ERRORS OF A STRAPDOWN GYROCOMPASS FOR OBJECTS WITH UNLIMITED TURNING ANGLES

摘要

Differential equations for a strapdown gyrocompass (SG) based on quaternion parameters brought to the axes of the horizon frame, with horizontal correction from accelerometers and Schuler frequency tuning, have been constructed. The equations of SG errors have been derived and analyzed. The experimental research that was conducted on the SG trial model produced at "Optolink" company both in stationary conditions and onboard a mobile object has confirmed the operability of the developed algorithms.