PRINCIPLES FOR DESIGNING DIGITAL ROBUST CONTROLLERS FOR MEASUREMENT CHANNELS OF ANGULAR VELOCITY AND PROPER ACCELERATION IN MODERN STRAPDOWN INEVERTIAL NAVIGATION SYSTEMS AND SOFTWARE FOR THEIR MONITORING

摘要

This paper considers the principles for designing digital controllers for measurement channels of proper acceleration and angular velocity in modern strapdown inertial navigation systems by examples of a quartz pendulous accelerometer and electromechanical sensor of angular velocity. Various approaches to synthesis of digital controllers are applied. The obtained results are compared. Also, the main principles of the mathematical software development to carry out actual tests of the measurement channels of proper acceleration and angular velocity, as well as inertial measurement units (IMU) based on them, in conditions of production are considers in this work. The principles of the software development, its connection with a type of the tested device and its mathematical model are discussed.