# Method for determining angles of orientation of moving object and device for realization of method

FIELD: rocketry, spacecraft engineering, possible use for detecting direction of bearing rocket in flight.

SUBSTANCE: satellite navigation equipment and three gyro-integrators simultaneously determine values of projections of speed vector in starting and connected coordinates system respectively and transfer determined values to onboard digital computing machine, which, using received information, determines values of angles of orientation of moving object in space in accordance to algorithm for determining orientation of moving object.

EFFECT: decreased dimensions of device for realization of proposed method down to 40x40x40 millimeters (without consideration for size of onboard digital computing machine) while maintaining precision for determining angles of direction of moving object to 4 angular minutes.

2 cl, 4 dwg

Description of the invention

The present invention relates to the field of rocket and space technology and can be used to determine the orientation of the launch vehicle (LV) in flight.

A prototype of the proposed invention is the Method of the angular orientation of the object signals of satellite radio navigation systems (options)" (EN 2185637 C1, 2002.07.20). The prototype is designed to determine the spatial orientation of moving objects interferometric method when the size of the interferometer to a few meters. The technical result of the prototype is finding the initial and the current angular position of the moving object without forcing changes orientation vectors-bases at the ends of which are located antennas. That is, a device for implementing the described method, taking signals from two or more spaced antenna devices determines the orientation angles of the object that contains the antenna.

On the cosmodrome "Plesetsk" types of PH accuracy requirements determine the orientation angles in flight is 4 angular minutes. Such precision determination of the orientation angles of the PH is achieved by the described prototype when the distance between the antennas of several meters (up to 10 meters). The length of the used types of PH is 20-30 meters, and on the site vyvedeni what separates the spent stages and the length of the PH gradually decreases to several meters (depending on the type of PH). To place an antenna device prototype aboard the PH becomes more difficult.

The proposed method for the determination of orientation angles differs from the prototype in that it assumes the availability of satellite navigation equipment with a single antenna device, three gerontocracies, on-Board digital computers and uses a different method of determining the spatial orientation. Currently on Board of all prospective PH supposed to be installed on-Board digital computing machine.

Signs describing the alleged invention:

1. Use the following devices: satellite navigation equipment with a single antenna device, three waronterror, on-Board digital computing machine;

2. Use the following algorithm to determine the orientation of the movable object;

3. Use the following procedure: satellite navigation equipment determines the values of the projections of the vector of the absolute velocity in the starting coordinate system and passes certain values in the on-Board digital computing machine; at the same time three waronterror measured values of the projections of the apparent velocity in the associated coordinate system and transmits via the communication channels of the measured values in the on-Board digital computing machine; on-Board digital Vacha is slitely machine, using the received information, determines the values of the orientation angles of the object in space according to the algorithm of determining the orientation of a movable object.

The technical result is to reduce the size of the device for implementing the method up to 40×40×40 mm (without regard to size on-Board digital computers) while maintaining the accuracy of determination of orientation angles of a moving object up to 4 minutes of arc.

A block diagram of an apparatus for implementing the proposed method is presented in figure 1. The device comprises a satellite navigation equipment, containing one antenna 1, three waronterror 2, 3, 4, located on the axes of the coupled system of coordinates, on-Board digital computer 5, which includes an algorithm for determining the orientation of PH in flight 6. The outputs of satellite navigation equipment 1 and three gerontocracies 2, 3, 4 are connected to the input side of a digital computer 5.

Satellite navigation equipment is used to obtain the projection of the absolute velocity of the center of mass of the PH in the inertial coordinate system. The present invention is used, the initial starting coordinate system [3] (see figure 2). The beginning of her combined with the center of mass R PH, standing on the starting device. The main plane is the plane of the horizon. Axis Ru_{with}aim is about the radius,
connecting the center of the Earth About the point P and the axis Px_{with}- tangent to the circumference of the great circle in the plane which is located launch trajectory; axis Pz_{c}adds the system to the right. As satellite navigation equipment can be any sample of such instruments, intended for rocket and space technology [1].

Three waronterror intended to receive the projections of the apparent velocity of the center of mass of the PH associated with the PH of the coordinate system associated coordinate system) [3] (see figure 3). The beginning of the associated coordinate system is located at the center of mass R PH. Main plane coincides with one of the planes of symmetry of the rocket. Axis Px_{1}directed along the longitudinal axis of the PH; axis Ru_{1}is located in the plane of symmetry coinciding with the plane of the trajectory, and directed upwards (in case of horizontal movement of the rocket above the Ground surface); axis Pz_{1}adds the system to the right. As gerontocracies can be used samples used for PH Module.

A necessary condition of the invention is the presence on Board of PH on-Board digital computers with algorithms necessary to determine the orientation of PH in space. There are a number of samples of airborne digital computers. In particular, used LV "Roar" is used Bo is preset digital computing machine.

To implement the proposed method and device for implementing the method uses the following sequence of actions.

Satellite navigation equipment determines the projection of the absolute velocity vector in the first coordinate system and passes certain values in the on-Board digital computing machine. At the same time three waronterror measured increment projections of the apparent velocity for one clock cycle (time interval Δt) in the relative coordinate system and also transmits via the communication channels of the measured values in the on-Board digital computing machine. On-Board digital computing machine using the received information, determines the values of the orientation angles PH space algorithm for determining the orientation of a moving object.

The algorithm for determining the orientation of a moving object

1. The source data.

The source data for calculation of the orientation angles PH values are projections of the absolute velocity in the starting coordinate system,,received from the satellite navigation equipment, and increments the projections of the apparent velocity for one clock cycle in the associated coordinate system, ,obtained from three gerontocracies.

2. The definition of the orientation angles PH in space.

The position of the associated coordinate system, relative to the starting coordinate system is defined by three angles: ϑ - angle of pitch, ψ - yaw, γ - angle of rotation (figure 4).

For the transition from the relative coordinate system to the starting coordinate system is used, the system of equations:

where t is the time of determination of orientation angles measured from the beginning of the movement.

The values of the projections of the absolute velocity of the center of mass of the PH in the associated coordinate system(t)(t)(t) are defined as follows:

where(t)(t)(t) is the projection of the acceleration PH in the associated coordinate system, caused by the presence of the gravitational acceleration of the Earth at the time

(t-Δt),(t-Δt),(t-Δt) - values of the projections of the absolute velocity of the center of mass of the PH in the associated coordinate system, calculated in the previous step.

As the numerical integration method for finding integrals in (2) you can use the trapezoid as the most easy to implement on a digital computer and an acceptable accuracy.

Thus, in the system of equations (1) values of(t)(t)(t),,known, and the angle values ϑ, ψ, γ - you need to find.

The system of nonlinear equations (1) in this algorithm is solved by an iterative method [4].

To do this, the system of equations (1) appears as:

where the function

where the value of the parametersdetermined by the method of steepest descent [4]:

By the described algorithm were calculated to assess the accuracy of determination of orientation angles PH. As the initial data for calculations were applied kinematic parameters of movement of the Cyclone-3" from all areas of the SPACECRAFT "Arrow" (from 2 seconds up to 2650 seconds PH). Indicators of the accuracy of projections of the vector of the absolute velocity using satellite navigation equipment were adopted identical equipment "Terminat the R" [1]. Indicators of the accuracy of projections of the vector of apparent velocity using gerontocracies were taken identical to that used for PH "Roar". Used measure of precision is the standard deviation of the determination of orientation angles. As a result, the accuracy for determining the roll angle is an entire section of the flight 4 angular minutes. Precision angle pitch: up to 20 seconds to 36 arc minutes, with 20 seconds - 3 angular minutes. The accuracy of the yaw angle: up to 20 seconds to 34 minutes of arc, from 20 seconds to 4 minutes of arc.

Mass and dimensional characteristics of constituent parts of the device without regard to the on-Board digital computers are:

- Satellite navigation equipment type "Terminator" - overall dimensions 220×260×80 (mm), weight 3.5 kg [1];

- Waronterror - height 250 mm, the diameter of 104 mm, weight 5 kg;

Sources of information

1. Edited Vinaria, Ahipara, Vasoline, global satellite navigation system GLONASS, M., IPGR, 1998, 400 S.

2. Edited Avirodha, Engineering Handbook of space engineering, M., the USSR Ministry of defense. 1969, 694 S.

3. Garn and Tarn, Handbook of mathematics for scientists and engineers. Definitions, theorems, formulas, edition 4, M.: Nauka, 1978, 832 S.

1. The method of determining the orientation of concentration in the second object, using satellite navigation equipment, wherein the satellite navigation equipment includes a single antenna device, there are three waronterror placed on the axes associated with the object coordinate system is used on-Board digital computing machine (computer), in which the algorithm for determining the orientation of a movable object, based on the determination of the matrix elements of the transition between the initial start-up and associated with the object coordinate systems; use the following procedure:

satellite navigation equipment and three waronterror simultaneously determine the values of the projections of the velocity vector in the opening and associated with the object coordinate systems, respectively, and transmit certain values in a computer, which, using the received information, determines the values of the orientation angles of the object in space according to the algorithm of determining the orientation of a movable object.

2. Device for determining the orientation of a movable object that contains on-Board digital computing machine (BCM), in which the algorithm for determining the orientation of a movable object, based on the determination of the matrix elements of the transition between the initial start-up and associated with the object coordinate systems, satellite navigation equipment, containing od what about the antenna device, the output of which is connected to the input on-Board computer, and three waronterror located on the axes associated with the object coordinate system, the outputs of which are connected with the input of the computer.

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