RU2572403C1 - Method of inertial navigation and device for its realisation - Google Patents

Abstract

FIELD: measurement equipment.

SUBSTANCE: they carry out the compensation of errors of a unit of accelerometers due to errors of accelerometers of the second unit by the rotation of sensitive elements to the achievement of the maximum of difference of the readings of the accelerometers reduced to a single system of coordinates. The device is an inertial navigation multi-system, which comprises two navigation calculators, two units of gyroscopes, two units of accelerometers and a system of control of the spatial position of units of sensitive elements.

EFFECT: increased accuracy of detection of pilot and navigation parameters of the aircraft flight.

3 cl, 1 dwg

Description

The invention relates to the field of navigation measurements and can be used to determine the coordinates of the location of a moving object, for example, an aircraft (LA).

A known method of compensating for instrumental errors of strapdown inertial navigation systems, which consists in rotating according to the periodic law of control of an inertial measuring unit, consisting of a block of accelerometers and a block of gyroscopes and mounted on a rotation mechanism, correcting the parameters of the control law of an inertial measuring unit based on the functional relationship between the optimal parameters of the control law and data on changes during the operation of instrumental errors of laser gyroscopes [1].

A device is known that implements this method, including an inertial measuring unit, which includes a laser gyroscope unit and an accelerometer unit, a rotation mechanism, an inertial measuring unit electronics unit and interfaces, a digital microprocessor, a navigation information interface unit, a speed calculation unit, a control unit, and information display, analog-to-digital converter and digital-to-analog converter, navigation information bus, correction block, which includes counters time determining unit errors laser gyroscopes correction signal output unit, output unit parameter of the control law, the error determination unit inputs the laser gyro connected to outputs of the control unit and the display information and the time counter, the output of which is connected to provide a signal correction unit; the output of the control law parameter output unit is connected to the input of the inertial measuring unit electronics and interfaces, and the inputs to the outputs of the laser gyro error determination unit and the correction signal output unit [1].

A disadvantage of the known method and device is the inability to compensate for errors of sensitive elements (gyroscopes and accelerometers) of the inertial measuring unit due to the additional inertial measuring unit.

Closest to the invention are a method for determining the navigation parameters of an aircraft, which consists in measuring the direction and magnitude of the angular velocity vectors of the aircraft relative to the measuring coordinate system, determining the current orientation of the measuring coordinate system relative to the navigation coordinate system, modulating the errors of the components of the angular velocity vectors, determining the current values of navigation parameters for measured acceleration vectors and angular velocities and measuring the current orientation of the coordinate system, determining the direction of the vector error current orientation of the coordinate system and measuring the modulation of the error vector [2].

The closest device that implements this method is a device for determining the navigation parameters of an aircraft, which is a strap-down inertial navigation system containing a block of linear acceleration sensors or linear velocities, a block of angular velocity sensors and a calculator of the object state vector, the inputs of which are connected to the block of angular sensors speeds and a block of linear acceleration sensors or linear speeds, as well as software mechanisms for angular rotation, number which corresponds to the number of angular velocity sensors in the block of angular velocity sensors, with each programmatic program turning mechanism kinematically connected to the corresponding angular velocity sensor, the input of each of the programmatic turning mechanism software is connected to the output of the object state vector calculator, additionally contains a second similar strap-down inertial navigation system , thus forming an inertial navigation multisystem, while two measuring blocks of which one temporarily deploy in space in opposite directions by the angular rotation software mechanisms (the power part of the angle sensors) according to the signal generated by the control device, consisting of the determinant of the difference in the module of angular velocity error vectors and the driver of the control signal [2].

The disadvantages of the known method and device is the compensation of errors only gyroscopes and the lack of compensation for errors of accelerometers.

An object of the invention is to increase the accuracy of determining the flight and navigation parameters of an aircraft flight by compensating for errors in both gyroscopes and accelerometers due to additional gyroscopes and accelerometers. Error compensation is achieved by rotating the error vectors of the accelerometers and gyroscopes of the additional units in the opposite directions to the errors of the accelerometers and gyroscopes of the main blocks. The error vectors are opposite if the difference in the readings of the sensitive elements reduced to a single coordinate system is maximum.

The technical result of the invention is achieved by the fact that in the inertial navigation method consisting in measuring the angular velocity and acceleration of the aircraft, determining the current orientation of the measuring coordinate system relative to the navigation coordinate system, compensating for errors in the angular velocity meters of the first block of angular velocity meters due to errors in the angular velocity meters of the second the block of angular velocity meters by turning the blocks until the maximum difference of the reading angular velocity meters reduced to a single coordinate system, determining the current values of navigation parameters from the measured values of acceleration and angular velocities and the current orientation of the measuring coordinate system, additionally compensate for the errors of the accelerometers of the first block of accelerometers due to the errors of the accelerometers of the second block of accelerometers by turning the blocks until the maximum differences in the readings of accelerometers reduced to a single coordinate system.

An inertial navigation device comprising first and second navigation calculators, first and second summing devices, first and second multiplying devices, a difference signal calculator of gyroscopes, a first driver of control signals, a first rotary device, a first, second and third accelerometers, the first, second and third angular velocity meters, first, second and third angle sensors, fourth, fifth and sixth accelerometers, fourth, fifth and sixth angular velocity meters, fourth, fifth and sixth angle sensors, outputs of the first, second, and third accelerometers are connected to the first, second, and third inputs of the first navigation calculator, outputs of the fourth, fifth, and sixth accelerometers are connected to the first, second, and third inputs of the second navigation calculator, outputs of the first, second, and third angle sensors are connected with the fourth, fifth and sixth inputs of the first navigation computer, the outputs of the fourth, fifth and sixth angle sensors are connected to the fourth, fifth and sixth inputs of the second navigation computer, the outputs of the first, second and third angular velocity meters are connected to the seventh, eighth and ninth inputs of the first navigation calculator, the outputs of the fourth, fifth and sixth angular velocity meters are connected to the seventh, eighth and ninth inputs of the second navigation calculator, the first and second inputs of the first summing device are connected with the first outputs of the first and second navigation computers, and the output through the first multiplying device is connected to the first output of the device, the first and second inputs of the second umming devices are connected to the second outputs of the first and second navigation calculators, and the output through the second multiplying device is connected to the second output of the device, the first, second and third angular velocity meters are connected to the first, second and third inputs of the calculator of the difference of the signals of the gyroscopes, fourth, fifth and sixth angular velocity meters are connected to the fourth, fifth and sixth inputs of the calculator of the difference of the signals of the gyroscopes, the output of which is supplied through the first driver of the control signals at the input of the first and second rotary devices, the first rotary device rotates the first block of angular velocity meters with the first, second and third angular velocity meters located on it relative to the aircraft body, the second rotary device rotates the second block of angular velocity meters with the fourth located on it , fifth and sixth angular velocity meters relative to the aircraft body, an additional signal difference calculator is introduced accelerometers, a second driver of control signals, third and fourth rotary devices, seventh, eighth, ninth, tenth, eleventh and twelfth angle sensors, the first, second, third accelerometers and seventh, eighth, ninth angle sensors are combined into the first block of accelerometers, the first, the second, third angular velocity meters and the first, second, third angle sensors are combined into the first block of angular velocity meters, the fourth, fifth, sixth accelerometers and the tenth, eleventh, twelfth angle sensors combined In the second block of accelerometers, the fourth, fifth, sixth angular velocity meters and the fourth, fifth, sixth angle sensors are combined in the second block of angular velocity meters, the outputs of the first, second and third angle sensors are connected to the seventh, eighth and ninth inputs of the calculator of the difference signal of the gyroscopes , the outputs of the fourth, fifth and sixth angle sensors are connected to the tenth, eleventh and twelfth inputs of the calculator of the difference of the signals of the gyroscopes, the outputs of the seventh, eighth and ninth angle sensors are connected to the first, w the second and third inputs of the accelerometer signal difference calculator and the tenth, eleventh and twelfth inputs of the first navigation calculator, the outputs of the first, second and third accelerometers are connected to the fourth, fifth and sixth inputs of the difference signal calculator of the accelerometers, the outputs of the tenth, eleventh and twelfth angle sensors are connected to the tenth , the eleventh and twelfth inputs of the second navigation computer and with the seventh, eighth and ninth inputs of the calculator of the difference of the signals of the accelerometers, outputs h fourth, fifth and sixth accelerometers are connected to the accelerometer signal difference calculator, the output of which through the second driver of control signals is connected to the inputs of the third and fourth rotary devices, the third rotary device rotates the first block of accelerometers with the first, second, and third accelerometers located on it relative to the aircraft body apparatus, the fourth rotary device rotates the second block of accelerometers with the fourth located on it, fifth and sixth accelerometers relative to the body of the aircraft.

New features that have significant differences in the method is the following set of actions:

they compensate for the errors of the accelerometers of the first block of accelerometers due to the errors of the accelerometers of the second block of accelerometers by turning the blocks until the maximum difference in the readings of the accelerometers reduced to a single coordinate system;

on the device - the presence in the device circuit of the calculator of the difference of the signals of the accelerometers, the driver of the control signals, two rotary devices, eight angle sensors;

new connections between known and new features.

The use of all the new features allows to increase the accuracy of determining the flight and navigation parameters of the aircraft by compensating for the errors of the accelerometers of the first block of accelerometers due to the errors of the accelerometers of the second block of accelerometers.

The drawing shows a block diagram of a device for inertial navigation.

The device includes two navigation calculators 1 and 2, two blocks of accelerometers 3 and 5, two blocks of angular velocity meters 4 and 6, accelerometers 7-9 and 25-27, angle sensors 10-15 and 22-27, angular velocity meters 16 -18 and 28-30, calculators of the matrix of guide cosines 31-34, 36-37, 39 and 41, calculators of orientation parameters 35 and 38, integrating calculators 40, 42, 44, 46, 48 and 50, speed calculators 43 and 45, coordinate calculators 47 and 49, angular velocity calculators 51 and 52, difference signal calculator of gyroscopes 53, control signal generators 54 and 58, rotational accurate devices 55, 56, 59 and 60, a calculator of a difference of signals of accelerometers 57, summing devices 61 and 63, multiplying devices.

The first navigation calculator 1 consists of a first calculator of the matrix of guide cosines 31, a second calculator of the matrix of guide cosines 33, a third calculator of the matrix of guide cosines 34, a calculator of orientation parameters 35, a fourth calculator of the matrix of guide cosines 39, a first integrating calculator 40, a speed calculator 43, and a second integrating a calculator 44, a coordinate calculator 47, a third integrating calculator 48, an angular velocity calculator 51.

The second navigation calculator 2 consists of a first calculator of the matrix of guide cosines 32, a second calculator of the matrix of guide cosines 36, a third calculator of the matrix of guide cosines 37, a calculator of orientation parameters 38, a fourth calculator of the matrix of guide cosines 41, the first integrating calculator 42, and the speed calculator 45, the second integrating calculator 46, coordinate calculator 49, third integrating calculator 50, angular velocity calculator 52.

The first and second navigation computers 1 and 2 are designed to calculate the flight and navigation parameters of aircraft based on the readings of accelerometers and gyroscopes.

The first block 4 of angular velocity meters consists of the first, second and third angular velocity meters 16, 17, 18 and is mounted on the first rotary device 55. Angle sensors 13, 14 and 15 are located on the axis of the rotary device, which make it possible to measure Euler-Krylov angles [3 ], which determine the orientation of the block 4 of angular velocity meters relative to the coordinate system associated with the aircraft.

The first block 3 of the accelerometers consists of the first, second and third accelerometers 7, 8, 9 and is mounted on the third rotary device 59 with sensors 7, 8, 9 on the axes of rotation.

The second block 5 of the accelerometers consists of a fourth, fifth and sixth accelerometers 19, 20, 21 and is mounted on the fourth rotary device 60 with sensors 22, 23, 24 on the rotation axes.

The second block 6 of the angular velocity meters consists of a fourth, fifth and sixth angular velocity meters 28, 29, 30 and is mounted on the second rotary device 56 with sensors 25, 26, 27 on the rotation axes.

The angular velocity meters and accelerometers of each of the blocks 3, 4, 5 and 6 are orthogonal triples of the meters.

Rotary devices 55, 56, 59 and 60 are known [4] and are a gimbal assembly.

The outputs of the first multiplier device 62 carry information about the orientation angles of the aircraft — pitch ϑ, roll γ and heading ψ.

The outputs of the second multiplying device 64 carry information on latitude φ, longitude λ, height H, azimuthal angle ε, earth speeds V _X , V _Y and V _Z.

The device operates as follows.

Angular velocity meters and accelerometers of each of blocks 4, 6 and 3, 5 determine the corresponding parameters, namely angular velocities and accelerations, with errors. Errors of the orthogonal triple of sensitive elements determine the error vectors of the blocks of sensitive elements — the drift vectors of the blocks of angular velocity meters 4 and 6, as well as the error vectors of the accelerometers of the accelerometer blocks 3 and 5.

The first and second blocks 4 and 6 of the angular velocity meters are rotated relative to each other so that the drift vectors of the blocks are opposite. An indicator that the drift vectors of the blocks of angular velocity meters are opposite is that the difference in the vectors of readings of the angular velocity meters reduced to a single coordinate system is maximum.

The readings of the angular velocity meters of blocks 4 and 6 are brought to a single coordinate system, as well as the calculation of the difference signal is carried out in the calculator 53 of the difference of the signals of the gyroscopes. As a single coordinate system in which difference signals are determined, the coordinate system associated with the aircraft is determined.

The operation algorithm of the calculator 53 of the difference signal of the gyroscopes is determined by the following relationships.

Based on the signals received from the angle sensors 13, 14 and 15, the matrix elements of the guide cosines (LSMs) of the transition from the coordinate system associated with the first block 4 of angular velocity meters to the coordinate system associated with the aircraft are calculated:

, $${\kappa }_2^{1Г}$$

, $${\kappa }_3^{1Г}$$

- углы поворота первого блока 4 измерителей угловой скорости относительно корпуса ЛА.Where $${\kappa }_{\mathrm{one}}^{\mathrm{one}R}$$

, $${\mathrm{<figure-callout\; id="2"\; label="\kappa "\; filenames="00000041.png"\; state="\{\{state\}\}">\kappa </figure-callout>}}_2^{\mathrm{one}R}$$

, $${\mathrm{<figure-callout\; id="3"\; label="\kappa "\; filenames="00000041.png"\; state="\{\{state\}\}">\kappa </figure-callout>}}_3^{\mathrm{one}R}$$

- rotation angles of the first block of 4 angular velocity meters relative to the aircraft body.

Recalculation of the readings of gauges 16, 17 and 18 of the angular velocity of block 4 to the coordinate system associated with the aircraft is based on the ratio:

, $${\omega }_{Y_2}^{1Г}$$

, $${\omega }_{Z_2}^{1Г}$$

- показания соответственно первого, второго и третьего измерителей 16, 17 и 18 угловой скорости.Where $${\mathrm{<figure-callout\; id="2"\; label="\omega \; X"\; filenames="00000041.png"\; state="\{\{state\}\}">\omega \; </figure-callout>}}_{X_{}}^{{}_2}$$

, $${\mathrm{<figure-callout\; id="2"\; label="\omega \; Y"\; filenames="00000041.png"\; state="\{\{state\}\}">\omega \; </figure-callout>}}_{Y_{}}^{{}_2}$$

, $${\mathrm{<figure-callout\; id="2"\; label="\omega \; Z"\; filenames="00000041.png"\; state="\{\{state\}\}">\omega \; </figure-callout>}}_{Z_{}}^{{}_2}$$

- readings of the first, second and third angular velocity meters 16, 17 and 18, respectively.

Using the signals from the angle sensors 25, 26 and 27, the matrix elements of the guide cosines (LSMs) of the transition are calculated from the coordinate system associated with the second block 6 of angular velocity meters to the coordinate system associated with the aircraft:

, $${\kappa }_2^{2Г}$$

, $${\kappa }_3^{2Г}$$

- углы поворота второго блока 6 измерителей угловой скорости относительно корпуса ЛА.Where $${\kappa }_{\mathrm{one}}^{2R}$$

, $${\mathrm{<figure-callout\; id="2"\; label="\kappa "\; filenames="00000041.png"\; state="\{\{state\}\}">\kappa </figure-callout>}}_2^{2R}$$

, $${\mathrm{<figure-callout\; id="3"\; label="\kappa "\; filenames="00000041.png"\; state="\{\{state\}\}">\kappa </figure-callout>}}_3^{2R}$$

- the rotation angles of the second block of 6 measuring angular velocity relative to the aircraft body.

Recalculation of the readings of measuring instruments 28, 29 and 30 of the angular velocity of block 6 to the coordinate system associated with the aircraft is carried out on the basis of the ratio:

, $${\omega }_{y2}^{1Г}$$

, $${\omega }_{z2}^{1Г}$$

- показания соответственно первого, второго и третьего измерителей 16, 17 и 18 угловой скорости.Where $${\mathrm{<figure-callout\; id="2"\; label="\omega \; x"\; filenames="00000041.png"\; state="\{\{state\}\}">\omega \; </figure-callout>}}_x^2$$

, $${\mathrm{<figure-callout\; id="2"\; label="\omega \; y"\; filenames="00000041.png"\; state="\{\{state\}\}">\omega \; </figure-callout>}}_y^2$$

, $${\mathrm{<figure-callout\; id="2"\; label="\omega \; z"\; filenames="00000041.png"\; state="\{\{state\}\}">\omega \; </figure-callout>}}_z^2$$

- readings of the first, second and third angular velocity meters 16, 17 and 18, respectively.

Based on the difference in the readings of the angular velocity meters, reduced to a single coordinate system

the length of this vector is calculated

The magnitude of this vector is an indicator characterizing the direction of the drift vectors of the first and second blocks 4 and 6 of the angular velocity meters.

The task of the first driver 54 of the control signals is to maximize the indicator (6):

Δ ^G → max.

The first driver 54 of the control signals provides control signals to the first rotary device 55 and the second rotary device 56. The first and second rotary devices 55 and 56 rotate the first and second blocks 4 and 6 of the angular velocity meters, respectively. The rotation of blocks 4 and 6 is carried out at discrete angles sequentially around the three axes of the rotary devices. The readings from the angular velocity meters are carried out when the position of the blocks of angular velocity meters is stationary relative to the aircraft body. Based on these readings, the vector length Δ ^{G of the} difference in the readings of the angular velocity meters reduced to a single coordinate system is calculated for various discrete angles of the rotary devices. From this array of values, the maximum determines the orientation of the blocks of angular velocity meters at which their error vectors are opposite. With this orientation of blocks 4 and 6, the error of the angular velocity meters of the first block 4 of the angular velocity meters is compensated by the errors of the angular velocity meters of the second block 6 of the angular velocity meters.

Similarly, the orientation is determined and the units 3 and 5 of the accelerometers are installed to compensate for the errors of the first block 3 of the accelerometers due to the errors of the second block 5 of the accelerometers.

The signals from the first, second and third angular velocity meters 16, 17 and 18 of the first block of 4 angular velocity meters, in the fourth calculator 39 of the matrix of guiding cosines of the first HB and the first integrating calculator 40 of the first HB, the least-squares transition is calculated from the coordinate system associated with the first block of 4 angular velocity meters, to the navigation coordinate system:

where A ^1G - MNS transition from the coordinate system associated with the first block of 4 angular velocity meters to the navigation coordinate system;

- кососимметрическая матрица, составленная из проекций абсолютной угловой скорости системы координат, связанной с первым блоком 4 измерителей угловой скорости, на собственные оси (показания измерителей 16, 17 и 18 угловой скорости);

- a skew-symmetric matrix, composed of projections of the absolute angular velocity of the coordinate system associated with the first block of 4 angular velocity meters, on their own axes (readings of angular velocity meters 16, 17 and 18);

- кососимметрическая матрица, составленная из проекций абсолютной угловой скорости навигационной системы координат на собственные оси.

- skew-symmetric matrix, composed of projections of the absolute angular velocity of the navigation coordinate system on its own axis.

Relation (7) is a generalized Poisson equation and determines the orientation of one moving coordinate system relative to another moving coordinate system [5].

Similarly, in the calculators 41 and 42 of the second HB 2, the least-squares transition is determined from the coordinate system associated with the second block 6 of angular velocity meters to the navigation coordinate system:

where A ^2G - MNS transition from the coordinate system associated with the second block 6 of the angular velocity meters to the navigation coordinate system;

- кососимметрическая матрица, составленная из проекций абсолютной угловой скорости системы координат, связанной со вторым блоком 6 измерителей угловой скорости, на собственные оси (показания измерителей 28, 29 и 30 угловой скорости).

- a skew-symmetric matrix made up of projections of the absolute angular velocity of the coordinate system associated with the second block of 6 angular velocity meters, on their own axes (readings of the angular velocity meters 28, 29 and 30).

The signals of the seventh, eighth and ninth angle sensors 10, 11 and 12, as well as the first, second and third angle sensors 13, 14 and 15, recalculate the readings of the first, second and third accelerometers 7, 8 and 9 to the coordinate system associated with the first block 4 angular velocity meters:

, $$a_{Y_2}^{1A}$$

, $$a_{Z_2}^{1A}$$

- показания соответственно первого, второго и третьего акселерометров 7, 8 и 9;Where $$a_{{\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="00000041.png"\; state="\{\{state\}\}">X</figure-callout>}}_2}^{\mathrm{one}A}$$

, $$a_{{\mathrm{<figure-callout\; id="2"\; label="Y"\; filenames="00000041.png"\; state="\{\{state\}\}">Y</figure-callout>}}_2}^{\mathrm{one}A}$$

, $$a_{{\mathrm{<figure-callout\; id="2"\; label="Z"\; filenames="00000041.png"\; state="\{\{state\}\}">Z</figure-callout>}}_2}^{\mathrm{one}A}$$

- readings of the first, second and third accelerometers 7, 8 and 9, respectively;

- МНК перехода из системы координат, связанной с первым блоком 3 акселерометров, к системе координат, связанной с ЛА;

- OLS transition from the coordinate system associated with the first block of 3 accelerometers to the coordinate system associated with the aircraft;

, $${\kappa }_2^{1Г}$$

, $${\kappa }_3^{1Г}$$

- углы поворота первого блока 3 акселерометров относительно корпуса ЛА (показания седьмого, восьмого и девятого датчиков угла 10, 11 и 12); $${\kappa }_{\mathrm{one}}^{\mathrm{one}R}$$

, $${\mathrm{<figure-callout\; id="2"\; label="\kappa "\; filenames="00000041.png"\; state="\{\{state\}\}">\kappa </figure-callout>}}_2^{\mathrm{one}R}$$

, $${\mathrm{<figure-callout\; id="3"\; label="\kappa "\; filenames="00000041.png"\; state="\{\{state\}\}">\kappa </figure-callout>}}_3^{\mathrm{one}R}$$

- rotation angles of the first block 3 of the accelerometers relative to the aircraft body (readings of the seventh, eighth and ninth angle sensors 10, 11 and 12);

T is the transpose sign of the matrix.

Similarly, in the second navigation calculator 2, the readings of the accelerometers 19, 20 and 21 are recalculated to the coordinate system associated with the second block 6 of the angular velocity meters.

The signals from the transmitter 39 of the matrix of directional cosines and the integrating calculator 40, as well as the first transmitter 31 of the matrix of the guidelines of the cosines of the first NV, the components of the earth velocity are determined in the speed calculator 43 and the second integrating calculator 44 of the first NV

where Ω _X , Ω _Y , Ω _Z are the components of the relative angular velocity of the navigation coordinate system;

u _X , u _Z , u _Y - projection of the angular velocity of the Earth on the axis of the navigation coordinate system;

H _b - barometric height;

a - semimajor axis of the earth's ellipsoid;

g _e - acceleration of gravity at the equator;

q ₂ - feedback coefficient, ensuring the stability of the vertical speed channel in error;

k is a coefficient characterizing the change in gravity depending on latitude.

Similarly, the components of the earth's speed are calculated in the second navigation computer 2.

The signals received from the speed calculator 43 of the first HB through the second integrating calculator 44 of the first HB in the coordinate calculator 47 of the first HB, determine the geographical coordinates of the location of the aircraft:

where φ, λ - respectively, the geographical latitude and longitude of the location of the aircraft;

ε is the azimuthal angle;

- радиус кривизны сечения эллипсоида меридиональной плоскостью;

- radius of curvature of the cross section of the ellipsoid by the meridional plane;

- радиус кривизны сечения эллипсоида плоскостью, приходящей через геодезическую вертикаль места и ортогональную меридиану (радиус кривизны первого вертикала).

- the radius of curvature of the cross section of an ellipsoid by a plane coming through the geodetic vertical of the place and the orthogonal meridian (radius of curvature of the first vertical).

Similarly, the geographical coordinates of the location of the aircraft are calculated in the second navigation computer 2.

In the calculator 51 of the angular velocities of the first HB, the relative, portable and absolute angular velocities of the navigation coordinate system are determined:

The orientation of the aircraft is determined on the basis of information about:

a) the orientation of the first block of 4 angular velocity meters relative to the navigation coordinate system;

b) the orientation of the first block of 4 angular velocity meters relative to the aircraft body.

Calculations are performed in blocks 34 and 35.

To determine the orientation angles of the aircraft, it is necessary to determine the least squares of the transition from the coordinate system associated with the aircraft to the navigation coordinate system:

Based on the elements of the matrix D, the aircraft orientation angles are calculated - the course ψ, roll γ, pitch υ:

Similarly, the orientation angles of the aircraft are calculated in the second navigation computer 2.

Based on the orientation information of the aircraft obtained in the first and second navigation calculators 1 and 2, the aircraft orientation is calculated in the first adder 61 and the first multiplier device 62 by averaging the calculated values.

Based on the information about the coordinates and speeds of the aircraft, obtained in the first and second navigation calculators 1 and 2, in the second adder 63 and the second multiplier device 64, the coordinates and speeds of the aircraft are calculated by averaging the calculated values.

Flight and navigation information from the device outputs enters the aircraft system.

Information sources

1. RF patent No. 2362977 C1, cl. G01C 21/10. A method for compensating instrumental errors of strapdown inertial navigation systems and a device for its implementation. 07/27/2009 (analog).

2. RF patent No. 2313067 C2, class. G01C 21/12. A method for determining the navigation parameters of an aircraft and a device for its implementation. 12/27/2005 (prototype).

3. To whisper I.P., Onufrienko V.V., Slesarenok S.V. Methodological support of managed navigation systems. (Monograph). - Voronezh: Military Training and Scientific Center of the Air Force “Air Force Academy named after Professor N.E. Zhukovsky and Yu.A. Gagarina ", 2012. - p. 54-60.

4. Gyroscopic systems. Gyroscopic devices and systems / Ed. D.S. Pelpore. - M .: Higher. Shk., 1988.S. 367.

5. Kuzovkov N.T., Salychev O.S. Inertial navigation and optimal filtering. - M.: Mechanical Engineering, 1982.

Claims (3)

1. The method of inertial navigation, which consists in measuring the angular velocity and acceleration of the aircraft, determining the current orientation of the measuring coordinate system relative to the navigation coordinate system, compensating for errors in the angular velocity meters of the first block of angular velocity meters due to errors in the angular velocity meters of the second block of angular velocity meters by turning blocks until the maximum difference in the readings of the angular velocity meters, reduced to a single system coordinates, determining the current values of the navigation parameters from the measured values of acceleration and angular velocities and the current orientation of the measuring coordinate system, characterized in that they additionally compensate for the errors of the accelerometers of the first block of accelerometers due to the errors of the accelerometers of the second block of accelerometers by turning the blocks until the maximum difference between the accelerometers reduced to a single coordinate system. 2. A device for inertial navigation, including the first and second navigation calculators, the first and second summing devices, the first and second multiplying devices, the difference signal calculator of the gyroscopes, the first driver of the control signals, the first rotary device, the first, second and third accelerometers, the first, second and third angular velocity meters, first, second and third angle sensors, fourth, fifth and sixth accelerometers, fourth, fifth and sixth angular velocity meters, fourth, fifth and sixth angle sensors, outputs of the first, second, and third accelerometers are connected to the first, second, and third inputs of the first navigation calculator, outputs of the fourth, fifth, and sixth accelerometers are connected to the first, second, and third inputs of the second navigation calculator, outputs of the first, second, and third angle sensors are connected with the fourth, fifth and sixth inputs of the first navigation computer, the outputs of the fourth, fifth and sixth angle sensors are connected to the fourth, fifth and sixth inputs of the second navigation computer, the outputs of the first, second and third angular velocity meters are connected to the seventh, eighth and ninth inputs of the first navigation calculator, the outputs of the fourth, fifth and sixth angular velocity meters are connected to the seventh, eighth and ninth inputs of the second navigation calculator, the first and second inputs of the first summing device are connected with the first outputs of the first and second navigation computers, and the output through the first multiplying device is connected to the first output of the device, the first and second inputs of the second umming devices are connected to the second outputs of the first and second navigation calculators, and the output through the second multiplying device is connected to the second output of the device, the first, second and third angular velocity meters are connected to the first, second and third inputs of the calculator of the difference of the signals of the gyroscopes, fourth, fifth and sixth angular velocity meters are connected to the fourth, fifth and sixth inputs of the calculator of the difference of the signals of the gyroscopes, the output of which is supplied through the first driver of the control signals at the input of the first and second rotary devices, the first rotary device rotates the first block of angular velocity meters with the first, second and third angular velocity meters located on it relative to the aircraft body, the second rotary device rotates the second block of angular velocity meters with the fourth located on it , fifth and sixth measuring angular velocity relative to the body of the aircraft, characterized in that it introduced the calculator different accelerometer signals, the second driver of control signals, the third and fourth rotary devices, the seventh, eighth, ninth, tenth, eleventh and twelfth angle sensors, the first, second, third accelerometers and the seventh, eighth, ninth angle sensors are combined into the first block of accelerometers, the first, second, third angular velocity meters and the first, second, third angle sensors are combined into the first block of angular velocity meters, the fourth, fifth, sixth accelerometers and the tenth, eleventh, twelfth sensors angles are combined in the second block of accelerometers, the fourth, fifth, sixth angular velocity meters and the fourth, fifth, sixth angle sensors are combined in the second block of angular velocity meters, the outputs of the first, second and third angle sensors are connected to the seventh, eighth and ninth inputs of the signal difference calculator gyroscopes, the outputs of the fourth, fifth and sixth angle sensors are connected to the tenth, eleventh and twelfth inputs of the calculator of the difference of the signals of the gyroscopes, the outputs of the seventh, eighth and ninth angle sensors are connected s with the first, second and third inputs of the accelerometer signal difference calculator and the tenth, eleventh and twelfth inputs of the first navigation calculator, the outputs of the first, second and third accelerometers are connected to the fourth, fifth and sixth inputs of the difference signal calculator of the accelerometers, the outputs of the tenth, eleventh and twelfth sensors angles are connected to the tenth, eleventh and twelfth inputs of the second navigation calculator and to the seventh, eighth and ninth inputs of the calculator of the signal difference of the accelerometer trov, the outputs of the fourth, fifth and sixth accelerometers are connected to the accelerometer signal difference calculator, the output of which through the second driver of control signals is connected to the inputs of the third and fourth rotary devices, the third rotary device rotates the first block of accelerometers with the first, second and third accelerometers located on it relative to the body of the aircraft, the fourth rotary device rotates the second block of accelerometers located on Fourth, fifth and sixth accelerometers relative to the hull of the aircraft. 3. The system according to claim 2, characterized in that the first and second navigation calculators are made of the same type and include a first calculator of a matrix of guide cosines, a second calculator of a matrix of guide cosines, a third calculator of a matrix of guide cosines, a calculator of orientation parameters, a fourth calculator of a matrix of guide cosines, the first integrating calculator, speed calculator, second integrating calculator, coordinate calculator, third integrating calculator, angular velocity calculator the first and ninth inputs of the first transmitter of the guide cosine matrix are connected to the first - sixth and tenth - twelfth inputs of the navigation calculator, and the output of the first transmitter of the guide cosines matrix is connected to the second input of the speed calculator, the fourth and sixth inputs of the navigation calculator are connected to the first - third inputs the second transmitter of the matrix of guide cosines, the output of which is connected to the first input of the third computer of the matrix of guide cosines, the second input of which is connected inen with the output of the first integrating calculator, and the output of the third calculator of the matrix of guide cosines through the calculator of orientation parameters is connected to the first output of the navigation calculator, the seventh - ninth inputs of the navigation calculator are connected to the first - third inputs of the fourth calculator of the matrix of cosines, the output of which is connected through the first integrating calculator with the first input of the speed calculator, the output of which is connected to the input of the second integrating computer, the output of which oedinen to fourth input of the calculator velocity and through the series-connected computer coordinates and third integrating calculator is connected to a third input of a calculator speeds, the second output of the navigation calculator and input calculating angular velocities, whose output is connected to a fifth input of the velocity calculator and the fourth input of the fourth calculating the matrix of the direction cosines.

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