Method of inertial data estimation and its correction according to measurement of doppler velocity sensor

FIELD: aviation.

SUBSTANCE: invention relates to the field of integrated navigation systems, control and guidance systems of aircrafts (AC). This indicated result is achieved by the following: expansion of the traditional model of inertial navigation system (INS) errors and including in it the system of three interconnected differential equations of the 1st order, describing the change of INS position coordinates, relatively to the Doppler velocity sensor (DVS), in the projections on the reference triad axis of gyroplatform (GP); - the correct formation of the measurement signals, the monitoring matrix and the models of communication, using the relations, connecting the numeration errors of the main navigational parameters triple with a low-angles of mismatch of the real and the reference triad GP INS. The high precision of speed errors estimation, and the drift angles of the actual GP INS allows to realize the effective correction of the navigation and flight information and from the two potentially equally accurate INS to determine the one, the angular information of which is the most appropriate for the piloting and decision of combat and special problems.

EFFECT: invention provides enhancements of the navigation systems.

4 dwg

 



 

Same patents:

FIELD: aircraft engineering.

SUBSTANCE: extra interfaces between magnetometers are arranged in every device of three-component rigidly secured magnetometer. Besides, it incorporates extra means for more precise setting of standby orientation system with due allowance for measurements of the Earth magnetic field components error in every said magnetometer of every device over one and the same period of time.

EFFECT: higher accuracy of angular velocity transducer intrinsic drift and aircraft spatial position parameters calculation.

2 cl, 2 dwg

FIELD: measurement equipment.

SUBSTANCE: invention can be used in navigation systems of moving objects, namely aircrafts, for assessment of errors and correction of absolute coordinates of location, height and vertical speed of an inertial navigation system as per measurements of geometrical height and reference maps of terrain relief and can be used in control systems of movement of aircrafts. Data with multiple sections of uncertainty is used at absence of relief informativity for some trajectories or under conditions of determination of impossible performance of reliable correction. Additionally, an information storage and addition unit and an information reliability assessment unit, which are connected to each other, are introduced.

EFFECT: improving efficiency and reliability of correction of coordinates, height and vertical speed at available failures of initial information and weak informativity of relief in a correction zone.

2 cl, 2 dwg

FIELD: radio, communication.

SUBSTANCE: method of increasing accuracy of aircraft navigation consists in multipath measurements of the integral parameters of reflected signals using radio waves emitted in the form of rays, and determining the resulting vector of angular oscillations of aircrafts, which characterizes the angular oscillations of aircrafts in roll and in pitch based on the analysis of integral parameters of the reflected signals. Analysis of the integral parameters of the reflected pulses of multipath measurements is based on comparison of the integral parameters of the reflected pulses on the lateral rays of the multipath measurements over the flat area of the area surface. The rays of the multipath measurements are located in two orthogonal planes, one of which coincides with the direction of movement of the aircraft, the other plane of the rays is perpendicular to the aircraft direction of movement. The resulting vector of angular oscillations of the aircraft in the bound coordinate system of the aircraft is determined sequentially at regular intervals to detect changes in angular oscillations in pitch and in roll of the aircraft during its movement.

EFFECT: improving accuracy of aircraft navigation by analyzing the parameters of the reflected pulses obtained by multipath measurements over the flat surface, and to determine the resulting vector of angular oscillations of aircrafts, which characterizes the total angle of deflection in pitch and in roll of aircrafts to control their movements.

2 cl, 7 dwg

FIELD: physics, optics.

SUBSTANCE: invention relates to instrument making and can be used in systems for programmed positioning and orientation of mobile objects. A user is guided from an initial position to a destination, chosen from a plurality of possible destinations, in a public area over which is distributed a plurality of lighting devices, each of which can be driven to render one or more light patterns from a plurality of light patterns. The chosen destination is determined by obtaining a destination descriptor from the user. A specific light pattern is selected from the plurality of light patterns for the chosen destination. The user is provided with a pattern (VT) of the specific light pattern selected for the required destination such that the selected lighting devices (L1, L2, …, Ln) between the initial position (S) of the user (1) and the destination render the specific light pattern.

EFFECT: broader functional capabilities.

13 cl, 5 dwg

FIELD: information technology.

SUBSTANCE: device for viewing images, having a controller configured to determine whether graphical objects which include images defining a plurality of different locations for displaying a map with a first scaling level will overlap when the map is displayed with a second scaling level different from the first scaling level, initiating merging of at least some of the graphical objects for which it has been determined that they will overlap in a location with the second scaling level in order to create another graphical object representing said at least some merged graphical objects, and initiating display of said other graphical object in said location, which enables the user to view, in the second scaling level, at least some of said images defining a plurality of locations through said merged graphical object.

EFFECT: enabling a user to view overlapping graphical objects without changing the scaling level.

23 cl, 12 dwg

FIELD: instrument making.

SUBSTANCE: method to calibrate sensitive elements (SE) of a platform-free inertial navigation system (PINS) provides for comparison of current information about an apparent speed vector (ASV) and a vector of item rotation angles produced from the PINS SE, with similar information received from a command instrument complex (CIC) of a control system (CS) of a carrier, which is a reference. At the same time the proposed combination of actions for processing and separation of this information into components in specified intervals of time makes it possible to define calibrated parameters by the least square method with high accuracy.

EFFECT: improved accuracy.

FIELD: information technology.

SUBSTANCE: disclosed is a mobile terminal navigation method, involving steps for obtaining the position of the mobile terminal, estimating the distance from the mobile terminal to the destination, generating an estimated time for the mobile terminal to reach the destination and generating a warning if said estimated time reaches a threshold value.

EFFECT: wider range of techniques.

17 cl, 11 dwg

FIELD: instrument making.

SUBSTANCE: formation of signal difference of similar parameters is performed from inertial navigation system and multi-antenna satellite receiver and smoothing of differences as per time with time constant equal to or exceeding the correction interval of errors of multi-antenna satellite receiver. At that, summing of smoothed signals and corresponding signals of inertial navigation system is performed. It allows performing compensation of slowly changing errors of inertial navigation system, and resultant signal will contain only smoothed errors from satellite receiver.

EFFECT: enlarging functional capabilities.

1 dwg

FIELD: instrument making.

SUBSTANCE: first, on the basis of use of multibeam measurements, position of object is determined without obtaining correction signal of trajectory of its movement with connection to coordinate grid joints. Then, location of moving objects is specified by using the measurement mode with installation of new uncertainty quadrates on reference map. Sizes of quadrates on map are determined with correction signal error of movement trajectory with connection to coordinate grid joints, and their number - with the number of beams of multibeam measurements. At that, intervals of measurement pitches and the appropriate coordinate grids are chosen without increasing the volume of stored priori information on moving object and volume of made calculations.

EFFECT: accuracy improvement.

4 dwg

FIELD: instrument making.

SUBSTANCE: beacon image coordinates are determined on photomatrixes, beacon coordinates are calculated in the system of coordinates, which is related to the aircraft, and angles of aircraft orientation relative to aircraft carrier are calculated. At that, there used are signals of inertial navigation system of the aircraft, heading and rolling angles of aircraft carrier, coordinates of the aircraft location relative to aircraft carrier gravity centre points of stern shear of the runway and aircraft landing points are determined. Device includes module of laser beacons, two optic-and-location units, each containing photolens and photomatrix, computing device containing processing module of digital image of laser beacons, computing module of coordinates of beacons, computing module of matrix of directional cosines, computing module of rolling and heading angles of aircraft carrier and computing module of aircraft coordinates.

EFFECT: accuracy improvement.

2 cl, 5 dwg

FIELD: measuring equipment engineering, in particular, engineering of devices for correcting positional error in navigation systems.

SUBSTANCE: method includes estimating state of each optical means on basis of adding up appropriate discrepancies and calculating their average numeric values by each changeable parameter of each optical device. State data are processed as a posteriori errors of measurements of each state parameter of appropriate optical device. Each optical device is directed randomly relatively to plane of local meridian, and relatively to plane of local horizon - with error of absolute value no more than five angular minutes and with this orientation is aligned to target, target is registered, picture coordinates of target are measured and its angular coordinates are calculated. Then preliminary values of target coordinates are calculated for each measured time point.

EFFECT: improved precision of determining of moving object coordinates.

2 dwg

FIELD: radar engineering.

SUBSTANCE: method can be used for designing different radar and analogical systems intended for navigation of flying vehicles by using radio waves due to finding location of flying vehicles and for controlling their movement. Reference map of area is used, which map is drawn by known methods before flying vehicle starts moving. Part of area (measure part) is chosen onto reference map, current map is composed, and parameters of measure part of reference map are measured by means of radio waves, reflected in form of beams. Received meanings of measure part of current and reference map are compared. Correction signal of movement trajectory is calculated on the base of measurement of difference of results of multi-beam measurements. Movement of flying vehicles is subject to control due to correction of their location when flying vehicle move along measure part.

EFFECT: improved speed of operation; increased speed of data processing.

9 cl, 3 dwg

FIELD: navigation systems, possible use for registration of passage of at least one paid road section by at least one vehicle by means of position detection system, which is meant for registration of current position of aforementioned vehicle.

SUBSTANCE: method includes comparing the vehicle position to position of at least one support point, characteristic for entrance to a paid road section, where within limits of a given zone around the entrance direction of vehicle movement is determined, and it is determined whether the direction of vehicle movement within given tolerance range coincides with movement direction, characteristic for entering the paid road section.

EFFECT: increased precision of registration.

2 cl, 2 dwg

FIELD: instrument making.

SUBSTANCE: proposed metre comprises three units to measure relative parametres, unit to compute orientation angles, three units to compute point coordinates and unit to compute reciprocal coordinates. Units to measure relative parametres, for example satellite navigation system signals receivers, and units to compute point coordinates connected in pairs serve to accurately determine coordinates of the units that compute relative coordinates. By comparing aforesaid coordinates, reciprocal coordinates computation unit determines reciprocal of these three points in geographical system of coordinates "East-North". Above and a priori data on relative position of said three points relative to moving object is used by orientation angle computation unit to compute orientation angles as applied to aircraft, i.e. angles of course, pitch and bank.

EFFECT: expanded performances, higher efficiency of utilisation.

1 dwg

FIELD: instrument making.

SUBSTANCE: beacon image coordinates are determined on photomatrixes, beacon coordinates are calculated in the system of coordinates, which is related to the aircraft, and angles of aircraft orientation relative to aircraft carrier are calculated. At that, there used are signals of inertial navigation system of the aircraft, heading and rolling angles of aircraft carrier, coordinates of the aircraft location relative to aircraft carrier gravity centre points of stern shear of the runway and aircraft landing points are determined. Device includes module of laser beacons, two optic-and-location units, each containing photolens and photomatrix, computing device containing processing module of digital image of laser beacons, computing module of coordinates of beacons, computing module of matrix of directional cosines, computing module of rolling and heading angles of aircraft carrier and computing module of aircraft coordinates.

EFFECT: accuracy improvement.

2 cl, 5 dwg

FIELD: instrument making.

SUBSTANCE: first, on the basis of use of multibeam measurements, position of object is determined without obtaining correction signal of trajectory of its movement with connection to coordinate grid joints. Then, location of moving objects is specified by using the measurement mode with installation of new uncertainty quadrates on reference map. Sizes of quadrates on map are determined with correction signal error of movement trajectory with connection to coordinate grid joints, and their number - with the number of beams of multibeam measurements. At that, intervals of measurement pitches and the appropriate coordinate grids are chosen without increasing the volume of stored priori information on moving object and volume of made calculations.

EFFECT: accuracy improvement.

4 dwg

FIELD: instrument making.

SUBSTANCE: formation of signal difference of similar parameters is performed from inertial navigation system and multi-antenna satellite receiver and smoothing of differences as per time with time constant equal to or exceeding the correction interval of errors of multi-antenna satellite receiver. At that, summing of smoothed signals and corresponding signals of inertial navigation system is performed. It allows performing compensation of slowly changing errors of inertial navigation system, and resultant signal will contain only smoothed errors from satellite receiver.

EFFECT: enlarging functional capabilities.

1 dwg

FIELD: information technology.

SUBSTANCE: disclosed is a mobile terminal navigation method, involving steps for obtaining the position of the mobile terminal, estimating the distance from the mobile terminal to the destination, generating an estimated time for the mobile terminal to reach the destination and generating a warning if said estimated time reaches a threshold value.

EFFECT: wider range of techniques.

17 cl, 11 dwg

FIELD: instrument making.

SUBSTANCE: method to calibrate sensitive elements (SE) of a platform-free inertial navigation system (PINS) provides for comparison of current information about an apparent speed vector (ASV) and a vector of item rotation angles produced from the PINS SE, with similar information received from a command instrument complex (CIC) of a control system (CS) of a carrier, which is a reference. At the same time the proposed combination of actions for processing and separation of this information into components in specified intervals of time makes it possible to define calibrated parameters by the least square method with high accuracy.

EFFECT: improved accuracy.

FIELD: information technology.

SUBSTANCE: device for viewing images, having a controller configured to determine whether graphical objects which include images defining a plurality of different locations for displaying a map with a first scaling level will overlap when the map is displayed with a second scaling level different from the first scaling level, initiating merging of at least some of the graphical objects for which it has been determined that they will overlap in a location with the second scaling level in order to create another graphical object representing said at least some merged graphical objects, and initiating display of said other graphical object in said location, which enables the user to view, in the second scaling level, at least some of said images defining a plurality of locations through said merged graphical object.

EFFECT: enabling a user to view overlapping graphical objects without changing the scaling level.

23 cl, 12 dwg

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