Inertial-satellite navigation, orientation and stabilisation system
FIELD: physics; navigation.
SUBSTANCE: invention relates to navigation satellite corrected inertial navigation and gyrostabilisation systems for sea objects and can be used on ships and other vessels in a wide range of navigating conditions. The inertial-satellite navigation, orientation and stabilisation system has a gyrostabilised platform in a triaxial cardan suspension with angle sensors, on which are mounted three rate integrating gyroscopes and three accelerometres, digital device, corrector, where outputs of the angle sensors for rotation of the rings of the cardan suspension and outputs of the accelerometres of the gyrostabilised platform are connected to inputs of the digital device, one of the outputs of which is connected to the input of the gyrostabilised platform, and the other to the corrector. The inertial-satellite navigation system is fitted with a control console which generates system control signals, and the system is also fitted with an accelerated correction unit, the input of which receives current values of coordinates of navigation satellites used, generated by the satellite receiving device and current device values of parametres of orientation of the gyrostabilised platform, a channel switch for standard and accelerated correction, where outputs of the correctors are connected to inputs of the switch, outputs of which are connected to the digital device.
EFFECT: determination of course error from coordinate data of only two satellites of a satellite navigation system and current device parametres of orientation of an object, generated by an inertial navigation system.
4 dwg, 1 tbl
The invention relates to the field corrected by the navigation satellites inertial navigation systems and gyrostabilization for offshore facilities and can be used on ships and vessels in a wide range of sailing conditions. This inertial systems provide a solution to the problem of determining the position coordinates, heading and speed of sea object, and solving orientation and stabilization of on-Board sensors, weapons, and generate dynamic parameters of the motion of the ship. Satellite tools provide periodic correction of inertial navigation system (ins).
Currently known and tested domestic picking corrected ins , mandatory the property which is the need of the use of the satellite navigation AIDS (SNA).
Also known marine uniform system of inertial navigation and stabilization (EVERY "Ladoga - M) , adopted as a prototype. The system is designed to generate the full range of output parameters that are required for solving navigation problems, and to provide information ship complexes air defense, anti-submarine and managed missile weapons.
The development of the "Ladoga - M" completed in 1999, the system has been tested in the complete volume.
The system prototype is represented by the flowchart in figure 1.
EVERY "Ladoga - M" generates and displays the following information:
- geographical coordinates - latitude and longitude;
the course geography in the plane of the horizon;
- the corners of the pitching side, measured in the plane of the frame, and pitching angles, measured in a vertical plane;
- angular velocity side and pitching and the exchange rate;
two components of linear velocity of the ship relative to the ground in a geographic coordinate system;
three components of the instantaneous velocity of the vehicle in the geographic coordinate system, caused by motion and orbital motion of the ship at the place of installation Gidropribor;
three components of the linear displacement of a ship in a geographic coordinate system, caused by motion and orbital motion of the ship at the place of installation Gidropribor;
- the sum of the angle of tilt of the deck.
The system implements a classical algorithm of Ann semianalytic type of correction.
The system includes: SE - Gidropribor (1), TC - device thermal stabilization (2), UMT - power amplifier thermal stabilization (3), PC - digital device (4), PU - a control unit (5), B-41 - computer Baguette - 41" (6).
The system operates as follows. From SE in PC through analog-to-digital converters do the three components of acceleration (W x, Wy, Wz), the angles of pitch and azimuth angle (θk, ψ, A), and from the HRC in SE serves signals
(Ωx, Ωy, Ωz).
The correction is carried out by EVERY generation of the correcting information of the navigation data (Δ) algorithms computer B-41 (6) according to the HRC (4) ND and receiving equipment of satellite navigation systems (SNS), generating information about the coordinates and the velocity Vc.
The system gets the following external information:
speed from Las Vl,
- rough course from the gyrocompass Toabout,
coordinates φc, λcthe velocity Vwithand the travel angle from the receiver of the SNA.
The system has two operating modes:
- adjust mode (CU),
- offline mode (AR).
In each run of the system is its calibration, which lasts from 6 to 8 hours (depending on conditions). Calibration requires the receipt of external positional and speed data. For CU uses information from the receiver SNA and lag, and art only from the log.
Despite the high performance of the system, shown in the process of testing, not to mention significant deficiencies relating to the interaction of EVERY "Ladoga - M" and the means of correction.
Being a non-Autonomous radio navigation system of the SNA show the and itself dependent on many external factors, affecting the efficient functioning of its component parts. These factors include: the quantitative composition and condition of the orbital constellation of space vehicles (OG KA), the functioning of the ground control center (GCC), the operation of onboard equipment consumers (AP). In addition, the effects are the communication channels of the SNA. All these and other disturbance lead to the deterioration of the characteristics of operation of the correction system and the implementation difficulties of the adjustable mode EVERY.
In the normal state of the SNA contains EXHAUST gas from 21-24 KA, uniformly distributed in the near-earth space. In accordance with the requirements of the International Maritime Organization, the current system must have certain properties. The main performance characteristics of the SNA are availability and integrity. In accordance with the requirements of the global SNA in a normal mode of operation should ensure the availability >99.8% for 30 days, and the integrity of the system must be <10 C. In the modern real conditions GLONASS correction system does not operate normally EVERY "Ladoga - M in the adjusted mode and leads to the improvement of equipment and the communication structure of navigational AIDS.
Among the problems to be solved EVERY, there C is giving information support ship complexes and anti-submarine managed missile weapons. Use of weapons is not confined to certain regions and can be used in any place and at any time. According to EVERY coordinate position and course of the ship is targeting and firing rockets. A necessary condition for achieving the objectives, are the maximum accuracy and secrecy of the operation. Regular usage for EVERY information support of missile weapons accompanied by the need for a long session observation signals of the SNA and the danger of being detected by means of observation of the enemy. The reduction in the duration of the session observation leads to less accurate production data kurokaze.
The technical solution to the problem of minimizing the time interval of pre-launch missiles and increase the accuracy of targeting is to implement the following method for determining an adjustment to a rate based on the coordinates of only two satellites SNA and current instrument parameter values orientation of the object produced by the Ann. The implementation of the method provides both one-time and continuous measurements with high accuracy amendments of the course in real time in any area of navigation, including high-latitude regions of the Earth.
At the present time to determine the course and pitching angles of the object signals sredneformatnykh navigation satellites use the form in the main phase method. This method is based on the use of spaced receiving antennas, fixed relative to the housing of the rolling object, followed by measuring and converting the phase difference of the received signals.
However, the implementation phase method on offshore facilities is fraught with difficulties. In  it is noted that when determining the orientation of an object according to the phase measurements using interferometers with a base of up to several meters. At the same time, real gazoizmeritelnye devices have unambiguous range measurements within the same wavelength. This causes the problem of non-uniqueness of solutions in measuring the phase difference of signals received at spaced antennas. In addition, due to the identical high-frequency channels of the equipment arise systematic measurement errors that need to be considered when solving the navigation task.
Attempt the practical implementation phase method on sea mobile objects do not give grounds for excessive optimism. Implemented the accuracy of the orientation parameters of the object often does not meet specified requirements . The reasons for the decrease in the accuracy of the equipment, in addition, are the errors of the alignment of the extended antenna systems on the ship, the non-rigidity of the structural elements of the object, m is Holocaust distribution of signals.
To solve the problem of determining the orientation parameters of the object we propose to use the position data of the navigation satellites used for the purpose of observation (figure 2).
Using data about the coordinates of the satellites SNA to determine the orientation of the object if known bond angles ψ, υ, γ with the data obtained in the process of observation. This relationship is revealed when considering the expressions for the projections of the vectors KA sight axis Tigranian ξηζ and Mxyz (figure 2). In the present case, these expressions correspond to the matrix based
where rcxrcyrcz- coordinates of the SPACECRAFT in the system Mxyz;
rcηrcζrcξ- coordinates of the SPACECRAFT in the system Mξηζ;
transform matrix corresponding to the considered geometry .
According to the gyro system produced the current values of the orientation angles of the ship, which contain errors.
The instrumental values of the angles of roll, pitch and yaw can be represented by the expression
where ψa, υathat γa- the instrument angle values;
ψ, υ, γ is the true angle values;
Δψ, Δυ, Δγ - error framing angles.
Since the angles ψ, υ, γ and ψand, υandthat γandrepresent the orientation of the true and the priori position of the trihedron Mxyz distance in the axis system, their mutual position can be described by the matrix guides of the cosines for the case of a small misalignment of the coordinate systems
where I is the identity matrix;
is a skew-symmetric matrix of the errors of the production orientation angles offline.
Taking into account formulas (3) the expression (1) takes the form
where BAmatrix guides of the cosines In containing the instrumental values of orientation angles.
Thus, the vector-matrix dependence (4), clearly reflecting the relationship of the current instrument angles ψand, υandthat γandand ship equipment SNA (rcηrcζrcξ,rcxrcyrczwith error values Autonomous measurements of angles (Δψ, Δυ, Δγ), subject to adjustment.
The expression (4) given the matrix CBAquite difficult. However, when solving practical problems, one can assume that the angles ψ, υ, γ is changed in the range of (0°÷±6°), when you can imagine cosx≈1, sinx≈x, x2≈0. Then the matrix CBAtakes the form
Taking into account formulas (5) the mathematical description of the communication satellite and offline information displays a considerable range of real operating conditions of the equipment at the marine facility and can the be used to build an algorithm for calculation and correction of errors of the devices of the Autonomous determination of the orientation parameters.
Given the need to determine the orientation of an object in space according to the signals of at least two SPACECRAFT, we can write (4) in vector-matrix form of a system of linear equations for the unknown values of the errors Autonomous means of determining angles
Further transformations allow us to obtain formulas for unknown (Δψ, Δυ, Δγ).
Transformation of equations (6) are the following :
1. Select matching pairs of equations of the system (6) for the first and second SPACECRAFT relative to the variables (Δψ, Δυ), (Δψ, Δγ), (Δυ, Δγ).
2. The solution of each pair of the equations for unknown Δψ, Δυ, Δγ. For azimuthal channel generation amendments received
Analysis of the calculation formulas of the amendments to the orientation option allows you to determine the amount needed to calculate the information. This information includes the full set of current instrumental values of roll angles (γand), trim (υa), yaw (ψandobject and the full set of current values of the coordinates of two navigation KA topocentric (rcηrcζrcξand associated with the object (rcxrcyrcz) coordinate systems (s=1,2).
The formation of the main elements (rcηrcζrcξ) calculation formula generation trampling down what it is algorithms receiving equipment of the SNA. High accuracy and reliability determine the SPACECRAFT coordinates in the normal mode of operation of the SNA guaranteed high performance global navigation system.
The procedure to calculate the coordinates of the navigation of SPACECRAFT in the system associated with the object, (rcxrcyrcz) can be carried out on the instrument angles ψa, υathat γa. These values can be used as elements of a matrix to calculate the coordinates of the navigation satellites. The efficiency of the algorithm is confirmed by the results of mathematical modeling.
To assess the possibilities of the considered method of mathematical modeling of the process of course correction. Used a mathematical model of GLONASS in a regular orbital fleet.
On the Earth's surface in the plane of the Meridian defined 8 control points, in which the task of definition amendment kurokaze. In the control points reception apparatus receives signals SNA, generates data about the coordinates of visible navigation satellites and selects satellites. After selecting a pair of satellites that are suitable to determine the orientation, and receive offline measurement data are calculated current values amendments kurokaze.
The results of the simulation is shown in the table and presented in graph form in figure 3.
The table contains the numerical values of the errors in the determination of the rate (ψ=34.377 coal. min) in the range of latitudes (0°-80°) on the time interval (t=4800-4850 with). The correction process is performed on the two signals of navigation satellites, whose numbers are given in the table. Correction of the results presents numerical values of the amendment of the definition of the course (angle Δψ. min) in increments of 10 seconds
The simulation results of the process of developing amendments Δψ.
|t||Latitude, deg||Δψ,min||ψ, min||No. KA1||No. CA|
Figure 3 shows the graphs of the error of making amendments rate Δψ depending on iraty designated object and rooms used by the navigation satellites (1; 3; 4). The nature of the change of graphics errors indicates high precision production amendments of the course according to the SNA. Throughout the range of variation of the latitude of the object (φ=0...80°) error Δψ does not exceed -3...+4 coal. minutes no dependence of the accuracy of the latitude of the place of the object. At the same time obvious connection error and relative location of the navigation satellites and the object. The solution is carried out in real time.
The results of the research can be concluded about the high efficiency of the considered method for correcting orientation parameters of the object.
The method of determining an adjustment to a course on data about the coordinates of the satellites is as follows:
- choose available for observation constellation of navigation satellites;
form pairs from the available satellites;
- select a pair of satellites with the lowest value of the geometric factor;
- take the data of the gyro system on the current values of the orientation parameters of the object;
- accept signals measurements and ephemeris information satellite systems;
- compute the coordinates of the satellites in topocentric and associated with the object coordinate systems;
- calculate the corrections to the current values of the orientation parameters of the object according to the current values of parameters Orient the tion, the coordinates of the satellites in the topocentric and associated with the object coordinate systems.
Technical solution to a problem is in the process of interaction of elements of the structure of the corrected navigation, orientation and stabilization.
The invention is illustrated in the drawing, figure 4, which shows the corrected system inertial navigation and stabilization, containing a gyro-stabilized platform (1) three-axis gimbals with angle sensors, in which there are three two-stage integrating gyroscope and three linear accelerometer; digital device (4)that implements the algorithms of the inertial system, as well as staff (6) and back (7) blocks of correction and the correction switch (8). Thus the outputs of the rotation angle sensors of the rings Kardanov suspension and outputs of the accelerometers are connected to digital inputs of the device, one output of which is connected to the input of the gyro-stabilized platform, and the other is connected to the correction blocks, the outputs of which are connected with the switch correction (8). The system is controlled from a panel (PU), providing the control signal forming system according to the team For coming from user equipment in the SNA. The team included staff (B-41), and thepblock expedited correction (BEECH).
With ructure retains the basic functional elements and relationships of a prototype system, and introduces a new element - block expedited correction (BEECH) and new communication BEECH with a digital device (PC) and the equipment of the consumer SNA for the generation of the coordinates of satellites used.
The interaction of block expedited correction with elements of Ann is in the correct mode. Adjust mode is activated by signals AP SNA orpmeaning the receipt of corrective information. The signal turns on native CU. The equipment of the consumer produces information about the current values of the position coordinates of the object on the inputs standard error correction block (B-41) receives navigation data (ND) and satellite information & Phi;with, λwith. Algorithms B-41 to produce the current values of the corrections of errors EVERY(Δ), which is fed to the input unit of the HRC in position I of the switch contacts of the PC.
For signalpimplemented backup CU. The equipment of the consumer produces information about the current values of the coordinates of satellites used, the inputs of the block expedited correction (BEECH) receives navigation data (ND) and the position information of the satellites. Algorithms BEECH produce the current values of the corrections of errors of the Ann, which is fed to the input unit of the HRC in position II of the switch contacts of the PC.
The proposed structure interaction navigational AIDS in complex devices, the URS provides global, high secrecy and high precision operation.
1. Marine navigation equipment. Handbook edited by Smirnov ER - SPb.: "Elmore", 2002.
2 Vgideos and other unified inertial navigation and stabilization "Ladoga-M". Marine electronics №1(4), 2003, p.26-30.
3. Technical proposals for the development of navigation equipment. / Krasnoyarsk: Institute of Radio engineering KSTU, 1996.
4. Andreev, A.A., Kokorin VI and other Results of the high-latitude trials of modern Russian marine compasses. Proceedings of the international conference on integrated navigation systems. - SPb.: CSRI "Elektropribor", 2004, p.137-139.
5. Rivkin S. Statistical synthesis of gyroscopic devices. - Leningrad: Sudostroenie, 1970.
Inertial-satellite navigation system, orientation and stabilization containing gyrostabilized platform in three-axis gimbals with angle sensors, in which there are three two-stage integrating gyroscopes and three accelerometers, a digital device that implements the algorithms of the inertial system, the error correction block, ensuring the functioning of the system in normal adjustment mode, and outputs the rotation angle sensors of the rings Kardanov suspension and outputs of the accelerometers, gyro-stabilized platform soedinenii inputs digital device, one of the outputs connected to the input of the gyro-stabilized platform, and the other is connected to the correction block, while the inertial-satellite navigation system is equipped with a remote control for generating signals of the control system, wherein the system is fitted with a block of expedited correction, the input of which receives the generated satellite reception equipment current coordinate values used by the navigation satellites and the current instrument settings orientation gyrostabilized platform, switch channels standard and expedited correction, and outputs correction blocks are connected to the inputs of the switch, the output of which is connected to the input of the digital device.
SUBSTANCE: invention relates to methods of determining angular motion parametres of winged pilotless aircraft and can be used in controlling pilotless aircraft, maneuvering with different flight modes: ricochet, gliding and combined mode. According to the proposed method, if the sections of the ground surface are not even, the platform is stabilised parallel to the plane of the local horizon using gyroscopic devices, and with radio altimetres if the ground surface is even, and angular motion parametres of the pilotless aircraft are measured relative this platform.
EFFECT: increased accuracy of determining angular motion parametres of pilotless aircraft.
FIELD: physics; optics.
SUBSTANCE: invention relates to optical instrument making and can be used for determining coordinates of a ship from navigational stars. The optical astronavigation system has a periscope, goniometric device which has a stabilised sighting prim, stabilised base which is placed on a cardan suspension, collimator with a floating mark, adjustment device and an eyepiece, fitted in the lower part of the periscope, as well as two unstabilised sighting prisms, lying in one vertical plane parallel each other. The goniometric device is placed in the lower part of the periscope. One of the unstablised sighting prisms is fitted in the head of the periscope, and the other - in front of the goniometric device. The device also has a mirror, beam splitter and a cube, fitted such that, the direction of the light beam with the floating mark into the eyepiece is provided through the unstabilised sighting prism in front of the goniometric device, mirror, beam splitter and cube, and the direction of the viewed image of the object in the eyepiece is provided through the beam splitter.
EFFECT: smaller dimensions of the device while retaining accuracy of measurement.
FIELD: instrument making.
SUBSTANCE: invention is related to magnetic measurements on moving objects, in particular to instruments intended for measurement of components and complete vector of Earth magnetic field induction, and also to magnetic course indication and navigation in transport means. Device comprises serially connected and mutually closely located three-component detector of magnetic field, which is rigidly connected to axes of object, and transceiving device installed in fixed position on object, which includes serially connected commutator, analog memorising device, unit of analog-digital conversion and microcomputer.
EFFECT: higher accuracy of magnetic measurements on moving object by elimination of electromagnetic noise effect from transceiving device of magnetic-measurement instrument.
FIELD: instrument making.
SUBSTANCE: invention is related to facilities of navigation and control of moving objects, namely to inertial navigation systems. In platform-free inertial metering converter comprising three accelerometres, three gyroscopic angular speed metres (GASM), computing device, devices for compensation of errors, devices for error compensation in conversion coefficient are arranged in each GASM, devices of compensation of cross connection between each GASM. Each device of GASM conversion coefficient error compensation comprises the first and second repeaters, operational amplifier, inverter and creates a differential outlet for tracking systems of aircraft control-surface actuators control. Each device for compensation of cross connection comprises switch, resistive divider and compensation resistor connected to outlet of resistive divider. Devices for compensation of cross connection are connected between each of GASM conversion coefficient error compensation.
EFFECT: expansion of functional resources of platform-free inertial metering converter.
2 cl, 1 dwg
FIELD: physics, measurement.
SUBSTANCE: invention is related to satellite navigation and may be used to build orbit-based functional addition to global navigation satellite system (GLONASS). Substance of method consists in the fact that on board of low-orbit spacecraft navigation equipment of user is installed, which is used to receive navigation messages, as well as additional equipment used to receive signals of on-air television of ground stationary television radio stations, bearing frequencies of two or more television channels are separated, on the basis of which Doppler shift of bearing frequencies is detected, orbit parametres are detected, calculating ephemerids of spacecraft, and navigation messages are formed in accordance with specified structure of navigation message, then radio navigation signals are broadcasted in direction of navigation information consumer location.
EFFECT: higher reliability of navigation detections of navigation information consumers performed with the help of GLONASS, due to increase of orbit-based navigation message sources number.
FIELD: physics, measurement.
SUBSTANCE: invention is related to space radio navigation and may be used in measurement facilities for detection of spacecraft orientation, intended for correction of orientation parametres in board inertial navigation system (INS). As radio navigation orientator (RNO), ground and orbital radiation sources may be used. Substance of invention consists in the fact that according to data on position of axes of associated and orbital system of coordinates stored in inertial navigation system, orientation of associated axes of spacecraft is carried out parallel to axes of orbital system of coordinates, and such orientation of axes is retained in a certain interval of flight, during which signal of single RNO is received to antennas of spacecraft in amount of not more than three, installed so that they do not lie on the same straight line. Serially they measure three and more values of phase difference of bearing frequency of signal received by pairs of antennas, systematic error is detected in inertial orientation of spacecraft by values of signal bearing frequency phase difference.
EFFECT: higher reliability of spacecraft angular orientation detection due to reduction of RNO number and possibility to detect orientation of spacecraft by measured values of signal phase difference only in one RNO.
SUBSTANCE: invention relates to measurement equipment, particularly, gyro test benches. Proposed test bench consists of electronic module and mechanical assembly jointed together. The latter comprises a base with movable platform to accommodate gyro to be tested. Aforesaid platform is flexibly suspended to the base. Note here that proposed test bench comprises movable platform angular position pickup, magneto electric pickups of moments, angular speed pickups and amplifiers. Movable components of angle and speed pickups are arrange don movable platform while fixed components are fastened onto the base.
EFFECT: expanded performances.
3 cl, 6 dwg
FIELD: aerospace engineering.
SUBSTANCE: invention relates to navigation measurements and can be used for determining location coordinates of moving objects, for example, flying vehicles (FV). The invention essence consists in correcting the parametres of laws of control over inertial measuring unit incorporated with the plarformless inertial navigation system during the entire operating period. The correction is effected proceeding from the revealed functional dependence between optimum parametres of the laws of control over aforesaid unit and laser gyro instrumental errors varying in time. The proposed device incorporates inertial measuring unit comprising the unit of laser gyros and unit of accelerometers, mechanism of rotation, inertial measuring unit electronics and interfaces, digital microprocessor, navigation data coupling unit, velocity computation unit, data control and display unit, ADC and DAC, correction unit actuating time counter, laser gyro error determination unit, correction signal generation unit, unit generating the laws of control and navigation data bus.
EFFECT: higher accuracy of determining flight and navigation parametres of flying apparatus.
2 cl, 1 dwg
SUBSTANCE: invention relates to vertical-plane guidance final approach instrument. The proposed device incorporates navigation system to determine final approach trajectory, inertial reference system to prepare inertial data on aircraft location and to prepare hybrid location of aforesaid aircraft, multi-mode receiver to facilitate final approach which receives the data on flight trajectory and hydrid location. Aforesaid receiver derives, from aforesaid data, lateral and vertical angular deviations with final approach axis locked-on. The proposed device incorporates also the navigation system to receive aforesaid vertical and lateral angular deviations to be used for aircraft guidance. Note here that aforesaid multi-mode receiver incorporates integrated monitoring system to track operating parametres related to location obtained of the basis of aforesaid various data by inertial reference system.
EFFECT: facilitating aircraft instrumental vertical-plane guidance final approach.
7 cl, 1 dwg
FIELD: physics; radio.
SUBSTANCE: invention relates to radio engineering and can be used for increasing service continuity to users of wide-area differential subsystems (WADS) of satellite radio navigation systems (SRNS) GPS (Global Positioning System) and GLONASS (Global Navigation Satellite System) in conditions of sudden unfavourable factors, such as geomagnetic disturbance, powerful short-period radio noise and local multipath effect noise. In the proposed method warning on possible violation of integrity of wide-area differential subsystems is generated based on analysis of the current regional distribution of real values of the geometrical factor.
EFFECT: increased reliability of warning on violation of integrity of a system, since there is analysis of the real image of the current geometry of the navigation constellation, reflecting the effect of sudden unfavourable factors, as well as provision for service continuity to users of satellite radio navigation systems through timely and reliable warning on violation of wide-area differential subsystems.
FIELD: indirect measurement of flying vehicle attitude.
SUBSTANCE: proposed system includes angular velocity and linear acceleration sensors, satellite navigation system and digital computer which is used for synchronous reception of data from information systems for matching the trajectory formed by signal of angular velocity and linear acceleration sensors with trajectory measured by satellite navigation system. Besides that, computer ensure functioning of recurrent algorithm of estimation of bank, pitch and yawing angles at sliding time interval.
EFFECT: enhanced accuracy.
FIELD: instrument engineering.
SUBSTANCE: device has optical spectrum filter, slit mask, multi-element photo-sensitive detector, threshold elements, photo-detector register, counter, output register, clock pulse generator. Multi-element photo-sensitive detector consists of elementary photo-detectors placed behind one another along quadratic curve. Normal lines to sensitive areas of each elementary photo-detector and quadratic curve lie in same plane.
EFFECT: higher effectiveness and efficiency.
FIELD: location finding.
SUBSTANCE: according to the method module and angle of increment vectors of motion are determined which vectors relate to motion of transportation vehicle. Then correspondent position of transportation vehicle is determined automatically at specified points within specific area when the transportation vehicle passes those points. Current position of transportation vehicle within area is found by means of vector addition of increment vectors of motion with vector of position of current position. Automatical finding of the position of transportation vehicle is performed by means of pick-up unit mounted on transportation vehicle which unit interacts with corresponding control mark without having contact with it. Control mark has reflecting and non-reflecting surfaces which are subject to scanning simultaneously by means of two signals sent from transportation vehicle. Coordinates of control position of transportation vehicle and angle of movement are determined due to estimation of reflected signals depending on time.
EFFECT: improved precision; improved reliability.
13 cl, 5 dwg
FIELD: gyro instrument engineering.
SUBSTANCE: components of apparent acceleration are measured by means of accelerometers mounted onto at least two gyro platforms, signals for controlling gyro platforms are formed and formed signals are controlled in response by means of gyros. Gyro platform is controlled by signals, which provide non-linear communication between value of speed deviation and value of horizontal component of absolute angular speed.
EFFECT: improved precision data; widened dynamic capabilities.
FIELD: navigation of moving objects.
SUBSTANCE: proposed method includes measurement of phantom acceleration by means of accelerometers, forming the gyro-platform control signals and following these signals by means of gyroscope. Gyro-platform is used for controlling the signals which contain signals proportional to components of phantom acceleration generated by accelerometers ensuring invariance of generation of speed deviation of gyro-platform relative to horizon plane. Compass heading is generated by means of optical follow-up system. Components of absolute angular velocity of Darbu trihedral as well as components of speed deviation of gyro-platform relative to horizon plane are generated by accelerometer signals. Navigation parameters such as heading of object and its local coordinates are determined by components of absolute angular velocity of Darbu trihedral.
EFFECT: enhanced efficiency.
FIELD: programmed positioning and orientation of mobile objects; angular orientation or positioning of spacecraft.
SUBSTANCE: proposed method includes measurement of angles of position of optical axes of astro-visual units tracking the stars relative to body-axis coordinate system. For determination of orientation of mobile object, use is made of coordinates of its center of mass in geocentric coordinate system which are determined by means of high-precision global navigation satellite system.
EFFECT: enhanced accuracy of orientation of mobile objects.
FIELD: attitude control and navigation systems.
SUBSTANCE: inertial attitude-and-heading reference system has angular velocity transducer three-channel unit, linear accelerometers three-channel unit, integrator unit, orientation angles derivative former, correction unit, observed attitude-and-heading reference system unit, unit for calculating errors in attitude-and-heading reference system, filter, route adjustment unit. Angular velocities measured by angular velocity transducer three-channel unit and transformed to derivatives from angles of orientation. Those velocities have errors provided by systematic and random errors of measurement. If angular velocities are integrated by integrator unit, the error is not accumulated as permanent component of error is deducted from input signals coming to integrator unit. Roll and pitch are corrected by correction unit by means of using unit for calculating observed vertical and linear accelerator unit. Route is corrected by correction unit together with route adjustment unit. Unit for calculating errors in attitude-and-heading reference system computes difference between observed and calculated angles of orientation. Filters stores mainly statistic errors which are applied to correction unit to compensate errors of platform inertial attitude-and-heading reference system. The compensation has to be actual and total as it is performed according to closed scheme where sign inversion is present; the compensation includes also integration operation.
EFFECT: reduced error for adjustment of angular error.
FIELD: aircraft instrumentation engineering; manned flying vehicle information representation systems.
SUBSTANCE: proposed device is provided with computer module, memory module and graphical module and is designed for dynamic forming of sequence of cartographic mimic frames and their animation demonstration on displays of onboard multi-functional indicators. Device employs cartographic data kept in memory and present flight data. Actual navigational information pertaining to present moment may be obtained by personnel in graphical form at high level of clearness and readability, which is achieved due to realization of definite modes and conditions of flight and conditions of several modes of flight of synthesis of cartographic mimic frames which differ in criterion of selected representations, methods of representation, cartographic projections and rules of positioning, orientation and scaling-up of cartographic representations. Mode of synthesis of cartographic mimic frames is selected automatically according to results of identification of present stage, mode and conditions of flight or at the discretion of personnel.
EFFECT: possibility of keeping the personnel informed on flight conditions at all phases of flight.
5 cl, 2 dwg
SUBSTANCE: method comprises processing the signals from the gyroscope or pickups of absolute angular velocity. The gyroscopic platform controls the signals, which include the signals proportional to the components of the virtual acceleration generated by accelerometers, keeping the gyroscopic platform at a given angle with respect to the horizontal plane. The outer axis of the double-axle gimbal suspension is perpendicular to the base plane. The base is made of a platform stabilized in the horizontal plane.
EFFECT: enhanced reliability of determining.
FIELD: the invention refers to tracing and control of tilting bodies.
SUBSTANCE: tracing and control of attitude of a tilting body is executed on the basis of the signals derived from a gyroscope. The gyroscope signal is transformed and integrated for forming of information of assessed position in the form of modified quarternion in which a multiplier of yawing is limited by zero value. Modified quarternionic information in an analogous form is also formed from the signals derived from a sensor of inclination and is used for definition and correction of a multiplier of an error in the information of the assessed position. Gyroscope drift is also corrected on the basis of a derived signal of the sensor of inclination.
EFFECT: increases reliability of tracing of an object's orientation in a more wide frequency bandwidth and also simplifies computing process.
11 cl, 4 dwg