METHOD FOR INTEGRATION OF STRAPDOWN INERTIAL NAVIGATION SYSTEMS

摘要

FIELD: instrument engineering.;SUBSTANCE: invention relates to the field of navigational instrument-making and can be used in navigation-flight systems, which combine several inertial navigation systems to form generalized output information on the location of the object, its orientation in space and its speeds, as well as using external information for correction of systems included in the complex. Output information coming from at least two strapdown inertial reference systems (SIRS) is compared by majority sign, after which information is rejected from the SIRS, which most deviates from the rest, wherein according to the invention, primary information in the form of orientation matrices and increments of linear velocities is transmitted from the SIRS outputs to the input of the primary information processing unit, in which, based on a predetermined criterion, averaged value of orientation matrix and increments of linear velocities are generated, these averaged values are supplied to input of navigation equations solving unit, and obtained as a result of solving navigation equations output parameters in form of current coordinates and course of object and its speeds are transmitted to input control unit, SIRS output parameters are compared with output parameters of the navigation equations solving unit and analysis of failures of SIRS nodes. In case threshold is exceeded by using majority sign of similar parameters of two or more SIRS, comparison of pair differences of readings of SIRS for each generated parameter is made with thresholds equal to double value of errors of generation of parameters specified in technical conditions at SIRS, wherein if evaluating multiple SIRS detecting strapdown inertial navigation difference systems with the values of which exceed the thresholds, searching for a pair of SIRS, which have least mutual differences, and their values are most close to parameters of navigation equipment of global satellite navigation system users by speed components and coordinates, if threshold is exceeded by pairwise differences of like parameters of all SIRS, pairwise differences are estimated by weighted average of two channels of all SIRS using implementations course D_K variance estimate, in accordance with formula K = (K_i*m_kj² + K_j*m_ki²)/(m _kj²_*m_ki²), where K_i and K_j – measured values of course, P_i = 1/m_i² and P_j = 1/m_j² – weight, measured course values, m_ki and m_kj – root-mean-square errors (RMSE), measured course values, on the i-th and j-th data channels, obtained on the basis of averaging of the measured values of courses of 3 and 4 channels (1 – 2 – 3, 1 – 2 – 4, 1 – 3 – 4, 2 – 3 – 4, 1 – 2 – 3 – 4).;EFFECT: high accuracy of output information of the navigation system and control depth of the systems included in the complex.;1 cl, 2 tbl, 2 dwg