RU2382988C1 - Strapdown inertial reference system on "coarse" detecting elements - Google Patents

Abstract

FIELD: physics; navigation.

SUBSTANCE: invention relates to instrument making and can be used in strapdown inertial reference systems (SIRS), particularly strapdown attitude reference systems (SARS) integrated into the air data system (ADS). To achieve the result, the strapdown attitude reference system has three computer navigation platforms, each of which has its own control law. Each platform damps inertial errors in accordance with its own law. The master-filter platform which receives output signals carries out their optimal (in the mean-square sense) processing.

EFFECT: increased accuracy.

5 cl, 7 dwg

Description

Technical field

The invention relates to the field of strapdown inertial navigation systems (SINS), in particular strapdown orientation systems (BSO), integrated with an airborne signal system (SHS).

State of the art

Known integrated navigation system (RF Patent No. 2265190, IPC G01C 23/00) (SPS) aircraft (LA), which includes navigation sensors and systems that operate on various physical principles (including the air signal system), as well computational and logical blocks of an integrated system that provide information exchange between sensors and systems and the calculation of the necessary parameters of the state of the aircraft: block compensation for errors of the SSC; unit for forming aircraft state parameters; a residual formation unit providing comparison of the same type of information coming from various meters. A limitation of the invention is an excessive set of complex and expensive elements and, as a consequence, the complexity and high cost of the entire system as a whole, and in particular, a fundamental inoperability with a much cheaper small-sized SINS with "coarse" sensitive elements (SE).

Known aircraft navigation system (RF Patent No. 2293950, IPC G01C 23/00) for determining the location coordinates and motion parameters of aircraft launched from a mobile carrier. The aircraft navigation system contains SINS, a meter for the components of the acceleration of the carrier and components of the angular velocity of the carrier, a memory, a calculator for estimating the angles of orientation of the aircraft relative to the carrier, a calculator for heading, roll and pitch of the aircraft. In this case, the first input of the storage device is connected to the output of the meter of the components of the acceleration of the medium and the components of the angular velocity of the medium. The first input of the course calculator, roll and pitch of the aircraft is connected by a data transmission channel about the angles of orientation of the medium with a meter of angles of orientation of the medium.

A limitation of this invention is the rejection of the use of external means of aggregation (including the system of air signals (SHS)) with external information about the speed of the device, and, as a result, the narrowness of its use on short-term aircraft, launched from a mobile carrier, and not on a permanent basis working mobile carriers themselves. And this complex is also inoperative with small-sized SINS with "coarse" CE, and can work with SINS with gimballess inertial measuring modules.

The use of small-sized SINS with "coarse" CE type MEMS (Microelectromechanical System - Microelectronic Mechanical Systems) is described in a number of US patents of American GNC Corporation, for example, in a number of patents on micro (small-sized) inertial measuring devices (IIU) (US Patent Nos. 6671648 , 6522992, 6516283) and methods of processing measurements of motion parameters with their application (US Pat. Nos. 6,697,758, 6,610,227, 6,494,093, 6,437,713, 6,427,131). The main focus of these patents is on the presentation of advantages compared to “conventional”, traditional AIUs of a cheap AIU microblock on “coarse” CEs in SINS with a computational navigation platform using, including damping circuits and other external corrective means.

However, the proposed SINS schemes are redundant in terms of the used sets of sensor systems and because of this, they are not optimal in terms of quality / price ratio, and, in addition, they use only one computing navigation platform.

When using “coarse” CEs (drift of gyroscopes 0.1 ... 1 o / s) in the SINS system, large orientation errors occur that lead to practical divergence of the navigation solution, so for “coarse” CEs it is necessary to use non-traditional methods of constructing SINS.

The closest analogue to the proposed system device is a device for SINS on micromechanical SE of low accuracy, described in detail in section. 10 on p. 214-232 and presented in the block diagram of Fig. 10.3 (p. 220) of this section in the English monograph of the author-applicant of the proposed device system Oleg Salychev, Applied Inertial Navigation: Problems and Solutions, BMSTU Press, Moscow, Russia, 2004.

This system performs damping of SINS errors using, among other things, external information about the speed of the carrier. But there is one computational navigation platform and there is no master filter.

The most important drawback of the considered analogue is that the damping of the computing platform is carried out not by the difference in the traveling speeds of the BSO and the external sensor, but by the difference in the readings of the BSO and the SHS system measuring air speed. This measurement contains the low-frequency error component due to both the physical principles of the SHS construction and the presence of wind speed. To reduce this component, damping should be carried out not by the difference of speeds, but by the difference of accelerations, which reduces the low-frequency component of the SHS error. In addition, the SHS readings have a time delay, which especially affects the quality of the damping of the computing platform during the fast maneuver of the object on which the BSO is installed.

And the last drawback of this kind of systems is significantly less accuracy when damping errors from SHS compared to its own acceleration damping for the case of movement of an object with a relative constant speed and low ground speeds.

Thus, the main objective of the invention is a significant increase in the accuracy of determining (with different flight modes in real time) the orientation angles of the carrier cheap SINS with microIIU on "rough" SE.

Disclosure of invention

To reduce these shortcomings that affect the accuracy of the measurement system orientation angles (pitch, roll, heading), the following technical solution is proposed. The technical result is achieved in that the BSO mainly sells three computational navigation platforms, each of which has its own control law (damping of inertial errors according to its own law), depending on the parameters of the aircraft’s movement, namely, roll, derivative (rate of change) of course, horizontal components of the linear acceleration of the medium, also on the quality of information from an external source (SHS and magnetic compass) with respect to the BSO, and the master signals receiving platforms mp carries out their optimal (in the mean-square sense) final combination.

To achieve a technical result, the device of the proposed system contains a block of three accelerometers and three angular velocity sensors (DLS) along three orthogonal axes, an air signal system (SHS), a magnetic compass, a unit for measuring (or determining) the parameters of media movement (in short: parameter block movements), several (mainly three) computing platforms, a master filter. The signal outputs of the CE block are connected to the corresponding inputs of the platforms, the signal outputs of which, namely, the roll and pitch angles from all three platforms, as well as the heading angle from the second platform, are connected to the corresponding inputs of the master filter. The output signal of the SHS is connected to the corresponding input of the second platform. The heading signal of the magnetic compass is connected to the corresponding input of the master filter. The output of the motion parameter block is connected to the corresponding inputs of the platforms and the master filter. The outputs of the master filter (signals of orientation angles) are the outputs of the entire system device.

The basic options for implementing platforms and the master filter are as follows.

The first platform contains the following blocks: a block for calculating accelerations from a coordinate system connected to the navigation system, a block for calculating the linear and angular velocities of the navigation coordinate system (for short: a block for calculating speeds), the first and second blocks for quaternion calculations (for short: a quaternion blocks), a block for calculating the guide matrix cosines and calculation of orientation angles (for short: matrix block and angles), damping signal generation block (for short: damping block). The output of the linear acceleration signals of the CE block is connected to the corresponding input of the acceleration conversion unit, the output of which is connected to the input of the speed calculation unit and the corresponding input of the damping unit. Another input of the damping unit is connected to the output of the block of motion parameters. The output of the angular velocity signals of the SE block is connected to the corresponding input of the first quaternion block, the output of which is connected to the corresponding input of the second quaternion block, the other inputs of which are also connected to the outputs of the angular velocity signals of the velocity calculation unit and the damping unit. The output of the second quaternion block is connected to the input of the matrix block and the angles and to the corresponding feedback input of the first quaternion block. The matrix signal output of the matrix block and angles is connected to the corresponding input of the acceleration conversion unit. The outputs of the angles of the matrix block and the angles are the outputs of the first platform.

The third platform, similar to the first platform, contains an acceleration conversion unit, a speed calculation unit, first and second quaternion blocks, a matrix and angle block, a damping unit, as well as an additional Kalman adaptive filter. The output of the linear acceleration signals of the SE unit is connected to the corresponding input of the acceleration conversion unit, the output of which is connected to the input of the speed calculation unit and the corresponding input of the Kalman filter, the output of which is connected to the corresponding inputs of the matrix and angle block and the damping unit. Other inputs of the Kalman filter block and the damping block are connected to the output of the motion parameter block. The output of the angular velocity signals of the SE block is connected to the corresponding input of the first quaternion block, the output of which is connected to the corresponding input of the second quaternion block, the other inputs of which are also connected to the outputs of the angular velocity signals of the velocity calculation unit and the damping unit. The output of the second quaternion block is connected to the input of the matrix block and the angles and to the corresponding feedback input of the first quaternion block. The matrix signal output is connected to the corresponding input of the acceleration conversion unit. The outputs of the corners are the outputs of the third platform.

The second platform, similarly to the first platform, contains an acceleration conversion unit, a speed calculation unit, first and second quaternion blocks, a matrix and angle block, a damping unit. The output of the linear acceleration signals of the SE block is connected to the corresponding input of the acceleration conversion unit, the output of which is connected to the input of the speed calculation block. The output of the angular velocity signals of the SE block is connected to the corresponding input of the first quaternion block, the output of which is connected to the corresponding input of the second quaternion block, the other inputs of which are also connected to the outputs of the angular velocity signals of the velocity calculation unit and the damping unit. The corresponding inputs of the damping block are connected to the outputs of the blocks of motion parameters, SHS and acceleration recalculation. The output of the second quaternion block is connected to the corresponding feedback input of the first quaternion block and to the input of the matrix block and angles. The matrix signal output is connected to the corresponding input of the acceleration conversion unit. The outputs of the corners are the outputs of the second platform.

The master filter contains a unit for determining the weighting coefficients for the roll and pitch angles, a unit for determining the output signals of the roll and pitch angles (in short: a block of roll and pitch angles), as well as a unit for generating the output signal of the heading angle (for short: block of the heading angle). The inputs of the weighting block are connected to the corresponding outputs of the motion parameters block and three platforms at the roll and pitch angles. The output of the weighting unit is connected to the input of the roll angle and pitch angle block. The inputs of the heading angle block are connected to the corresponding outputs of the heading angle signals of the second platform, the magnetic compass, and also with the output of the block of motion parameters. The outputs of the roll angle and pitch angle block and the heading angle block are the outputs of the master filter and the entire device of the system as a whole.

List of drawings

Figure 1 shows a block diagram of the upper level of the hierarchy of the device of the proposed system.

Figure 2 is a block diagram of a device of the 1st computing platform.

Figure 3 is a block diagram of a device of the 3rd computing platform.

4 is a block diagram of a device of the 2nd computing platform.

5 is a block diagram of a master filter device.

6 and 7 are a comparison of the roll and pitch parameters obtained by the proposed device, the prototype device and the reference system.

The implementation of the invention

In Fig.1 ... 5, the system blocks have the following end-to-end numbering: 1 - a block of sensing elements of three accelerometers and three angular velocity sensors along three orthogonal axes, 2 - an air signal system, 3 - a magnetic compass, 4 - a unit for measuring the motion parameters of the system’s carrier, 5-7 - respectively, the first, third and second computing platforms, 8 - master filter; in the first computing platform, 5: 9 is a block for recalculation of accelerations from the coordinate system connected to the navigation system, 10 is a block for calculating linear and angular velocities of the navigation coordinate system, 11, 12 is the first and second blocks of quaternion calculations, 13 is a block for calculating the matrix of guiding cosines and calculations orientation angles, 14 — damping signal generation block; in the third computing platform, 6: 15 - a unit for converting accelerations from the coordinate system connected to the navigation system, 16 - a unit for calculating linear and angular velocities of the navigation coordinate system, 17,18 - the first and second blocks of quaternion calculations, 19 - a block for calculating the matrix of guiding cosines and calculations orientation angles, 20 — damping signal generation block; 21 - adaptive Kalman filter; in the second computing platform, 7: 22 - a unit for converting accelerations from the coordinate system connected to the navigation system, 23 - a unit for calculating linear and angular velocities of the navigation coordinate system, 24, 25 - the first and second blocks of quaternion calculations, 26 - a block for calculating the matrix of guiding cosines and calculations orientation angles, 27 — damping signal generation block; in the master filter 8: 28 - a unit for determining weighting factors for roll and pitch angles, 29 - a unit for determining output signals of roll and pitch angles, 30 - a unit for generating the output signal of the heading angle.

- управляющая угловая скорость для демпфирования ошибок платформы,

- матрица направляющих косинусов; (q₀ q₁ q₂ q₃)_i - кватернион поворота от связанной к навигационной системе координат платформы;

- угол тангажа; γ_i - угол крена; H_i - угол курса. Также:

- оценка ускорения в навигационной системе координат, полученная адаптивным фильтром Калмана третьей платформы. V_b - воздушная скорость с блока СВС; Н_МАГН - магнитный курс с блока магнитного компаса. На блок-схеме мастер-фильтра обозначены: весовые коэффициенты угла тангажа

и угла крена

(i=1, 2, 3),

- выходное значение угла тангажа;

- выходное значение угла крена;

- выходное значение угла курса.In the drawings, the following designations of the device signals are adopted: from block 1: a _b is the acceleration and ω _b is the angular velocity of the navigation object in the associated coordinate system. On the block diagrams of computing platforms (i = 1, 2, 3 corresponds to the platform number): a _Ni — acceleration and ω _Ni — angular velocity of the navigation object in the platform’s navigation coordinate system;

- control angular velocity for damping platform errors,

- matrix of guide cosines; (q ₀ q ₁ q ₂ q ₃ ) _i - quaternion of rotation from the platform connected to the navigation coordinate system;

- pitch angle; γ _i is the angle of heel; H _i - course angle. Also:

- the acceleration estimate in the navigation coordinate system obtained by the Kalman adaptive filter of the third platform. V _b - air speed from the SHS unit; N _MAGN - magnetic course from the magnetic compass unit. On the block diagram of the master filter are indicated: weight coefficients of pitch angle

and roll angle

(i = 1, 2, 3),

- output value of pitch angle;

- output value of the angle of heel;

- output value of the course angle.

Information and signal exchange between the inputs and outputs of the blocks is carried out along the communication lines shown on the block diagrams by thin solid lines. Communication lines are known lines of communication and information exchange, for example, through serial code, parallel code, multiplex, etc. Various digital and analog channels can be used as data transmission channels, for example, information exchange channels made in accordance with GOST 18977- 79 (Airborne equipment and helicopter complexes. Types of functional connections. Types and levels of electrical signals).

System device

To increase the accuracy and efficiency of the device, the system device is assembled, programmed, debugged and works as follows.

BSO solves the problem of autonomously determining the angular orientation of an object based on the measured angular velocities and accelerations of an object using gyroscopes and accelerometers.

According to measurements received from a single block of sensitive elements, each computing platform forms its own navigation solution. The navigation solution of each of the computing platforms has the smallest errors in its carrier movement mode, characterized by a certain value of the measured (or determined) parameters of the carrier movement, namely, the angle of heel, the derivative of the course angle, and the horizontal components of linear acceleration.

<0,5°/c), для 3-й - при сильном маневре (γ>30°,

>0,5°/с). При этом указанные выше параметры движения носителя участвуют в формировании величин коэффициентов К, K^b демпфирования ошибок всех вычислительных платформ.Specifically, for the 1st platform, the smallest error is achieved in cruising mode (flying at a constant speed), for the 2nd - with a small maneuver (γ <30 °,

<0.5 ° / s), for the 3rd - with a strong maneuver (γ> 30 °,

> 0.5 ° / s). In this case, the above-mentioned parameters of the carrier motion participate in the formation of the values of the coefficients K, K ^{b of the} damping errors of all computing platforms.

Combining the navigation solutions of the platforms makes it possible to form a single solution that is optimal (in the rms sense) for the entire set of carrier flight modes, fixed by its measured motion parameters, and thus increase the accuracy of determining orientation angles. To increase the accuracy of determining the orientation angles, an air signal system (SHS) and a magnetic compass are introduced. SHS measures static, dynamic and total air pressure, with the help of which the tasks of determining the height and speed of an object relative to the atmosphere are solved.

перехода от связанной системы координат к навигационной, а также элементы кватерниона используют в блоке 11 на следующем шаге дискретных вычислений. В блоке 9 при помощи матрицы направляющих косинусов осуществляют пересчет ускорений a_b, измеренных акселерометрами блока 1, в навигационную систему координат:

.Figure 2 presents the functional diagram of the first (1st) computing platform. This is a basic platform that works in its basic units for calculating accelerations, calculating speeds, the first and second quaternion blocks, the unit for calculating the matrix of guiding cosines and orientation angles. According to the angular velocity ω _b, measured angular velocity sensor unit 1, a finite elements calculated from the quaternion rotation related to the inertial coordinate system (block 11) and then from the inertial coordinate system to the navigation (block 12). The elements of the quaternion of the final rotation (q ₀ q ₁ q ₂ q ₃ ) in block 13 calculate the elements of the matrix of guide cosines

the transition from the associated coordinate system to the navigation, as well as the elements of the quaternion are used in block 11 in the next step of discrete calculations. In block 9, using the matrix of guide cosines, the accelerations a _b measured by the accelerometers of block 1 are converted into the navigation coordinate system:

.

Then, in block 10, linear and angular velocities of the navigation coordinate system are calculated. The calculated angular velocities arrive at the input of block 12. The orientation angles (pitch, roll, and course) are calculated in block 13 by the elements of the matrix of guide cosines.

Two other platforms work similarly to the first platform in the base units, although they have significant additional differences.

поступает во второй блок кватернионных вычислений и участвует в расчете кватерниона поворота от инерциальной системы координат к навигационной.The implementation of damping signal generation blocks is different for each of the three computing platforms, but in all platforms the control speed signal generated in this block

enters the second block of quaternion calculations and participates in the calculation of the quaternion of rotation from the inertial coordinate system to the navigation.

In the first platform, error damping is carried out using indications of the own accelerations of the navigation system (block 9 output). The formation of damping signals is carried out in block 14 according to the following equations:

;

,

;

,

;

;

Indicated here:

,

- проекции управляющей угловой скорости

для демпфирования ошибок платформы,

,

- projections of the control angular velocity

to damp platform errors,

,

- погрешности определения линейной скорости,

,

- errors in determining the linear velocity,

,

- производные погрешностей определения линейной скорости,

,

- derivatives of the linear velocity determination errors,

- проекции ускорения a_N навигационной системы координат, ,

- projection of acceleration a _{N of the} navigation coordinate system,

,

.K ^b , K - damping parameters (depending on the type and parameters of media movement, for example:

,

.

,

) поступают на вход второго кватерниона поворота от инерциальной к навигационной системе координат (блок 12).Indicated signals (

,

) enter the input of the second quaternion of rotation from the inertial to the navigation coordinate system (block 12).

| (производная курса)>порога или |a_N|, |a_E| (горизонтальные составляющие линейного ускорения)>порога (или |V_N|, |V_E|<10 м/с при зависании вертолета). Величины порогов зависят от типа носителя: самолет, реактивный самолет, вертолет, беспилотное средство и т.д.The autonomous damping carried out in this way will have a sufficiently high accuracy during cruising flight (flying at a constant speed) of the carrier (aircraft object). However, when carrying out a carrier maneuver, the first platform will be indignant at its own accelerations, which will lead to large errors in determining orientation angles. In order to get rid of the perturbation of the first computing platform when carrying out a carrier maneuver, a threshold device has been added to the damping link, the logic of which is described depending on the carrier motion parameters: K = 0 if | γ | (roll)> threshold or |

| | | (derivative of the course)> threshold or | a _N |, | a _E | (horizontal components of linear acceleration)> threshold (or | V _N |, | V _E | <10 m / s when the helicopter hangs). The threshold values depend on the type of carrier: aircraft, jet aircraft, helicopters, unmanned vehicles, etc.

Figure 3 shows a functional diagram of a third computing platform. Here, all communications and blocks coincide with the first computing platform, with the exception of the introduction of an additional block of an adaptive (to the media motion parameters) Kalman filter (block 21), the input of which accelerates the navigation system from block 15, and also introduces the correction of orientation errors (block 21 output connected to the corresponding input of the matrix block and angles 19).

The main feature of the third platform is the filtering of accelerations by the Kalman adaptive filter, caused by the maneuver of the aircraft, and the identification of errors in the orientation of the computing platform. Moreover, in the cruising mode of movement, the orientation accuracy will be worse than in the first platform (due to the accumulation of errors with weak damping), while in a strong maneuver the accuracy of the system will not be disturbed by the aircraft’s own accelerations. As measurements for the adaptive Kalman filter, the readings of accelerometers in the navigation coordinate system are used. The difference between the Kalman adaptive filter and the traditional one is the adaptive adjustment of the measuring noise matrix depending on the square of the value of the updated process, depending on the real estimation errors.

The Kalman filter estimates are received at the corresponding input of block 20, in which the same platform damping equations are implemented as in the first platform. Moreover, there are the following distinctive features of the third computing platform:

,

используют оценки фильтра Калмана

,

;- instead

,

use Kalman filter estimates

,

;

,

.- damping parameters are several orders of magnitude smaller than in the first platform (for example,

,

.

и

(g - ускорение свободного падения), после чего в блоке 19 происходит коррекция матрицы направляющих косинусов

, какAccording to the Kalman adaptive filter estimates, estimates of the platform orientation error in the horizon are calculated as

and

(g is the gravitational acceleration), after which, in block 19, the matrix of guide cosines is corrected

, as

(исходная) - исходная матрица направляющих косинусов,Where

(source) - the source matrix of guide cosines,

(корректируемая) - скорректированная матрица направляющих косинусов.

(adjustable) - the adjusted matrix of guide cosines.

Figure 4 presents a functional diagram of a second computing platform. Here, all traditional blocks and communications coincide with the first computing platform, but additional communications from block 2 of SHS and block 4 of motion parameters are also introduced.

Error damping is performed according to the difference between the BSO and SHS accelerations, for which purpose, in block 27, the following algorithm for generating damping signals is implemented:

;

;

,

,

where K, K ^b - damping coefficients (the values depend on the parameters of the movement of the carrier),

,

- ускорения навигационной системы координат,

,

- acceleration of the navigation coordinate system,

a ^b - acceleration obtained by differentiation of airspeed

carrier V ^b measured by SHS,

H - course angle,

,

- проекции управляющей угловой скорости на оси навигационной системы координат,

,

- projection of the control angular velocity on the axis of the navigation coordinate system,

,

- погрешности определения линейной скорости,

,

- errors in determining the linear velocity,

,

- производные погрешностей определения линейной скорости,

,

- derivatives of the linear velocity determination errors,

a _x ^N , a _y ^N - projection of acceleration on the axis of the navigation coordinate system.

>0,5°/с, что соответствует маневру летательного аппарата, когда задержка в показаниях воздушной скорости может привести к возмущаемости второй вычислительной платформы.Moreover, K ^b = 0, when V ^b <15 m / s (since at low speeds of the aircraft the airspeed has large errors), as well as in the case when the roll γ> 30 ° and

> 0.5 ° / s, which corresponds to the maneuver of the aircraft, when a delay in the airspeed readings can lead to the disturbance of the second computing platform.

In cruise flight, the value of K ^b is several orders of magnitude smaller than in the first platform, for example, K ^b = 0.05 (1 / m).

The navigation solutions of computing platforms 5-7 (roll and pitch angles from all platforms, as well as the course from the second platform) are received at the input of the master filter 8, which implements a combination of individual solutions depending on the motion parameters of the carrier from block 4.

,

, где i=1, 2, 3. Величины коэффициентов зависят от параметров движения носителя и от точности определения углов ориентации каждой из платформ. При этом

,

, что обеспечивает несмещенность финальных оценок углов.Functional diagram of the implementation of the master filter is presented in Figure 5. Here, in block 28, weight coefficients are calculated

,

, where i = 1, 2, 3. The values of the coefficients depend on the parameters of the carrier motion and on the accuracy of determining the orientation angles of each platform. Wherein

,

, which ensures the non-bias of the final estimates of the angles.

,

будут зависеть как от типа летательного аппарата, так и от погрешностей каждой из платформ в конкретном режиме движения.Specific parameter values

,

will depend on both the type of aircraft and the errors of each platform in a particular driving mode.

,

,

при различных условиях полета:Selection example

,

,

under various flight conditions:

,

,

;- cruising at a constant speed

,

,

;

,

,

;- limited maneuvering

,

,

;

,

,

;- strong maneuvering

,

,

;

,

,

.- freeze (for helicopter)

,

,

.

Then, in block 29, the output signals are determined in the following form (for example, for pitch angle):

The output value of the course is formed in block 30 as follows:

H _f = H ₂ -K · (H ₂ -H _{IASH) filt,}

where H ₂ - course readings from the second computing platform 7;

N _MAGN - course readings from block 3 of the magnetic compass,

K · (H ₂ -H _{IASH) filt} - difference readings after filtering with a low pass filter 30 of the block.

As a low-pass filter, for example, an adaptive Kalman filter is used, the coefficient K of which varies depending on the parameters of the carrier motion: the angle of heel and the derivative of the course.

The outputs of the master filter 8 are the outputs of the entire device and contain information about the final orientation angles: pitch, roll, course.

This technical device is officially certified (MPO spatial orientation module) as part of the ISRP-3 integrated backup instrument system. This is the only certified certification unit for “rough” micromechanical CEs in Russia.

6 and 7 show the implementation of the testimony of the proposed system of the device BSO (MPO) pitch and roll and the reference signal of the system (system strapdown course vertical (SBKV) on fiber-optic gyroscopes (FOG)). In addition, a traditional solution of the prototype BSO system with one computing platform is presented.

The graphs show the implementation of the systems being compared in all the main flight modes (A) cruising, B) fast maneuver (large roll) and C) average maneuver (small roll)) of the aircraft carrier system. On the graphs, vertical dashed lines highlight and mark the letters A, B, C corresponding sections of the graphs for each flight mode.

A comparison of the readings of the systems allows us to conclude that the proposed device significantly exceeds the readings of the prototype system in accuracy and is close enough to the operation of the reference system.

Claims (5)

1. A strapdown inertial orientation system for “coarse” sensing elements (CE), containing a block of CE of three accelerometers and three angular velocity sensors along three orthogonal axes, an air signal system (SHS), a magnetic compass, a unit for measuring (or determining) motion parameters media, several (mainly three) computing platforms, master filter; while the signal outputs of the CE block are connected to the corresponding inputs of the platforms, the signal outputs of which, namely: the roll and pitch angles from all three platforms, as well as the heading angle from the second platform, are connected to the corresponding inputs of the master filter; the airspeed output from the SHS unit is connected to the corresponding input of the second platform; the output signal of the course angle of the magnetic compass is connected to the corresponding input of the master filter; the output signals of the block of motion parameters, namely roll, derivative of the course and horizontal components of the linear acceleration of the carrier, are connected to the corresponding inputs of the platforms and the master filter; the outputs of the master filter for orientation angles are the outputs of the entire system device. 2. The system according to claim 1, comprising a first platform, comprising a unit for converting accelerations from the coordinate system connected to the navigation system, a linear and angular velocity calculation unit for the navigation coordinate system, a first and second block of quaternion calculations, a block for calculating a matrix of guide cosines and for calculating angles orientation, damping signal generation unit; wherein the output of the linear acceleration signals of the SE block is connected to the corresponding input of the acceleration conversion unit, the output of which is connected to the input of the speed calculation unit and the corresponding input of the damping unit, the other input of which is connected to the output of the motion parameter block; the output of the angular velocity signals of the SE block is connected to the corresponding input of the first quaternion block, the output of which is connected to the corresponding input of the second quaternion block, the other inputs of which are connected to the outputs of the angular velocity signals of the velocity calculation unit and the damping unit; the output of the second quaternion block is connected to the input of the matrix block and the angles and to the corresponding feedback input of the first quaternion block; the matrix signal output of the matrix block and the angles is connected to the corresponding input of the acceleration conversion unit; the outputs of the corners of the matrix block and the angles are the outputs of the first platform. 3. The system according to claim 1, comprising a third platform, comprising a unit for converting accelerations from the coordinate system connected to the navigation system, a unit for calculating linear and angular velocities of the navigation coordinate system, the first and second blocks of quaternion calculations, a unit for calculating the matrix of guide cosines and for calculating angles orientation, damping signal generation unit, as well as Kalman adaptive filter; wherein the output of the linear acceleration signals of the CE block is connected to the corresponding input of the acceleration conversion unit, the output of which is connected to the input of the speed calculation unit and the corresponding input of the Kalman filter, the output of which is connected to the corresponding inputs of the matrix and angle block and the damping block; other inputs of the Kalman filter unit and the damping unit are connected to the output of the motion parameter block; the output of the angular velocity signals of the SE block is connected to the corresponding input of the first quaternion block, the output of which is connected to the corresponding input of the second quaternion block, the other inputs of which are also connected to the outputs of the angular velocity signals of the velocity calculation unit and the damping unit; the output of the second quaternion block is connected to the input of the matrix block and the angles and to the corresponding feedback input of the first quaternion block; the matrix signal output of the matrix block and the angles is connected to the corresponding input of the acceleration conversion unit; the outputs of the corners of the matrix block and the angles are the outputs of the third platform. 4. The system according to claim 1, comprising a second platform, comprising a unit for converting accelerations from the coordinate system connected to the navigation system, a unit for calculating linear and angular velocities of the navigation coordinate system, a first and second block of quaternion calculations, a unit for calculating a matrix of guide cosines and for calculating angles orientation, damping signal generation unit; wherein the output of the linear acceleration signals of the SE block is connected to the corresponding input of the acceleration conversion unit, the output of which is connected to the input of the speed calculation block; the output of the angular velocity signals of the SE block is connected to the corresponding input of the first quaternion block, the output of which is connected to the corresponding input of the second quaternion block, the other inputs of which are also connected to the outputs of the angular velocity signals of the velocity calculation unit and the damping unit; the corresponding inputs of the damping unit are connected to the outputs of the blocks of motion parameters, SHS and acceleration conversion; the output of the second quaternion block is connected to the corresponding feedback input of the first quaternion block and to the input of the matrix block and angles; the matrix signal output of the matrix block and the angles is connected to the corresponding input of the acceleration conversion unit; the outputs of the angles of the matrix block and the angles are the outputs of the second platform. 5. The system according to claim 1, comprising a master filter, comprising a unit for determining weighting factors for roll and pitch angles, a unit for determining output signals of roll and pitch angles, and a unit for generating an output signal of the heading angle; while the inputs of the block of weight coefficients are connected to the corresponding outputs of the block of motion parameters and three platforms at the angles of heel and pitch; the output of the block of weights is connected to the input of the block of roll and pitch angles; the inputs of the heading angle block are connected to the corresponding outputs of the heading angle signals of the second platform, the magnetic compass, as well as the output of the block of motion parameters; the outputs of the roll angle and pitch angle block and the heading angle block are the outputs of the master filter.

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