GIMBALLESS NAVIGATION COMPLEX WITH INERTIAL SYSTEM OF ORIENTATION ON ROUGH SENSITIVE ELEMENTS AND METHOD FOR CORRECTION OF ITS INERTIAL SENSORS

摘要

The inventions relate to instrument-making, in particulat to navigation means where the orientation system is integrated with hydrostatic inclination block and three-axial compass, and can be used for sea objects. Subject of the invention-device: gimballess navigation complex includes inertial orientation system (IOS) on coarse sensitive elements, this is connected to computing platform and includes three accelerometers and three sensors of angular velocities placed in three orthogonal axles of the IOS. The complex includes as well a three-axial magnetic compass and hydrostatic inclination block (HIB) connected to computing platform, with three differential sensors of hydrostatic pressure arranged in three orthogonal axes of the HIB at the ends of bases with same lengths. The gimballess navigation complex with inertial orientation system on coarse sensitive elements connected to computing platform, with three accelerometers and three sensors of angular velocities arranged in three orthogonal axes includes a three-axial magnetic compass and hydrostatic inclination block connected to the computing platform. In the method for correction of inertial sensors of gimballess navigation complex with inertial orientation system on coarse sensitive elements by signals of three accelerometers and three sensors of angular velocities placed in three orthogonal axes of IOS angles of orientation are calculated through calculation of the matrix of direction cosines between the bound and navigation coordinate systems. Compensation of errors of the signals of acceleration of the accelerometers, with re-calculation of accelerations from the bound coordinate system to navigation system and with determination of current velocities and coordinate increments is performed. Measurement with three-axial magnetic compass and three differential pressure sensors placed at three orthogonal axes at the ends of bases with same lengths are carried out. By the readings of the compass and the pressure sensors angles of inclination between the bound and navigation coordinate systems are calculated, by the compass readings azimuth angle is calculated. With account of the values of inclination and azimuth obtained readings of accelerometers and sensors of angular velocities are obtained. Increase of accuracy of determination of output navigation parameters of the platform-less inertial orientation system (angles of orientation, linear velocities and coordinates of the location site) is achieved due to determination of the angles of inclination between the bound and navigation coordinate systems and determination of the azimuth angle.