A verification procedure inertial measuring unit of vehicles, particularly air vehicles, at steady state.

摘要

Verification procedure an inertial measuring unit of vehicles, particularly air vehicles, at steady state, - wherein the inertial unit (1) has · at least one acceleration sensor (10) which supplies an acceleration signal in translation, and · at least one sensor speed (11) supplying a signal speed, - wherein the inertial measurement unit (1) is connected to an arrangement of navigation computer (2) provided with at least one computer, · having a first functional element (20) which receives and processes as input acceleration signals translationally supplied by signals rotational speed supplied by the speed sensor rotational acceleration sensor (10) and (11), · having a second functional element (30) which receives and processes the input data from the first functional element (20), and • having a third functional element (40) r ecibe and processes the input data from the inertial measuring unit (1), the first functional element (20) and the second functional element (30) and supplies control signals to the second functional element (30), with the steps following: a) data enabling · the current position of the inertial measurement unit (1) and · the current Euler angles as information on the orientation of the inertial measurement unit (1) in space; b) initializing an algorithm strapdown in the first functional element (20) with data - enabled in step a) - of the current position, angles current Euler and the current speed of the inertial measuring unit relative to the Earth; c) continuous processing of the acceleration data in translation and data speed signals continuously provided by the inertial measurement unit (1) in the first functional element (20) according to the algorithm strapdown to obtain position data, speed Euler angles fixed relative to the earth, and c ') continuously supplying the data to the second ele functional lation (30), d) continuous processing of the position data, speed and Euler angles supplied by the first element functional (20) in the Kalman filter formed by the second functional element (30) for estimating errors and detect acceleration errors and errors of speed for all spatial axes, e) formation of values acceleration correction from the acceleration errors and correction values ​​rotational speed from the rotational speed errors in the second functional element (30), f) supplying the correction values ​​of acceleration and the correction values ​​of speed to the first functional element (20) for correction of measured values, g) repeating steps c) to f) for a first predetermined time, also entering the correction values ​​of acceleration and the correction values ​​of speed in the continuous processing performed in step c) according to the algorithm strapdown, h) after the end of first time period preset, checking whether the acceleration errors and errors speed detected in step d) are within ranges of preset tolerance and issuing an error message and discontinuation of the procedure if the test yielding the results that at least one of the errors is outside the tolerance range, i) storing the data resulting from the acceleration errors with their Varianz ay errors speed with their variance in a memory unit and continuing the method, characterized by the following additional steps: j) providing position data, speed and Euler angles resulting from the current continuous processing in step c) the third functional element (40) and stopping the error estimation of the Kalman filter, k) calculating variations Euler angles and speed variations within a second time period preset from the data supplied in step j), l) error detection amount of acceleration in the third functional element (40) by adding the acceleration errors stored in step i) and speed variations calculated in step k) and detection sum errors speed in said third functional element by adding errors stored speed rotation in step i) and the Euler angle changes calculated das in step k), m) checking whether the acceleration errors and adds the sum errors detected speed in step l) are or are not within predetermined tolerance ranges.