively to the first and second outputs of the fourth coordinate converter, the fifth input is connected to the output of the fourth subtraction circuit, the subtracting input of which, through the seventh differentiator, is connected to the internal roll sensor, summing the input of the fourth subtraction circuit connected to the third output of the fourth coordinate transformer, the first output of the third coordinate transformer, through the first integrator, connected to the fourth total the input of the first adder, the inputs of the second, fifth multipliers and, through the fourth comparator, with the input of the OR circuit, the second output of the third coordinate converter, through the second integrator, connected to the fourth subtracting input of the second adder, the inputs of the third, sixth multipliers and, through the fifth comparator, with the input of the OR circuit, the third output of the third coordinate converter is connected to the summing input of the third subtraction circuit, the subtracting input of which, through the sixth differentiator, is connected to the gyroscopic heading sensor, the output q the third subtraction circuit is connected to the first, fourth multipliers and, through the sixth comparator, to the input of the OR circuit, the accelerator of gravity is connected to the fourth summing input of the third adder, the vertical speed sensor is connected to the inputs of the second, third multipliers and third differentiator, the north speed sensor connected to the inputs of the first, sixth multipliers and the second differentiator, the western speed sensor is connected to the inputs of the fourth, fifth multipliers and the first differentiator, the outputs of the vertical a selerometra, northern accelerometer Western accelerometer coupled with fifth summing inputs respectively the third, second and first adders OR circuit output is the output device.

The inertial navigation system control device is also characterized in that the coordinate converter comprises a seventh multiplier connected in series, the first input of which is connected to the first input of the coordinate converter, a fourth adder, the second input of which is connected to the output of the eighth multiplier, and the output - with the first output of the coordinate converter, in series connected the ninth multiplier, the first input of which is connected to the second input of the coordinate transformer, the second input, as well as the second input of the seventh smart resident connected to the third input of the coordinate transformer, the fifth subtraction circuit, the summing input of which is connected to the output of the ninth multiplier, the subtractive input is the output of the tenth multiplier, and the output is the second output of the coordinate transducer, the fourth input of the coordinate transformer is connected to its third output, the fifth input - with the first inputs of the eighth and tenth multipliers, the second inputs of which are connected respectively to the second and first inputs of the coordinate transformer.

, определение величины и направления разности $$\overrightarrow{W}-\overrightarrow{a}$$

абсолютного $$\overrightarrow{W}=\left[W_{XП},W_{YП},W_{ZП}\right]$$

кажущегося ускорения $$\overrightarrow{a}$$

, проекций этой разности на оси платформенной системы координат OX_ПY_ПZ_П, в которой проверяется выполнение основного уравнения инерциальной навигацииThe technical result is achieved by the fact that in the control device of the inertial navigation system the measurement of the magnitude and direction of the apparent acceleration is implemented $$\overrightarrow{a}=\left[a_{XP},a_{YP},a_{ZP}\right]$$

, determination of the magnitude and direction of the difference $$\overrightarrow{W}-\overrightarrow{a}$$

absolute $$\overrightarrow{W}=\left[W_{XP},W_{YP},W_{ZP}\right]$$

apparent acceleration $$\overrightarrow{a}$$

, projections of this difference on the axis of the platform coordinate system OX _П Y _П Z _П , in which the implementation of the basic equation of inertial navigation is checked

$$\overrightarrow{W}-\overrightarrow{a}=\overrightarrow{g},\left(\mathrm{one}\right)$$

- вектор ускорения силы тяжести в проекциях на те же оси OX_ПY_ПZ_П [8]. Взаимосвязь линейного и углового движения платформы дает возможность определить отказ системы.Where $$\overrightarrow{g}=\left[g_{XP},g_{YP},g_{ZP}\right]$$

- the acceleration vector of gravity in projections on the same axis OX _P Y _P Z _P [8]. The relationship of linear and angular motion of the platform makes it possible to determine the failure of the system.

The analysis of the prior art by the applicant has established that there are no analogues that are characterized by sets of features identical to all the features of the claimed inertial navigation system control device, therefore, the claimed invention meets the “novelty” condition.

Search results for known technical solutions in this and related fields of technology in order to identify features that match the distinctive features of the claimed invention from the prototype have shown that they do not follow explicitly from the prior art.

From the prior art determined by the applicant, the influence of the transformations provided for by the essential features of the claimed invention on the achievement of the indicated technical result is not revealed and the invention is not based on:

- supplementing the known analogue device with any known part attached to it according to known rules, in order to achieve a technical result in respect of which the effect of this addition is established;

- replacing any part of the analog device with another known part to achieve a technical result, in respect of which the effect of such an addition is established;

- the exclusion of any part of the analog device with the simultaneous exception due to its presence of the function, and the achievement of the usual result for such an exception;

- increasing the number of elements of the same type to enhance the technical result due to the presence in the device of just such elements;

- the implementation of the known device is an analogue or part of a known material to achieve a technical result due to the known properties of the material;

- creating a device consisting of known parts, the choice of which and the connection between them are based on known rules, and the technical result achieved in this case is due only to the known properties of the parts of this device and the connections between them;

- a change in the quantitative sign (s) of the device and the provision of such signs in the relationship or change the type of relationship, if the fact of the influence of each of them on the technical result is known, and new values of these signs or their relationship could be obtained on the basis of known dependencies, therefore, the claimed invention corresponds to the "inventive step".

Figure 1 shows a structural diagram of a control device for an inertial navigation system, where the following notation:

1 - inertial navigation system;

2 - roll sensor;

3 - pitch sensor;

4 - sensor of internal roll;

5 - sensor gyroscopic course;

6 - vertical speed sensor;

7 - north speed sensor;

8 - western speed sensor;

9 - western accelerometer;

10 - northern accelerometer;

11 - vertical accelerometer;

12-1, 12-2, 12-3 - the first, second, third adders;

13-1, 13-2, 13-3, 13-4, 13-5, 13-6, 13-7 - the first, second, third, fourth, fifth, sixth, seventh differentiators;

14-1, 14-2, 14-3, 14-4, 14-5, 14-6 - the first, second, third, fourth, fifth, sixth multipliers;

15-1, 15-2, 15-3, 15-4, 15-5, 15-6 - first, second, third, fourth, fifth, sixth comparators;

16 is an OR diagram;

17-1, 17-2, 17-3, 17-4, 17-5, 17-6, 17-7, 17-8 - the first, second, third, fourth, fifth, sixth, seventh, eighth functional converters;

18-1, 18-2, 18-3, 18-4 - the first, second, third, fourth coordinate converters;

19-1, 19-2, 19-3, 19-4 - subtraction schemes;

20 - sensor normal angular velocity;

21 - sensor longitudinal angular velocity;

22 - transverse angular velocity sensor;

23-1, 23-2 - the first, second integrators;

24 - the accelerator of gravity.

Figure 2 shows the structural diagram of the coordinate Converter according to claim 2 of the formula, where the following notation:

12-4 - the fourth adder;

14-7, 14-8, 14-9, 14-10 - the seventh, eighth, ninth, tenth multipliers;

19-5 is the fifth subtraction scheme.

угловой скорости объекта показаны по осям связанной системы координат. Оси чувствительности акселерометров А_X, А_Y, A_Z ориентированы по осям подвеса платформы.Figure 3 shows the kinematic diagram of a platform inertial navigation system 1 [7, p. 371] containing a four-frame gyrostabilized platform P with accelerometers A _X , A _Y , A _Z , VK - the inner ring, NK - the outer ring, DR - additional frame . NP - flight direction in accordance with the position of the axes of the associated coordinate system OX _С Y _С Z _{С of the} moving object on which the inertial navigation system is located. Figure 1 also shows the position of the coordinate systems and the platform suspension axes in a gimbal suspension: Oξηξ - fixed, horizontal, geographically oriented coordinate system; Oξ - direction to the north (N); Oη — westward direction (W); OX _C Y _C Z _C - the associated coordinate system of the object; OX _P Y _P Z _P - coordinate system of the platform P; AA - platform suspension axis; BB - suspension axis of the inner ring; CC - suspension axis of the outer ring; DD - suspension axis of the additional frame. The following axes of the suspension are located: the roll sensor 2 γ, the pitch sensor 3 ϑ, the inner roll sensor 4 γ _B , the gyroscopic head sensor 5 ψ _G. Vector projection $$\overrightarrow{\omega }=\left[{\omega }_X,{\omega }_Y,{\omega }_Z\right]$$

The angular velocity of the object is shown along the axes of the associated coordinate system. The sensitivity axes of the accelerometers A _X , A _Y , A _{Z are} oriented along the axes of the platform suspension.

Figure 4 shows the position of the coordinate systems of the elements of the cardan suspension of the platform, angles and angular velocities of the device.

OX _B Y _B Z _B - coordinate system of the inner ring VK;

OX _N Y _N Z _N - coordinate system of the outer ring of the Tax Code;

OX _D Y _D Z _D - coordinate system of the additional frame DR;

ψ _G , ϑ, γ, γ _B - the angles of the gyroscopic course, pitch, roll, inner roll;

ω _XП , ω _YП , ω _ZП - absolute angular velocity of the platform П;

ω _X , ω _Y , ω _Z are the absolute angular velocities of the object on which the inertial navigation system is located;

- относительные угловые скорости гироскопического курса, тангажа, крена, внутреннего крена по осям AA, BB, CC, DD карданова подвеса. $${\dot{\psi }}_G,\dot{\vartheta },\dot{\gamma },{\dot{\gamma }}_{\mathrm{AT}}$$

- the relative angular velocity of the gyroscopic course, pitch, roll, inner roll along the axes AA, BB, CC, DD of the gimbal.

Kinematic relations for the angular velocities of the elements of the cardan suspension and the platform are obtained in the form:

$${\omega }_{XD}={\omega }_Z\cos \gamma +{\omega }_Y\sin \gamma ;{\omega }_{YD}={\omega }_X-\dot{\gamma };{\omega }_{ZD}=-{\omega }_Z\sin \gamma +{\omega }_Y\sin \gamma ,\left(2\right)$$

where ω _XД , ω _YД , ω _ZД - angular speeds of the additional frame;

$${\omega }_{XN}={\omega }_{XD}-\dot{\vartheta };{\omega }_{YN}={\omega }_{ZD}\sin \vartheta +{\omega }_{YD}\cos \vartheta ;{\omega }_{ZN}={\omega }_{ZD}\cos \vartheta +{\omega }_{YD}\sin \vartheta ,\left(3\right)$$

where ω _XН , ω _YН , ω _ZН - angular velocities of the outer ring;

$${\omega }_{X\mathrm{AT}}={\omega }_{XN}-\cos {\gamma }_{\mathrm{AT}}+{\omega }_{ZN}\sin {\gamma }_{\mathrm{AT}};{\omega }_{Y\mathrm{AT}}={\omega }_{XN}-{\dot{\gamma }}_{\mathrm{AT}};{\omega }_{Z\mathrm{AT}}={\omega }_{ZN}-\cos {\gamma }_{\mathrm{AT}}+{\omega }_{XN}\sin {\gamma }_{\mathrm{AT}},\left(\mathrm{four}\right)$$

where ω _XB , ω _YB , ω _ZB are the angular velocities of the inner ring;

$${\omega }_{XP}={\omega }_{X\mathrm{AT}}-\cos {\psi }_G+{\omega }_{Y\mathrm{AT}}\sin {\psi }_G;{\omega }_{YP}={\omega }_{X\mathrm{AT}}\sin {\psi }_G+{\omega }_{Y\mathrm{AT}}\cos {\psi }_G;{\omega }_{ZP}={\omega }_{Z\mathrm{AT}}-{\dot{\psi }}_G,\left(5\right)$$

where ω _XП , ω _YП , ω _ZП - angular velocity of the platform.

The angles of deviation of the platform P from the horizontal plane of the coordinate system Oξηξ will be $${\alpha }_{\vartheta P}={}^t{\displaystyle \int {\omega }_{XP}dt;}{\alpha }_{\gamma P}={}^t{\displaystyle \int {\omega }_{YP}dt;}\left(6\right)$$

на оси платформы: $$\begin{array}{c}{W}_{XП}=d{V}_{XП}/dt+{\omega }_{YП}{V}_{ZП}-{\omega }_{ZП}{V}_{YП};\\ W_{YП}=d{V}_{YП}/dt+{\omega }_{ZП}{V}_{XП}-{\omega }_{XП}{V}_{ZП};\\ W_{ZП}=d{V}_{ZП}/dt+{\omega }_{XП}{V}_{YП}-{\omega }_{YП}{V}_{XП};\end{array}\left(7\right)$$

Absolute Acceleration Projections $${\overrightarrow{W}}_P={\left[W_{XP},W_{YP},W_{ZP}\right]}^T$$

on the axis of the platform: $$\begin{array}{c}{W}_{XP}=d{V}_{XP}/dt+{\omega }_{YP}{V}_{ZP}-{\omega }_{ZP}{V}_{YP};\\ W_{YP}=d{V}_{YP}/dt+{\omega }_{ZP}{V}_{XP}-{\omega }_{XP}{V}_{ZP};\\ W_{ZP}=d{V}_{ZP}/dt+{\omega }_{XP}{V}_{YP}-{\omega }_{YP}{V}_{XP};\end{array}\left(7\right)$$

на оси системы координат платформы, м/с;where V _XП , V _YП , V _ZП - projection of the magnitude and direction of the linear velocity $${\overrightarrow{V}}_P={\left[V_{XP},V_{YP},V_{ZP}\right]}^T$$

on the axis of the platform coordinate system, m / s;

оси системы координат платформы, 1/с.ω _X , ω _Y , ω _Z - projection of the magnitude and direction of the angular velocity of the object $$\overrightarrow{\omega }={\left[{\omega }_{XP},{\omega }_{YP},{\omega }_{ZP}\right]}^T$$

axis of the platform coordinate system, 1 / s.

на оси горизонтальной платформы П, при малых углах α_ϑП, α_γП, имеют вид:Gravity Acceleration Projections $$\overrightarrow{g}={\left[g_{XP},g_{YP},g_{ZP}\right]}^T$$

on the axis of the horizontal platform P, at small angles α _ϑP , α _γP , have the form:

$$g_{XP}=g{\alpha }_{\gamma P};g_{YP}=g{\alpha }_{\vartheta P};g_{ZP}=-g.\left(8\right)$$

Substituting in (1) the projections of the accelerations measured and calculated by the inertial navigation system, we obtain the control algorithm

$$\begin{array}{l}{\omega }_{XP}=\{\left[\left({\omega }_Y\cos \gamma -{\omega }_Z\sin \gamma +({\omega }_X-\dot{\gamma }\right)\sin \vartheta \right]\sin {\gamma }_{\mathrm{AT}}+\\ +\left[\left({\omega }_Y\sin \gamma +{\omega }_Z\cos \gamma \right)-\dot{\vartheta }\right]\cos {\gamma }_{\mathrm{AT}}\}\cos {\psi }_G+\\ +\{[\left({\omega }_X-\dot{\gamma }\right)\cos \vartheta -\left({\omega }_Y\cos \gamma -{\omega }_Z\sin \gamma \right)\sin \vartheta ]-{\dot{\gamma }}_{\mathrm{AT}}\}\sin {\psi }_G\end{array}$$

$$\begin{array}{l}{\omega }_{YP}=\{\left[\left({\omega }_Y\cos \gamma -{\omega }_Z\sin \gamma )\cos \vartheta +({\omega }_X-\dot{\gamma }\right)\sin \vartheta \right]\sin {\gamma }_{\mathrm{AT}}+\\ +\left[\left({\omega }_Y\sin \gamma +{\omega }_Z\cos \gamma \right)-\dot{\vartheta }\right]\cos {\gamma }_{\mathrm{AT}}\}\sin {\psi }_G+\\ +\{[\left({\omega }_X-\dot{\gamma }\right)\cos \vartheta -\left({\omega }_Y\cos \gamma -{\omega }_Z\sin \gamma \right)\sin \vartheta ]-{\dot{\gamma }}_{\mathrm{AT}}\}\sin {\psi }_G\end{array}$$

$$\begin{array}{l}{\omega }_{ZP}=\{\left[\left({\omega }_Y\cos \gamma -{\omega }_Z\sin \gamma )\cos \vartheta +({\omega }_X-\dot{\gamma }\right)\sin \vartheta \right]\cos {\gamma }_{\mathrm{AT}}-\\ +\left[\left({\omega }_Y\sin \gamma +{\omega }_Z\cos \gamma \right)-\dot{\vartheta }\right]\sin {\gamma }_{\mathrm{AT}}-{\dot{\psi }}_G\end{array}$$

$${\alpha }_{\vartheta P}={}^t{\displaystyle \int {\omega }_{XP}dt;}{\alpha }_{\gamma P}={}^t{\displaystyle \int {\omega }_{YP}dt;}\left(9\right)$$

; $$F\mathrm{one}=a_{XP}-d{V}_{XP}/dt-{\omega }_{YP}{V}_{ZP}+{\omega }_{ZP}{V}_{YP}+g{\alpha }_{\gamma P}$$

;

; $$\mathrm{<figure-callout\; id="2"\; label="F"\; filenames="00000072.png,00000073.png"\; state="\{\{state\}\}">F</figure-callout>}2=a_{YP}-d{V}_{YP}/dt-{\omega }_{ZP}{V}_{XP}+{\omega }_{XP}{V}_{ZP}+g{\alpha }_{\gamma P}$$

;

; $$\mathrm{<figure-callout\; id="3"\; label="F"\; filenames="00000072.png"\; state="\{\{state\}\}">F</figure-callout>}3=a_{ZP}-d{V}_{ZP}/dt-{\omega }_{XP}{V}_{YP}+{\omega }_{YP}{V}_{XP}+g$$

;

Ф4 = ω _YП ; Ф5 = ω _XП ; Ф6 = ω _ZП ;

, $$i=\overline{\mathrm{1,6}}$$

; U_O=U_K1∨U_K2∨U_K3∨U_K4∨U_K5∨U_K6, $$U_{Ki}=\{\begin{array}{c}0PR\mathrm{and}|\; |\; |F_i|\; |\; |\le F_i^P\\ \mathrm{one}PR\mathrm{and}|\; |\; |F_i|\; |\; |>F_i^P\end{array}$$

, $$i=\overline{\mathrm{1,6}}$$

; U _O = U _K1 ∨U _K2 ∨U _K3 ∨U _K4 ∨U _K5 ∨U _K6 ,

- функции точности контроля и пороги срабатывания компараторов; U_Ki - выходной сигнал i-го компаратора; U_O - выходной сигнал, информирующий об отказе инерциальной навигационной системы.where f _i $$F_i^P$$

- precision control functions and thresholds for comparators; U _Ki is the output signal of the i-th comparator; U _O - output signal informing about the failure of the inertial navigation system.

The inertial navigation system control device 1 contains a roll sensor 2, a pitch sensor 3, an internal roll sensor 4, a gyroscopic head sensor 5 along the axes DD, CC, BB, AA of the cardan suspension of the platform, a vertical speed sensor 6, a northern speed sensor 7, a western speed sensor 8 speed, as well as a western accelerometer 9, a northern accelerometer 10, a vertical accelerometer 11 mounted on a platform in a gimbal, includes a first adder 12-1, the first subtracting input of which is connected to the output of the first differentiator 13-1, the second miruyuschy input - with the output of the first multiplier 14-1, the third subtracting input - with the output of the second multiplier 14-2 and the output through a first comparator 15-1 - the first input of OR circuit 16. The second adder 12-2 of the device has a first subtracting input connected to the output of the second differentiator 13-2, a second summing input with the output of the third multiplier 14-3, a third subtracting input with the output of the fourth multiplier 14-4, and the output through the second comparator 15-2 - with the second input of the circuit 16 OR. The third adder 12-3 of the device has a first subtracting input connected to the output of the third differentiator 13-3, a second summing input with the output of the fifth multiplier 14-5, a third subtracting input with the output of the sixth multiplier 14-6, and the output through the third comparator 15-3 - with the third input of the circuit 16 OR. The roll sensor 2 is connected to the inputs of the first sine 17-1, the second cosine 17-2 functional transducers and the fourth differentiator 13-4, the outputs of which are connected respectively to the first, second inputs of the first coordinate transformer 18-1 and the first subtracting input of the first circuit 19-1 subtraction. The pitch sensor 3 is connected to the inputs of the third sine 17-3, the fourth cosine 17-4 functional converters and the fifth differentiator 13-5, the outputs of which are connected respectively to the first, second inputs of the second coordinate transformer 18-2 and the first subtracting input of the second circuit 19-2 subtraction. The gyroscopic heading sensor 5 is connected to the inputs of the fifth sine 17-5, sixth cosine 17-6 functional converters and the sixth differentiator 13-6, the outputs of which are connected respectively to the first, second inputs of the third coordinate converter 18-3 and the first subtracting input of the third circuit 19- 3 subtractions. The internal roll sensor 4 is connected to the inputs of the seventh sinusoidal 17-7, eighth cosine 17-8 functional transducers and the seventh differentiator 13-7, the outputs of which are connected respectively to the first, second inputs of the fourth coordinate transformer 18-4 and the first subtracting input of the fourth circuit 19- 4 subtractions. The third, fourth, fifth inputs of the first coordinate transformer 18-1 are connected respectively to the sensor 20 of normal angular velocity, the sensor 21 of the longitudinal angular velocity, the sensor 22 of the transverse angular velocity. The third, fourth, fifth inputs of the second coordinate transformer 18-2 are connected respectively to the outputs of the first subtraction circuit 19-1, the summing input of which is connected to the third output of the first coordinate transformer 18-1, the first, second outputs of which are connected respectively to the fourth, fifth inputs of the second coordinate converter 18-2. The third, fourth, fifth inputs of the fourth coordinate converter 18-4 are connected respectively to the first, second outputs of the second coordinate converter 18-2 and the output of the second subtraction circuit 19-2, the summing input of which is connected to the third output of the second coordinate converter 18-2. The third, fourth, fifth inputs of the third coordinate converter 18-3 are connected respectively to the first, second output of the fourth coordinate converter 18-4 and the output of the fourth subtraction circuit 19-4, the summing input of which is connected to the third output of the fourth coordinate converter 18-4. The first output of the third coordinate converter 18-3 is connected to the second 14-2 multiplier, the fifth 14-5 multiplier, the first integrator 23-1, the output of which is connected to the fourth summing input of the first adder 12-1 and, through the fourth comparator 15-4, with fourth input circuit 16 OR. The second output of the third coordinate converter 18-3 is connected to a third 14-3 multiplier, a sixth 14-6 multiplier, a second integrator 23-2, the output of which is connected to the fourth subtracting input of the second adder 12-2, and, through the fifth comparator 15-5, with the fifth input of circuit 16 OR. The third output of the third coordinate converter 18-3, through the third subtraction circuit 19-3, is connected to the first 14-1 multiplier, the fourth 14-4 multiplier, the sixth comparator 15-6, the output of which is connected to the sixth input of the OR circuit 16. The fifth summing inputs of the first 12-1, second 12-2, third 12-3 adders are connected respectively to the outputs of the western accelerometer 9, northern accelerometer 10, vertical accelerometer 11. The output of the accelerator 24 of gravity is connected to the fourth summing input of the third adder 12-3 . The output of the OR circuit 16 is the output of the device.

The coordinate transformer 18-1, 18-2, 18-3, 1 8-4 contains a multiplier connected in series 14-7, the first input of which is connected to the first input of the coordinate transformer 18-1, 18-2, 18-3,18-4 , adder 12-4, the second input of which is connected to the output of the multiplier 14-8, and the output - with the first output of the coordinate transformer 18-1, 18-2, 18-3, 18-4. Multiplier 14-9 is also connected in series, the first input of which is connected to the second input of the coordinate transformer 18-1, 18-2, 18-3,18-4, the second input of which, like the second input of the multiplier 14-7, is connected to the third input coordinate converter 18-1, 18-2, 18-3, 18-4, a subtraction circuit 19-5, the summing input of which is connected to the output of the multiplier 14-9, the subtracting input - with the output of the multiplier 14-10, and the output - with the second the output of the coordinate transformer 18-1, 18-2, 18-3, 18-4. The fourth input of the coordinate transformer 18-1, 18-2, 18-3, 18-4 is connected to its third output, and the fifth input is connected to the first inputs of the multipliers 14-8, 14-10, the second inputs of which are connected respectively to the second and first the inputs of the coordinate transformer 18-1, 18-2, 18-3, 18-4.

The practical implementation of the inertial navigation system control device is possible on the analog and digital circuitry base [9-13]. The control object of an inertial navigation system here can be: IKV-1 ÷ 8, I-11, MIS, IKV-72, I-21, Ts-060-063, 802, Ts-050, IKV-95, ANN-80, ANN -2000, ISS-1, 705, etc .; typical electromechanical angular velocity sensors: DUSU1, DUSU-AS, DUSU-M; fiber optic, laser: VG941-3, DUSv-5, DUS-500, GL-2; micromechanical ADIS, ADXRS, DUS-MMA, which are part of the standard automatic control systems for objects SAU-10, SAU-451, KSEIS, SIVPP-V, KSU-130 of the flight control and navigation systems of aircraft. The implementation of the control algorithm is possible with the software BTsVM 80-ZOKHXX or BTsVM 80-40XXX, BTsVM 90-60XXX, BTsVM-486 [7, 13],

The control device inertial navigation system operates as follows. The signal from the output of the roll sensor 2 of the inertial navigation system 1, through the sine 17-1 and cosine 17-2 functional converters, respectively, is transmitted to the first and second inputs of the coordinate converter 18-1, and through the differentiator 13-4 to the subtracting input of the circuit 19-1 subtraction. At the same time, the third, fourth, fifth inputs of the coordinate transformer 18-1 receive signals, respectively, of the sensor 20 normal angular velocity, sensor 21 longitudinal angular velocity, sensor 22 transverse angular velocity of the object. In this case, at the first output of the coordinate transformer 18-1, a signal is generated proportional to the angular velocity of the additional DR frame along the X _D axis

; $${\omega }_{X_D}={\omega }_Z\cos \gamma +{\omega }_Y\sin \gamma$$

;

at the second exit - along the axis Z _D

, $${\omega }_{Z_D}=-{\omega }_Z\sin \gamma +{\omega }_Y\cos \gamma$$

,

. Сигнал с выхода датчика 3 тангажа инерцииальной навигационной системы 1, через синусный 17-3 и косинусный 17-4 функциональные преобразователи, поступает соответственно на первый и второй входы преобразователя координат 18-2, а через дифференциатор 13-5 он также поступает на вычитающий вход схемы 19-2 вычитания. Одновременно, на третий, четвертый, пятый входы преобразователя координат 18-2 поступают сигналы, пропорциональные $${\omega }_{X_{Д}}$$

, $${\omega }_{Z_{Д}}$$

, $${\omega }_{Y_{Д}}$$

, соответственно с выхода схемы 19-1 вычитания, первого и второго выходов преобразователя координат 18-1. При этом на первом выходе преобразователя координат 18-2 формируется сигнал, пропорциональный угловой скорости наружного кольца НК по оси Z_Н,and at the third output, along the X axis _{, the} additional frame ω _X , which is fed to the summing input of the subtraction circuit 19-1. The output of the subtraction circuit produces a signal proportional to the angular velocity $${\omega }_{Y_D}={\omega }_X-\dot{\gamma }$$

. The signal from the output of the pitch sensor 3 of the inertial navigation system 1, through the sine 17-3 and cosine 17-4 functional converters, is respectively supplied to the first and second inputs of the coordinate transformer 18-2, and through the differentiator 13-5 it also goes to the subtracting input of the circuit 19-2 subtraction. At the same time, signals proportional to the third, fourth, fifth inputs of the coordinate transformer 18-2 $${\omega }_{X_D}$$

, $${\omega }_{Z_D}$$

, $${\omega }_{Y_D}$$

, respectively, from the output of the subtraction circuit 19-1, the first and second outputs of the coordinate transformer 18-1. At the same time, at the first output of the coordinate transformer 18-2, a signal is generated proportional to the angular velocity of the outer ring of the LC along the Z _N axis,

, $${\omega }_{Z_N}={\omega }_{Y_D}\sin \vartheta +{\omega }_{Z_D}\cos \vartheta$$

,

at the second exit - along the axis Y _N ,

, $${\omega }_{Y_N}={\omega }_{Y_D}\cos \vartheta -{\omega }_{Z_D}\sin \vartheta$$

,

, который поступает на суммирующий вход схемы 19-2 вычитания. На выходе схемы 19-2 вычитания получается сигнал, пропорциональный угловой скорости наружного кольца $${\omega }_{X_{Н}}={\omega }_{X_{Д}}-\dot{\vartheta }$$

. Сигнал с выхода датчика 4 внутреннего крена инерциальной навигационной системы 1, через синусный 17-7 и косинусный 17-8 функциональные преобразователи, поступает соответственно на первый и второй входы преобразователя координат 18-4, а через дифференциатор 13-7 он также поступает на вычитающий вход схемы 19-4 вычитания. Одновременно, на третий, четвертый, пятый входы преобразователя координат 18-4 поступают сигналы, пропорциональные $${\omega }_{Z_{Н}}$$

, $${\omega }_{Y_{Н}}$$

, $${\omega }_{X_{Н}}$$

соответственно с первого, второго выходов преобразователя координат 18-2 и схемы 19-2 вычитания. При этом на первом выходе преобразователя координат 18-4 формируется сигнал, пропорциональный угловой скорости внутреннего кольца ВК по оси X_В and the third output - on the axis X of outer ring _H $${\omega }_{X_D}$$

, which is fed to the summing input of the subtraction circuit 19-2. The output of the subtraction circuit 19-2 produces a signal proportional to the angular velocity of the outer ring $${\omega }_{X_N}={\omega }_{X_D}-\dot{\vartheta }$$

. The signal from the output of the sensor 4 of the internal roll of the inertial navigation system 1, through the sine 17-7 and cosine 17-8 functional converters, respectively, is fed to the first and second inputs of the coordinate transformer 18-4, and through the differentiator 13-7 it also goes to the subtracting input subtraction schemes 19-4. At the same time, the third, fourth, fifth inputs of the coordinate transformer 18-4 receive signals proportional to $${\omega }_{Z_N}$$

, $${\omega }_{Y_N}$$

, $${\omega }_{X_N}$$

respectively, from the first, second outputs of the coordinate transformer 18-2 and the subtraction circuit 19-2. Thus on the first output coordinate converter 18-4 generated signal proportional to the angular velocity of the inner ring of the VC _in the axis X

, $${\omega }_{X_{\mathrm{AT}}}={\omega }_{X_N}\cos {\gamma }_{\mathrm{AT}}+{\omega }_{Z_N}\sin {\gamma }_{\mathrm{AT}}$$

,

at the second exit - along the Z _B axis,

, $${\omega }_{Z_{\mathrm{AT}}}={\omega }_{X_N}\sin {\gamma }_{\mathrm{AT}}+{\omega }_{Z_N}\cos {\gamma }_{\mathrm{AT}}$$

,

, который поступает на суммирующий вход схемы 19-4 вычитания. На выходе схемы 19-4 вычитания получается сигнал пропорциональный угловой скорости внутреннего кольца $${\omega }_{Y_{В}}={\omega }_{Y_{Н}}-{\dot{\gamma }}_{В}$$

. Сигнал с выхода датчика 5 гироскопического курса инерциальной навигационной системы 1, через синусный 17-5 и косинусный 17-6 функциональные преобразователи, поступает соответственно на первый и второй входы преобразователя координат 18-3, а через дифференциатор 13-6 он также поступает на вычитающий вход схемы 19-3 вычитания. Одновременно, на третий, четвертый, пятый входы преобразователя координат 18-3 поступают сигналы пропорциональные $${\omega }_{X_{В}}$$

, $${\omega }_{Z_{В}}$$

, $${\omega }_{Y_{В}}$$

, соответственно с первого, второго выходов преобразователя координат 18-4 и схемы 19-4 вычитания. При этом на первом выходе преобразователя координат 18-3 формируется сигнал пропорциональный угловой скорости платформы П по оси Y_П and the third output - on Y axis _B of the outer ring $${\omega }_{Y_N}$$

, which is fed to the summing input of the subtraction circuit 19-4. The output of the subtraction circuit 19-4 produces a signal proportional to the angular velocity of the inner ring $${\omega }_{Y_{\mathrm{AT}}}={\omega }_{Y_N}-{\dot{\gamma }}_{\mathrm{AT}}$$

. The signal from the output of the sensor 5 of the gyroscopic heading of the inertial navigation system 1, through the sine 17-5 and cosine 17-6 functional converters, is fed to the first and second inputs of the coordinate converter 18-3, respectively, and through the differentiator 13-6 it also goes to the subtracting input subtraction schemes 19-3. At the same time, the third, fourth, fifth inputs of the coordinate transformer 18-3 receive proportional signals $${\omega }_{X_{\mathrm{AT}}}$$

, $${\omega }_{Z_{\mathrm{AT}}}$$

, $${\omega }_{Y_{\mathrm{AT}}}$$

, respectively, from the first, second outputs of the coordinate transformer 18-4 and the subtraction circuit 19-4. At the same time, a signal proportional to the angular velocity of the platform P along the Y axis _P is formed at the first output of the coordinate transformer 18-3

$${\omega }_{Y_P}={\omega }_{X_{\mathrm{AT}}}\sin {\psi }_G+{\omega }_{Y_{\mathrm{AT}}}\cos {\psi }_G$$

at the second exit - along the axis X _P

$${\omega }_{X_P}={\omega }_{X_{\mathrm{AT}}}\cos {\psi }_G+{\omega }_{Y_{\mathrm{AT}}}cin{\psi }_G$$

, который поступает на суммирующий вход схемы 19-3 вычитания. На выходе схемы 19-3 вычитания получается сигнал, пропорциональный угловой скорости платформы $${\omega }_{Z_{П}}={\omega }_{Z_{В}}-{\dot{\psi }}_{Г}$$

. Сигнал с выхода датчика 6 вертикальной скорости, пропорциональный $$V_{Z_{П}}$$

, поступает на первый вход умножителя 14-2, на второй вход которого поступает сигнал пропорциональный $${\omega }_{Y_{П}}$$

, с первого выхода преобразователя координат 18-3, на первый вход умножителя 14-3, на второй вход которого поступает сигнал, пропорциональный $${\omega }_{X_{П}}$$

, со второго выхода преобразователя координат 18-3 и, через дифференциатор 13-3, на первый вычитающий вход сумматора 12-3. Сигнал с выхода датчика 7 северной скорости, пропорциональный $$V_{Y_{П}}$$

, поступает на первый вход умножителя 14-1, на второй вход которого поступает сигнал, пропорциональный $${\omega }_{Z_{П}}$$

, с выхода схемы 19-3 вычитания, на первый вход умножителя 14-6, на второй вход которого поступает сигнал, пропорциональный $${\omega }_{X_{П}}$$

, со второго выхода преобразователя координат 18-3 и, через дифференциатор 13-2, на первый вычитающий вход сумматора 12-2. Сигнал с выхода датчика 8 западной скорости, пропорциональный $$V_{X_{П}}$$

, поступает на первый вход умножителя 14-4, на второй вход которого поступает сигнал, пропорциональный $${\omega }_{Z_{П}}$$

, с выхода схемы 19-3 вычитания, на первый вход умножителя 14-5, на второй вход которого поступает сигнал, пропорциональный $${\omega }_{Y_{П}}$$

, с первого выхода преобразователя координат 18-3 и, через дифференциатор 13-1, на первый вычитающий вход сумматора 12-1. На второй суммирующий вход сумматора 12-1 поступает сигнал с выхода умножителя 14-1, на третий вычитающий вход - сигнал с выхода умножителя 14-2, на четвертый суммирующий вход - сигнал, пропорциональный углу $${\alpha }_{{\gamma }_{П}}$$

отклонения платформы от горизонта, с выхода интегратора 23-1, подключенного к первому выходу преобразователя координат 18-3, на пятый суммирующий вход - сигнал с выхода западного акселерометра 9 инерциальной навигационной системы 1. Выходной сигнал сумматора 12-1 поступает на компаратор 15-1, где производится его сравнение с допустимым значением $${Ф}_1^{П}$$

порога. Величина последнего определяется точностью вычисления в сумматоре 12-1 проекции W_X абсолютного ускорения, измерений инерциальной навигационной системы 1, измерений западного акселерометра 9 проекции кажущегося ускорения $$a_{X_{П}}$$

, вычислений проекции ускорения силы тяжести g_X на четвертом суммирующем входе сумматора 12-1, суммирование сигнала ведется с коэффициентом пропорциональности g. На второй суммирующий вход сумматора 12-2 поступает сигнал с выхода умножителя 14-3, на третий вычитающий вход - сигнал с выхода умножителя 14-4, на четвертый вычитающий вход-сигнал, пропорциональный углу α_ϑП отклонения платформы от горизонта, с выхода интегратора 23-2, подключенного к второму выходу преобразователя координат 18-3, на пятый суммирующий вход - сигнал с выхода северного акселерометра 10 инерциальной навигационной системы 1. Выходной сигнал сумматора 12-2 поступает на компаратор 15-2, где производится его сравнение с допустимым значением $${Ф}_2^{П}$$

порога. Величина последнего определяется точностью вычисления в сумматоре 12-2 проекции W_Y абсолютного ускорения, измерений инерциальной навигационной системы 1, измерений северного акселерометра 10 проекции кажущегося ускорения $$a_{Y_{П}}$$

, вычислений проекции ускорения силы тяжести g_Y на четвертом вычитающем входе сумматора 12-2, вычитание сигнала здесь ведется с коэффициентом пропорциональности g. На второй суммирующий вход сумматора 12-3 поступает сигнал с выхода умножителя 14-5, на третий вычитающий вход - сигнал с выхода умножителя 14-6, на четвертый суммирующий вход-сигнал, пропорциональный g с задатчика 24 ускорения силы тяжести, на пятый суммирующий вход-сигнал с выхода вертикального акселерометра 11 инерциальной навигационной системы 1. Выходной сигнал сумматора 12-3 поступает на компаратор 15-3, где производится его сравнение с допустимым значением $${Ф}_3^{П}$$

порога. Величина последнего определяется точностью вычисления в сумматоре 12-3 проекции W_Z абсолютного ускорения, измерений инерциальной навигационной системы 1, измерений вертикального акселерометра 11 проекции кажущегося ускорения $$a_{Z_{П}}$$

, вычислений проекции ускорения силы тяжести g_Z на четвертом суммирующем входе сумматора 12-3. Суммирование сигнала, для малых допустимых углов отклонения исправной стабилизации платформы от горизонта, сводится к суммированию постоянного сигнала g с задатчика 24 ускорения силы тяжести. При отказе инерциальной навигационной системы 1 или датчиков нормальной 20, продольной 21, поперечной 22 угловой скорости на одном или нескольких компараторах 15-1, 1 5-2, 15-3, 15-4, 15-5, 15-6 появляется сигнал отказа, который, через схему 16 ИЛИ, поступает на выход устройства, информируя о неисправности. Поскольку надежность датчиков нормальной 20, продольной 21, поперечной 22 угловой скорости более чем на порядок больше надежности инерциальной навигационной системы 1, то неисправность следует относить к последней.and at the third exit - along the Z axis _{In the} inner ring $${\omega }_{Z_{\mathrm{AT}}}$$

which goes to the summing input of the subtraction circuit 19-3. The output of the subtraction circuit 19-3 produces a signal proportional to the angular velocity of the platform $${\omega }_{Z_P}={\omega }_{Z_{\mathrm{AT}}}-{\dot{\psi }}_G$$

. The signal from the output of the sensor 6 vertical speed, proportional $$V_{Z_P}$$

, arrives at the first input of the multiplier 14-2, the second input of which receives a proportional signal $${\omega }_{Y_P}$$

, from the first output of the coordinate transformer 18-3, to the first input of the multiplier 14-3, the second input of which receives a signal proportional to $${\omega }_{X_P}$$

, from the second output of the coordinate transformer 18-3 and, through the differentiator 13-3, to the first subtracting input of the adder 12-3. The signal from the output of the sensor 7 northern speed, proportional $$V_{Y_P}$$

, arrives at the first input of the multiplier 14-1, the second input of which receives a signal proportional to $${\omega }_{Z_P}$$

, from the output of the subtraction circuit 19-3, to the first input of the multiplier 14-6, to the second input of which a signal proportional $${\omega }_{X_P}$$

, from the second output of the coordinate transformer 18-3 and, through the differentiator 13-2, to the first subtracting input of the adder 12-2. The signal from the output of the sensor 8 of the western speed, proportional $$V_{X_P}$$

, arrives at the first input of the multiplier 14-4, the second input of which receives a signal proportional to $${\omega }_{Z_P}$$

, from the output of the subtraction circuit 19-3, to the first input of the multiplier 14-5, to the second input of which a signal proportional $${\omega }_{Y_P}$$

, from the first output of the coordinate transformer 18-3 and, through the differentiator 13-1, to the first subtracting input of the adder 12-1. The second summing input of adder 12-1 receives a signal from the output of the multiplier 14-1, the third subtracting input receives a signal from the output of the multiplier 14-2, and the fourth summing input receives a signal proportional to the angle $${\alpha }_{{\gamma }_P}$$

deviations of the platform from the horizon, from the output of the integrator 23-1, connected to the first output of the coordinate transformer 18-3, to the fifth summing input - the signal from the output of the western accelerometer 9 of the inertial navigation system 1. The output signal of the adder 12-1 goes to the comparator 15-1 where it is compared with a valid value $$F_{\mathrm{one}}^P$$

the threshold. The magnitude of the latter is determined by the accuracy of the calculation in the adder 12-1 of the projection W _{X of the} absolute acceleration, measurements of the inertial navigation system 1, measurements of the western accelerometer 9 of the projection of the apparent acceleration $$a_{X_P}$$

, computing the projection of the acceleration of gravity g _X at the fourth summing input of the adder 12-1, the summation of the signal is carried out with a proportionality coefficient g. The second summing input of adder 12-2 receives a signal from the output of the multiplier 14-3, the third subtracting input receives a signal from the output of the multiplier 14-4, and the fourth subtracting input-signal is proportional to the angle α _{ϑP of the} deviation of the platform from the horizon from the output of the integrator 23 -2, connected to the second output of the coordinate transformer 18-3, to the fifth summing input - the signal from the output of the north accelerometer 10 of the inertial navigation system 1. The output signal of the adder 12-2 goes to the comparator 15-2, where it is compared with an acceptable value $$F_2^P$$

the threshold. The magnitude of the latter is determined by the accuracy of calculation in the adder 12-2 of the projection W _{Y of} absolute acceleration, measurements of the inertial navigation system 1, measurements of the north accelerometer 10 of the projection of the apparent acceleration $$a_{Y_P}$$

, computing the projection of the acceleration of gravity g _Y at the fourth subtracting input of the adder 12-2, the signal is subtracted here with the proportionality coefficient g. The second summing input of adder 12-3 receives a signal from the output of the multiplier 14-5, the third subtracting input receives a signal from the output of the multiplier 14-6, the fourth summing input-signal proportional to g from the accelerator 24 of gravity, to the fifth summing input -signal from the output of the vertical accelerometer 11 of the inertial navigation system 1. The output signal of the adder 12-3 goes to the comparator 15-3, where it is compared with an acceptable value $$F_3^P$$

the threshold. The magnitude of the latter is determined by the accuracy of calculation in the adder 12-3 of the projection W _{Z of} absolute acceleration, measurements of the inertial navigation system 1, measurements of the vertical accelerometer 11 of the projection of the apparent acceleration $$a_{Z_P}$$

, computing the projection of the acceleration of gravity g _Z at the fourth summing input of the adder 12-3. The summation of the signal, for small permissible deviation angles of the stable platform stabilization from the horizon, is reduced to the summation of the constant signal g from the accelerator 24 of gravity. In case of failure of the inertial navigation system 1 or sensors of normal 20, longitudinal 21, transverse 22 angular velocity on one or more comparators 15-1, 1 5-2, 15-3, 15-4, 15-5, 15-6, a failure signal appears , which, through the OR circuit 16, is output to the device, informing about the malfunction. Since the reliability of the sensors normal 20, longitudinal 21, transverse 22 angular velocity is more than an order of magnitude greater than the reliability of the inertial navigation system 1, the fault should be attributed to the latter.

Coordinate transformers 18-1, 18-2, 18-3, 18-4 work as follows. The signal X ₁ , at the first input of the coordinate transformers 18-1, 18-2, 18-3, 18-4, proportional to the sin of the roll angles, pitch, inner roll, gyroscopic course, is fed to the first input of the multiplier 14-7 and the second input of the multiplier 14-10. At the same time, the signal X ₂ , at the second input of coordinate transformers 1 8-1, 18-2, 18-3, 1 8-4, proportional to the cos of the angles of the roll, pitch, inner roll, gyroscopic course, is fed to the second input of the multiplier 14-8 and the first input of the multiplier is 14-9. The second inputs of the multiplier 14-7 and the multiplier 14-9 receive the signal X ₃ from the third input of the coordinate transformers 1 8-1, 18-2, 18-3, 18-4, and the first inputs of the multiplier 14-8 and the multiplier 14- 10 from the fifth entrance. At the first output of coordinate transformers 18-1, 18-2, 18-3, 18-4, from the output of the adder 12-4, a signal Y ₁ = X ₃ X ₁ + X ₅ X _{2 is} obtained, at the second output, from circuit 19 -5 subtraction, the signal is Y ₂ = X ₃ X ₂ -X ₅ X ₁ . The third output of the coordinate transformers 18-1, 18-2, 18-3, 18-4, the signal from the fourth input is received unchanged so that Y ₃ = X ₄ . As a result, coordinate transformers 18-1, 18-2, 18-3, 18-4 implement calculations (2) - (5) of the angular velocities of the elements of the cardan suspension and platform in the control algorithm (9).

, что более чем в 2 раза больше прототипа, здесь сочетается с уменьшенным в 1,6 раза весом и в 2,3 раза меньшими габаритами системы. Программа реализации контроля БЦВМ проще, чем для наблюдателей состояния. Достоверность контроля, как вероятность обнаружить отказ именно инерциальной навигационной системы с датчиками, составляет P_Д=0,959819, на 2 часа полета, что соответствует в 3 раза большему, чем у прототипа, среднему времени достоверного контроля T_Д=49 час. Точность контроля определяется точностью комплексируемых датчиков. При этом важно, что в устройстве проверяются не косвенные признаки исправности бортовых приборов: потребляемые токи, температура, изменения частных сигналов в поле допуска - а именно выходные сигналы навигации и ориентации пилотажно-навигационного комплекса. В отличие от ранее отмеченных аналогов БКК, БСПК, БСКВ, БФК и пр. в заявляемом устройстве все линейные и угловые параметры движения маневренного объекта контролируются в одном блоке.Thus, for the inventive control device inertial navigation system there are no previously noted disadvantages of analogues and prototype. The device is able to control the performance of a large number of platform inertial navigation systems of the classical scheme (Fig. 3): IKV-1 ÷ 8, I-11, MIS, IKV-72, I-21, Ts-050, ANN-80, Ts-060 ÷ 063, 802, IKV-95, ANN-2000, ISS-1, 705, SKN-2440, LN-39, FIN-1010, AN / ASN-109 and others on ground, air, space maneuvering objects in preflight and flight mode of operation. The hardware break-even control uses equipment that is part of the typical flight and navigation complex of the facility. From hardware-based control when duplicating or tripling extremely expensive tested sensors, as noted in the analogues, the claimed device made a transition to information-intensive inertia-free monitoring. The highest information performance control of the claimed device $$I=I_{V\xi }+I_{V\eta }+I_{V\zeta }+I_{\psi }+I_{\vartheta }+I_{\gamma }+I_{\gamma \mathrm{AT}}+I_{\dot{\psi }}+I_{\dot{\vartheta }}+I_{\dot{\gamma }}+I_{\dot{\gamma }\mathrm{AT}}+I_{aX}+I_{aY}+I_{aZ}+I_{\omega Y}++I_{\omega Z}+I_{\omega X}=\mathrm{8,412}\text{A.}\text{A.}\text{A.}\text{A.}\text{A.}\text{A.}\text{A.}\text{A.}\text{A.}\text{A.}\text{A.}\text{A.}\text{A.}\text{A.}\text{A.}\text{A.}\text{A.}\text{A.}\text{A.}\text{A.}\text{A.}\text{A.}\text{A.}\text{A.}b\mathrm{and}t/\mathrm{from}$$

, which is more than 2 times the prototype, is combined with a 1.6 times reduced weight and 2.3 times smaller system dimensions. The program for implementing control of the computer is easier than for state observers. The reliability of the control, as the probability of detecting a failure of an inertial navigation system with sensors, is P _D = 0.959819, for 2 hours of flight, which corresponds to 3 times more than the prototype, the average time of reliable control T _D = 49 hours. The accuracy of the control is determined by the accuracy of the integrated sensors. It is important that the device does not check indirect signs of the serviceability of on-board devices: current consumption, temperature, changes in private signals in the tolerance field - namely, the output signals of navigation and orientation of the flight-navigation complex. Unlike the previously noted analogues BKK, BSPK, BSKV, BFK, etc., in the inventive device, all linear and angular parameters of the movement of the maneuverable object are controlled in one unit.

Thus, the above information proves that when implementing the claimed invention, the following conditions are met:

means, embodying the device of the invention in its implementation, is intended for use in transport, aviation and space technology and, in particular, for the integrated control of inertial navigation systems of unmanned, passenger and transport aircraft. It can be used to determine the health of the aircraft in flight and at the stage of its pre-flight check;

- for the claimed invention in the form described in the independent claim, the possibility of its implementation using the described or other means known prior to the filing date of the application has been confirmed;

- a tool embodying the claimed invention in its implementation, is able to provide the specified technical result.

Therefore, the claimed invention meets the condition of patentability "industrial applicability".

Information sources

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4. Sage EP, White C.S. Optimal system management. M .: Radio and communication, 1982. 392 p.

5. Dmitriev S.P., Kolesov N.V., Osipov A.V. Information reliability, control and diagnostics of navigation systems. SPb .: SSC RF-Central Research Institute of Electrical Appliance, 2003, 207 p.

6. Kryukov S.P., Chesnokov G.I., Troitsky V.A. Experience in the development and certification of a strapdown inertial navigation system for civil aviation and the creation on its basis of modifications for controlling the movement of marine, ground and aerospace objects, problems of geodesy and gravimetry // Gyroscopy and navigation. 2002. No. 4 (39), S.115-124.

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Claims (2)

1. An inertial navigation system control device comprising a longitudinal angular velocity sensor, a normal angular velocity sensor, a transverse angular velocity sensor, a first adder, the first subtracting input of which is connected to the output of the first differentiator, the second summing input - with the output of the first multiplier, the third subtracting input - with the output of the second multiplier, and the output, through the first comparator, with the first input of the OR circuit, the second adder, the first subtracting input of which is connected to the output of the second differentiator, the second the summing input is with the output of the third multiplier, the third subtracting input is with the output of the fourth multiplier, and the output, through the second comparator, is with the second input of the OR circuit, the third adder, the first subtracting input of which is connected to the output of the third differentiator, the second summing input with the output of the fifth multiplier, the third subtracting input - with the output of the sixth multiplier, and the output, through the third comparator - with the third input of the OR circuit, a roll sensor, the output of which is connected to the inputs of the first and second functional converters, cat outputs Gyroscopic heading, connected to the first and second inputs of the first coordinate transducer, the pitch sensor, the output of which is connected to the inputs of the third and fourth functional transducers, the outputs of which are connected respectively to the first and second inputs of the second coordinate transducer, whose output is connected to the inputs of the fifth and sixth functional transducers, the outputs of which are connected respectively to the first and second inputs of the third coordinate transducer, vertical sensor speed, north speed sensor, western speed sensor, characterized in that a fourth coordinate converter, first, second, third, fourth subtraction schemes, first, second integrators, fourth, fifth, sixth, seventh differentiators, fourth, fifth are introduced into it, sixth comparators, seventh, eighth functional converters, accelerator of gravity, western accelerometer, northern accelerometer, vertical accelerometer, internal roll sensor, the output of which, through the seventh and eighth functional th transducers, connected respectively to the first and second inputs of the fourth coordinate transformer, the third, fourth, fifth inputs of the first coordinate transducer are connected respectively to a normal angular velocity sensor, a longitudinal angular velocity sensor, a transverse angular velocity sensor, the third input of the second coordinate transformer is connected to the output of the first a subtraction circuit, the subtracting input of which, through the fourth differentiator, is connected to the roll sensor, the fourth and fifth inputs, respectively, to the first and to the second outputs of the first coordinate transformer, the summing input of the first subtractor is connected to the third output of the first coordinate transformer, the third and fourth inputs of the fourth coordinate transducer are connected respectively to the first and second outputs of the second coordinate transducer, the fifth input is to the output of the second subtraction circuit, the subtracting input of which , through the fifth differentiator, connected to the pitch sensor, the summing input of the second subtraction circuit is connected to the third output of the second coordinate transformer, t the third and fourth inputs of the third coordinate converter are connected respectively to the first and second outputs of the fourth coordinate converter, the fifth input is the output of the fourth subtraction circuit, the subtracting input of which, through the seventh differentiator, is connected to the internal roll sensor, the summing input of the fourth subtraction circuit is connected to the third output the fourth coordinate transformer, the first output of the third coordinate transformer, through the first integrator, is connected to the fourth summing input of the first adder, input the second, fifth multipliers and, through the fourth comparator, with the input of the OR circuit, the second output of the third coordinate converter, through the second integrator, connected to the fourth subtracting input of the second adder, the inputs of the third, sixth multipliers and, through the fifth comparator, with the input of the OR circuit, the third output of the third coordinate converter is connected to the summing input of the third subtraction circuit, the subtracting input of which, through the sixth differentiator, is connected to the gyroscopic heading sensor, the output of the third subtraction circuit is connected with the first, fourth multipliers and, through the sixth comparator, with the input of the OR circuit, the accelerator of gravity is connected to the fourth summing input of the third adder, the vertical speed sensor is connected to the inputs of the second, third multipliers and the third differentiator, the north speed sensor is connected to the inputs of the first, the sixth multiplier and the second differentiator, the western speed sensor is connected to the inputs of the fourth, fifth multiplier and the first differentiator, the outputs of the vertical accelerometer, the northern accelerometer Tra, of the western accelerometer are connected to the fifth summing inputs of the third, second, first adders, respectively, the output of the OR circuit is the output of the device. 2. The control device of the inertial navigation system according to claim 1, characterized in that the coordinate transformer comprises a seventh multiplier connected in series, the first input of which is connected to the first input of the coordinate transformer, the fourth adder, the second input of which is connected to the output of the eighth multiplier, and the output - the first output of the coordinate converter, the ninth multiplier connected in series, the first input of which is connected to the second input of the coordinate converter, the second input, as well as the second input of the seventh a multiplier connected to the third input of the coordinate transformer, the fifth subtraction circuit, the summing input of which is connected to the output of the ninth multiplier, the subtractive input to the output of the tenth multiplier, and the output to the second output of the coordinate transducer, the fourth input of the coordinate transformer is connected to its third output, the fifth input - with the first inputs of the eighth and tenth multipliers, the second inputs of which are connected respectively to the second and first inputs of the coordinate transformer.

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