RU2570358C1 - Fault tolerant integrated navigation system with excessive quantity of angular speed meters - Google Patents

Abstract

FIELD: measurement equipment.

SUBSTANCE: computer of initial data by some inputs is connected to outputs of a meter of absolute angular speed projections and a meter of apparent acceleration vector projections, and its outputs are connected to inputs of a computer of navigation parameters and a unit of information complexing. Other inputs of the information complexing unit are connected to identical inputs of the computer of navigation parameters and are connected directly to outputs of the meter of apparent acceleration projections and to outputs of a unit of fault detection, localization and compensation, two groups of inputs of which are connected accordingly to outputs of the meter of absolute angular speed projections and to outputs of an auxiliary meter of absolute angular speed projections. Outputs of the system are directly connected to outputs of a unit of information complexing and a computer of navigation parameters.

EFFECT: increased reliability.

1 dwg, 3 tbl

Description

The invention relates to navigation technology and can be used in the design of inertial and integrated navigation systems.

One of the main requirements for navigation systems is their autonomy, continuity, accuracy of operation with sufficient reliability, ensuring the safety of driving.

A known system [1], which contains a radio receiver connected through an amplifier with an antenna, and outputs connected to a calculator of the location of navigation satellites, connected by other inputs to the initial installation block of the almanac of satellite orbits, and the outputs of this calculator are connected to the inputs of the block of radio-visible satellites. The outputs of this unit are connected to the inputs of the allocation unit of the working constellation of satellites, connected by the outputs to the inputs of the unit of the consumer location calculator. In addition, the system includes a projection meter of absolute angular velocity, consisting of three orthogonally mounted laser gyroscopes, a projection meter of apparent acceleration, including three accelerometers installed along the corresponding axes of the laser gyroscopes. These meters through the correction blocks are connected to the navigation parameters calculator, the outputs of which are connected through the third correction block to the system outputs and to the display outputs, while some of the system outputs are connected to the inputs of the radio-visual satellite extraction unit, and some of the outputs of the navigation parameters calculator are connected to the first group of inputs information reliability analyzer, another group of inputs of which is connected to the outputs of the consumer location calculation unit. The outputs of the analyzer through the key block are connected to the inputs of the navigation filter, the first group of outputs of which are connected respectively to the inputs of two correction blocks, and the second group of outputs is connected to the inputs of the third correction block.

The known system quite accurately solves the problem of navigation in conditions of reliable radio contact with navigation satellites, but it does not provide the formation of output signals obtained on the basis of only inertial information. An expanded composition of the output signals is required, in particular, to ensure the autonomy and reliability of the system as part of the flight-navigation complex of aircraft.

Closest to the proposed system in technical essence is the system [2], containing a multi-channel radio, the input of which is connected through an amplifier to the antenna, and its outputs are connected to the first group of inputs of the satellite location calculator, the initial setting unit for the satellite data almanac, connected to the second group of inputs of the satellite location calculator, a timer connected by the output to the synchronizing input of the satellite location calculator, and its outputs are connected to the inputs of the block radio-visible satellites connected to the inputs of the selection block of the working constellation of satellites, the outputs of which are connected to the inputs of the block for calculating the user's location, as well as the projection meter of the absolute angular velocity and the projection meter of the apparent acceleration vector, connected respectively through the angular velocity corrector and the apparent acceleration corrector to the calculator navigation parameters, into which an information complexing unit and an initial data calculator, inputs from the first in the third of which is connected to the inputs of the angular velocity corrector of the same name and the outputs of the absolute angular velocity projection meter, the fourth to sixth inputs are connected respectively to the outputs of the projection meter of the apparent acceleration vector and the inputs from the first to third apparent acceleration corrector, while the second group of inputs is connected with inputs from the fourth to sixth angular velocity corrector and connected to the outputs from the thirteenth to the fifteenth block of information integration, and the third group of tr x inputs are connected to the inputs from the seventeenth to nineteenth information complexing unit and connected to the outputs from the first to third unit of calculating the user's location, the remaining outputs of which fourth to sixth are directly connected to the inputs from the twentieth to twenty second information complexing unit, while the outputs of the initial computer data from the fourth to ninth are connected with the second group of inputs from six calculators of navigation parameters and with inputs from the tenth to fifteenth block of the complex information, and the first through third outputs are directly connected to the inputs from the seventh to ninth information complexing unit, the first group of inputs from the first to the sixth of which is connected to the inputs of the navigation parameters calculator of the same name, nine outputs of which are connected directly to the outputs of the system and connected accordingly to the three outputs of the angular velocity corrector and three outputs of the apparent acceleration corrector, and the sixteenth input is connected to the timer output, while the outputs of the complex Bani information from first to third are connected with a second group of inputs of the working constellations selecting unit satellites outputs from the sixteenth to the eighteenth respectively connected to the inputs of the fourth to sixth equalizer apparent acceleration, and the outputs of the fourth to twelfth connected to the system outputs the tenth to eighteenth directly.

This system solves the problem of autonomous determination of the user's location in three-dimensional space with sufficient accuracy, if it has reliable radio contact and reliable information from at least four satellites of the selected working constellation, and provides the formation of an expanded composition of the output signals required for piloting by plane. However, even in the case of a partial failure of the angular velocity meter, in which information about at least one projection of the angular velocity is absent or becomes unreliable, the entire system loses its functionality and becomes inoperative.

The objective of the present invention is to increase the reliability of the system under conditions of a possible partial failure of the angular velocity meter, in which information about one projection of the velocity vector is absent or not reliable.

To solve this problem, a fault-tolerant integrated navigation system with an excessive number of angular velocity meters is proposed, containing a satellite navigation information block, the input of which is connected to the antenna through an amplifier, an initial data calculator, the first to third inputs of which are connected to the outputs of the absolute angular velocity projection meter of the same name, the fourth to sixth inputs are connected respectively to the outputs of the projection meter of the apparent acceleration vector and are connected to in the fourth to sixth navigation parameters calculator, and the second group of three inputs from the seventh to the ninth is connected to the inputs from the fourteenth to sixteenth information complexing unit and connected to the outputs from the second to fourth satellite navigation information unit, the remaining outputs of which from the fifth to seventh are connected with the inputs from the seventeenth to the nineteenth block of information integration directly, while six outputs of the calculator of the initial data are connected to the inputs from the seventh to twelve the navigation parameter calculator and with the inputs from the seventh to twelfth information processing unit, the first group of inputs from the first to the sixth of which is connected to the inputs of the navigation parameter computer of the same name, nine outputs of which are connected to the system outputs of the same name, and the thirteenth input of the information complexing unit is connected to the first the output of the satellite navigation information unit directly, while the outputs of the information complexing unit from the first to the third are connected with a group of inputs of the satellite navigation information block, and the fourth through twelfth outputs are connected directly to the tenth to eighteenth system outputs, into which an auxiliary absolute angular velocity projection meter is added, three outputs of which are connected to the fourth to sixth inputs of the detection, localization and failure compensation, the first three inputs of which are connected to the same outputs of the projection meter of absolute angular velocity and connected to the inputs of the same name a data source, and the first to third outputs are connected to the inputs of the navigation parameters calculator and the information complexing unit of the same name.

In FIG. 1 shows a block diagram of the proposed system. The algorithm implemented in the block detection, localization and compensation of failure is described later in the text. The remaining blocks of the proposed system implement the prototype algorithms.

In accordance with FIG. 1, the system comprises a satellite navigation information unit (BSNI) 1 connected to an antenna 2, the output of which is connected to a group of inputs of an initial data calculator 3 (VND) and an information complexing unit 4 (BKI), and an input group of a satellite navigation information block 1 is connected with a part the outputs of block 4 information integration. In addition, part 3 of the inputs of the initial data calculator is connected to the outputs of the absolute angular velocity projection meter 5 (IPAUS) and the apparent acceleration vector projection meter 6 (IPVKU), and its outputs are connected to the inputs of the navigation parameters calculator 7 and the information aggregation unit 4 . The remaining inputs of the information complexing unit 4 are connected to the inputs of the navigation computer 7 of the same name and connected directly to the outputs of the meter 6 of projections of apparent acceleration and to the outputs of the unit 8 for detecting, localizing and compensating for the failure (SLCO), two groups of inputs of which are connected respectively to the outputs of the meter 5 projections absolute angular velocity and with outputs of the auxiliary meter 9 projections of absolute angular velocity (VIPAUS). The outputs of the system are directly connected to a part of the outputs of the information complexing unit 4 and the outputs of the navigation parameters calculator 7.

The proposed fail-safe integrated navigation system with an excessive number of angular velocity meters (OINSIKIUS) works as follows.

In accordance with the prototype, the initial information for the formation of the OINSIKIUS output parameters are signals from three gyroscopes connected to the aircraft body and mounted orthogonally relative to each other, which are part of the 5 absolute angular velocity projection, and signals from three similarly located accelerometers included in the 6 projection meter vectors of apparent acceleration. To perform the function of fault tolerance, in addition to the prototype, an auxiliary meter 9 of projections of absolute angular velocity is included in the system, containing three gyroscopes of a lower accuracy class, specially positioned relative to the main gyroscopes that are part of IPAUS.

, и сигналы с акселерометров, пропорциональные проекциям вектора кажущегося ускорения $$ax,ay,az$$

, поступают в вычислитель 3 начальных данных. Кроме того, сигналы с ИПАУС $$\omega x,\omega y,\omega z$$

, поступают в блок 8 обнаружения, локализации и компенсации отказа, где по алгоритму обнаружения, локализации и компенсации отказа обрабатываются совместно с сигналами $$\omega i,\omega j,\omega k$$

, пропорциональными проекциям вектора абсолютной угловой скорости и поступающими из ВИПАУС. В результате совместной обработки входных сигналов в БОЛКО вырабатываются сигналы $$\omega x^{\wedge },\omega y^{\wedge },\omega z^{\wedge }$$

, имеющие смысл достоверных значений проекций вектора абсолютной угловой скорости, которые вместе с сигналами $$ax,ay,az$$

поступают в вычислитель 7 навигационных параметров и блок 4 комплексирования информации. Signals from gyroscopes proportional to the projections of the absolute angular velocity vector $$\omega x,\omega y,\omega z$$

, and signals from accelerometers proportional to the projections of the apparent acceleration vector $$ax,ay,az$$

, 3 initial data arrive at the calculator. In addition, signals from IPAUS $$\omega x,\omega y,\omega z$$

are received in the unit 8 for detecting, localizing and compensating for the failure, where according to the algorithm for detecting, localizing and compensating for the failure, they are processed together with the signals $$\omega i,\omega j,\omega k$$

proportional to the projections of the absolute angular velocity vector and coming from VIPAUS. As a result of joint processing of input signals, signals are generated in BOLKO $$\omega x^{\wedge },\omega y^{\wedge },\omega z^{\wedge }$$

having the meaning of reliable values of the projections of the absolute angular velocity vector, which together with the signals $$ax,ay,az$$

enter the calculator 7 navigation parameters and block 4 complex information.

The algorithm for detecting, localizing and compensating for a failure is as follows.

, которой соответствует кватернион поворота Q базиса ИПАУС к базису ВИПАУС. Let the measuring axes IPAUS and VIPAUS be connected by a transformation matrix $$A={\left\{a_{ij}\right\}}_{i,j=\overline{1.3}}$$

which corresponds to the quaternion of rotation Q of the IPAUS basis to the VIPAUS basis.

The calculated value of the matrix A (quaternion Q) was determined at the design stage from the conditions of the best identifiability of the failed gyro. The exact value of matrix A is determined during factory alignment.

Since gyroscopic measurements of instantaneous angular velocity contain a high level of noise, the procedure for detecting, localizing, and compensating for failure is based on integral criteria that make it possible to judge a parametric failure of a gyroscope by the accumulated error in determining the orientation.

и текущим измерениям ВИПАУС $$\omega i,\omega j,\omega k$$

путем численного интегрирования кинематического уравнения вращения (см. [3]):In the BLOCK block for current IPAUS measurements $$\omega x,\omega y,\omega z$$

and current measurements of VIPAUS $$\omega i,\omega j,\omega k$$

by numerically integrating the kinematic equation of rotation (see [3]):

, (1) $$\dot{\Lambda }=\frac{\mathrm{one}}{2}\Lambda \circ \overline{\omega }$$

, (one)

- обобщенное обозначение кватерниона ориентации вращающегося базиса, а $$\overline{\omega }$$

- обобщенное обозначение вектора угловой скорости в проекциях на вращающийся базис, вычисляются восемь кватернионов ориентации: четыре кватерниона ориентации базиса ИПАУС $$O_0,O_1,O_2,O_3$$

и четыре кватерниона ориентации базиса ВИПАУС $${Д}_0,{Д}_1,{Д}_2,{Д}_3$$

. Перечисленные кватернионы различаются способом формирования вектора угловой скорости (табл.1), используемого при интегрировании кинематического уравнения (1). Where $$\Lambda$$

- a generalized designation of a quaternion of orientation of a rotating basis, and $$\overline{\omega }$$

- a generalized designation of the angular velocity vector in projections onto a rotating basis; eight orientation quaternions are calculated: four orientation quaternions of the IPAUS basis $$O_0,O_{\mathrm{one}},O_2,O_3$$

and four quaternions of the orientation of the VIPAUS basis $$D_0,D_{\mathrm{one}},D_2,D_3$$

. The listed quaternions differ in the way the angular velocity vector is formed (Table 1), which is used when integrating the kinematic equation (1).

Table 1

Designation of a quaternion calculated from a set of measurements

The first component of angular velocity
$$\overline{\omega }$$

The second component of angular velocity
$$\overline{\omega }$$

The third component of angular velocity
$$\overline{\omega }$$

About ₀ $$\omega x$$

$$\omega y$$

$$\omega z$$

About ₁ $$\begin{array}{l}{a}_{\mathrm{eleven}}\cdot \omega i+a_{12}\cdot \omega j+\\ +a_{13}\cdot \omega k\end{array}$$

$$\omega y$$

$$\omega z$$

About ₂ $$\omega x$$

$$\begin{array}{l}{a}_{21}\cdot \omega i+a_{22}\cdot \omega j+\\ +a_{23}\cdot \omega k\end{array}$$

$$\omega z$$

About ₃ $$\omega x$$

$$\omega y$$

$$\begin{array}{l}{a}_{31}\cdot \omega i+a_{32}\cdot \omega j+\\ +a_{33}\cdot \omega k\end{array}$$

D ₀ $$\omega i$$

$$\omega j$$

$$\omega k$$

D ₁ $$\begin{array}{l}{a}_{\mathrm{eleven}}\cdot \omega x+a_{21}\cdot \omega y+\\ +a_{31}\cdot \omega z\end{array}$$

$$\omega j$$

$$\omega k$$

D ₂ $$\omega i$$

$$\begin{array}{l}{a}_{12}\cdot \omega x+a_{22}\cdot \omega y+\\ +a_{32}\cdot \omega z\end{array}$$

$$\omega k$$

D ₃ $$\omega i$$

$$\omega j$$

$$\begin{array}{l}{a}_{13}\cdot \omega x+a_{23}\cdot \omega y+\\ +a_{33}\cdot \omega z\end{array}$$

, $$i=\overline{\mathrm{0,3}}$$

.To compare quaternions with each other, quaternions D ₀ , D ₁ , D ₂ , D ₃ must be converted by the formula $$D_i^{*}=Q\circ D_i^{}$$

, $$i=\overline{0.3}$$

.

и $${Д}_i^{*}$$

, $$i,j=\overline{\mathrm{0,3}}$$

совпадают.In the absence of failures in IPAUS and VIPAUS quaternions $$O_j$$

and $$D_i^{*}$$

, $$i,j=\overline{0.3}$$

match.

, где $$\overline{\lambda }$$

- векторная часть кватерниона рассогласования $$L_{ij}={\widetilde{Д}}_{\text{i}}^{\text{*}}\circ O_j$$

, $$i,j=\overline{\mathrm{0,3}}$$

некоторого порогового значения, которое устанавливается исходя из требований к системе (например, 2˚). Признаком аппаратного отказа является отсутствие информации от гироскопа.A sign of a parametric failure is an excess of a parameter $${\delta }_{ij}=2\cdot \arcsin \sqrt{(\overline{\lambda },\overline{\lambda })}$$

where $$\overline{\lambda }$$

- vector part of quaternion mismatch $$L_{ij}={\tilde{D}}_{\text{i}}^{\text{*}}\circ O_j$$

, $$i,j=\overline{0.3}$$

some threshold value, which is set based on the requirements of the system (for example, 2˚). A sign of hardware failure is the lack of information from the gyroscope.

лежит в пределах порогового значения.If a failure is detected, its localization is carried out in accordance with table 2. Quaternions are considered equal if the corresponding parameter $${\delta }_{ij}$$

lies within the threshold value.

table 2

Failure criteria: if conditions are met Index values for which failure criteria are met Signal with Invalid Information

$$(D_0^{*}=O_i)\text{and (}{O}_0=O_j=O_k)$$

i = 1, j = 2, k = 3 $$\omega x$$

i = 2, j = 3, k = 1 $$\omega y$$

i = 3, j = 1, k = 2 $$\omega z$$

$$(O_0^{}=D_i^{*})\text{and (}{D}_0^{*}=D_{\text{j}}^{\text{*}}=D_{\text{k}}^{\text{*}})$$

i = 1, j = 2, k = 3 $$\omega i$$

i = 2, j = 3, k = 1 $$\omega j$$

i = 3, j = 1, k = 2 $$\omega k$$

Localization of hardware failure is carried out on the basis of the lack of information from the gyroscope.

The failure compensation procedure is carried out when a failure is detected taking into account its localization in accordance with table 3.

Table 3

Signal with
unreliable
information

Formation rule $$\omega x^{\wedge }$$

Formation rule $$\omega y^{\wedge }$$

Formation rule $$\omega z^{\wedge }$$

$$\omega x$$

$$\begin{array}{l}{a}_{\mathrm{eleven}}\cdot \omega i+a_{12}\cdot \omega j+\\ +a_{13}\cdot \omega k\end{array}$$

$$\omega y$$

$$\omega z$$

$$\omega y$$

$$\omega x$$

$$\begin{array}{l}{a}_{21}\cdot \omega i+a_{22}\cdot \omega j+\\ +a_{23}\cdot \omega k\end{array}$$

$$\omega z$$

$$\omega z$$

$$\omega x$$

$$\omega y$$

$$\begin{array}{l}{a}_{31}\cdot \omega i+a_{32}\cdot \omega j+\\ +a_{33}\cdot \omega k\end{array}$$

$$\omega i$$

$$\omega x$$

$$\omega y$$

$$\omega z$$

$$\omega j$$

$$\omega x$$

$$\omega y$$

$$\omega z$$

$$\omega k$$

$$\omega x$$

$$\omega y$$

$$\omega z$$

, высоте $$hc$$

и долготе $$\lambda c$$

самолета из блока 1 спутниковой навигационной информации. The GNI also receives signals proportional to latitude. $$\varphi c$$

height $$hc$$

and longitude $$\lambda c$$

aircraft from block 1 of satellite navigation information.

, пропорциональные значениям широты, высоты и долготы местоположения самолета, и сигналы $$\psi \mathrm{0,}\theta \mathrm{0,}\gamma 0$$

, соответственно пропорциональные начальным значениям угла курса, тангажа и крена самолета.In the GNI, the preparation of initial data for BKI and GNP is carried out, as a result of which signals are generated $$\varphi 0h0\lambda 0$$

proportional to the latitude, altitude and longitude of the aircraft location, and signals $$\psi 0\theta 0\gamma 0$$

, respectively proportional to the initial values of the angle of course, pitch and roll of the aircraft.

и плоскости местного горизонта $$\theta ,\gamma$$

; северной $$vN$$

, вертикальной $$vh$$

и восточной $$vE$$

составляющих относительной скорости поступательного движения самолета, а также его географических координат $$\varphi ,h,\lambda$$

. Указанные параметры в виде соответствующих сигналов выдаются во внешние системы.In GNP, based on the signals coming from BOLKO and IPVKU, taking into account the initial data received from the GNI, the navigation parameters are calculated quickly: the orientation angles of the aircraft relative to the geographic meridian $$\psi$$

and the plane of the local horizon $$\theta ,\gamma$$

; northern $$vN$$

vertical $$vh$$

and eastern $$vE$$

components of the relative speed of translational movement of the aircraft, as well as its geographical coordinates $$\varphi ,h,\lambda$$

. The indicated parameters in the form of corresponding signals are output to external systems.

, пропорциональные географическим координатам самолета, полученным на основе инерциальных данных и соответствующим их априорной оценке в фильтре Калмана на момент прихода спутниковых сигналов. С учетом этих сигналов в блоке 1 осуществляется рациональный выбор рабочего созвездия спутников при количестве радиовидимых спутников, большем четырех, повышающий достоверность и точность последующих навигационных решений. В результате в БСНИ вырабатывается синхронизирующее время t и при наличии спутниковых сигналов вырабатываются сигналы, пропорциональные координатам самолета $$\varphi c,hc,\lambda c$$

и его скорости $$vn,vh,ve$$

. Все указанные сигналы поступают в БКИ для коррекции навигационных параметров. Кроме того, сигналы $$\varphi c,hc,\lambda c$$

поступают в ВНД для начальной выставки самолета при включении системы.The signals received from the navigation satellites received by the antenna 2 enter the block 1 of satellite navigation information, which also receives signals from the BKI $$^\varphi ,^h,^\lambda$$

proportional to the geographical coordinates of the aircraft, obtained on the basis of inertial data and corresponding to their a priori estimation in the Kalman filter at the time of arrival of satellite signals. Given these signals, in block 1, a rational choice of the working constellation of satellites is carried out with the number of radio-visible satellites exceeding four, which increases the reliability and accuracy of subsequent navigation decisions. As a result, a synchronizing time t is generated in BSNI and, in the presence of satellite signals, signals proportional to the coordinates of the aircraft are generated $$\varphi c,hc,\lambda c$$

and its speed $$vn,vh,ve$$

. All these signals are fed to the BKI for the correction of navigation parameters. In addition, signals $$\varphi c,hc,\lambda c$$

enter the GNI for the initial exhibition of the aircraft when the system is turned on.

и ориентации самолета $$\psi \mathrm{0,}\theta \mathrm{0,}\gamma 0$$

. Выходные сигналы БКИ формируются в соответствии с алгоритмом обобщенного фильтра Калмана, блок-схема которого приведена в прототипе, и включают в себя скорректированные значения местоположения самолета $$\varphi ^,h^,\lambda ^$$

, скорости самолета $$vN^,vh^,vE^$$

, ориентации самолета $$\psi ^,\theta ^,\gamma ^$$

, выдаваемые во внешние системы. Кроме того, на выходе БКИ формируются спрогнозированные по инерциальным данным сигналы $$^\varphi ,^h,^\lambda$$

, которые поступают в БСНИ для оптимизации работы блока.The integration of inertial and satellite information is carried out in the information processing unit 4, the input of which receives signals proportional to the reliable values of the projections of the angular velocity from the unit 8 for detecting, localizing and compensating for the failure, the apparent acceleration from the meter 6 of the projections of the apparent acceleration vector, as well as the signals from block 1 satellite navigation information about the coordinates and speed of the aircraft; and a time signal for synchronizing inertial and satellite information. After the system is turned on, signals are received from the GNI on the aircraft location once in the information aggregation unit 4 $$\varphi 0h0\lambda 0$$

and aircraft orientation $$\psi 0\theta 0\gamma 0$$

. The output signals of the CCI are formed in accordance with the algorithm of the generalized Kalman filter, a block diagram of which is shown in the prototype, and include adjusted values of the aircraft’s location $$\varphi ^,h^,\lambda ^$$

aircraft speed $$vN^,vh^,vE^$$

aircraft orientation $$\psi ^,\theta ^,\gamma ^$$

issued to external systems. In addition, signals generated by inertial data are generated at the output of the BKI $$^\varphi ,^h,^\lambda$$

that go to BSNI to optimize the operation of the unit.

Thus, due to the implementation of the algorithm for detecting, localizing and compensating for the failure of the absolute angular velocity projection meter information at OINSIKIUS, based on the comparison with the measurements of the auxiliary angular velocity projection meter, specially positioned relative to the IPAUS axes, the following advantages are achieved. Reduces the likelihood of uncontrolled failure, because redundant measurements can improve the means of built-in control; with a hardware or parametric failure of one gyroscope and the availability of satellite information, the functionality of the system does not narrow, and with a short interruption in satellite measurements, it is quickly restored with the advent of satellite data; with a hardware or parametric failure of one gyroscope and a long absence of satellite information, the system can perform the functions of a vertical sensor for a long time and with the required accuracy, thereby ensuring the fault tolerance of the system as a whole.

Information sources

1. RF patent No. 2087867, G01C 23/00, 1993.

2. Application RU No. 2004111865, G01C 23/00, G01S 5/14, 2004 - prototype.

3. Branets V.N., Shmyglevsky I.P. Application of quaternions in problems of orientation of a rigid body. - M .: Nauka, 1973. - 320 p.

Claims (1)

Fault-tolerant integrated navigation system with an excessive number of angular velocity meters, containing a satellite navigation information block, the input of which is connected to an antenna through an amplifier, an initial data calculator, the first to third inputs of which are connected to the outputs of the absolute angular velocity projection meter of the same name, and fourth to sixth inputs connected respectively to the outputs of the projection meter of the apparent acceleration vector and connected to the inputs from the fourth to the sixth calculator nav navigation parameters, and the second group of three inputs from the seventh to the ninth is connected to the inputs from the fourteenth to sixteenth of the information complexing unit and connected to the outputs from the second to fourth block of satellite navigation information, the remaining outputs of which from the fifth to the seventh are connected to the inputs from the seventeenth to nineteenth information complexing unit directly, with six outputs of the initial data calculator connected to the inputs from the seventh to twelfth calculator of navigation parameters and inputs from the seventh to twelfth information complexing unit, the first group of inputs from the first to sixth of which is connected to the same inputs of the navigation parameters calculator, nine outputs of which are connected to the system outputs of the same name directly, and the thirteenth input of the information complexing unit is directly connected to the first output of the satellite navigation information unit while the outputs of the information complexing unit from the first to the third are connected to the group of inputs of the satellite navigation unit information, and the outputs from the fourth to the twelfth are connected directly to the outputs of the system from the tenth to the eighteenth directly, characterized in that it additionally introduces an auxiliary absolute angular velocity projection meter, three outputs of which are connected to the fourth to sixth inputs of the detection, localization and compensation unit failure, the first three inputs of which are connected to the same outputs of the projection meter absolute angular velocity and connected to the same inputs of the calculator of the initial data, and the outputs from the first to the third are connected to the inputs of the same computer of the navigation parameters calculator and the information aggregation unit.