Коррекция углов ориентации в бесплатформенных инерциальных навигационных системах

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Коррекция углов ориентации в бесплатформенных инерциальных навигационных системах
Инженерный журнал: наука и инновации # 8·2017 11
The attitude correction in the strapdown
inertial navigation systems
© A.Yu. Egorushkin1,2, V.I. Mkrtchyan1,2
1 Bauman Moscow State Technical University, Moscow, 105005, Russia
2 TeKnol Ltd., Moscow, 117246, Russia
Strapdown inertial navigation system (SINS) determines the coordinates, velocity and
attitude of the object. The system main drawback is the error, which is accumulating with
time. The article proposes the methods to reduce attitude errors. These methods are
based on the satellite navigation system (SNS) for SINS correction. The first method al-
lows us to measure and compensate instrument errors. The second one uses the external
information from the satellite system for damping SINS errors. The article presents error
models and both methods analysis. The inertial systems testing results in a helicopter
confirm the method effectiveness.
Keywords: inertial navigation system (INS), gyroscope, accelerometer, global navigation
satellite system (GNSS)
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Yegorushkin A.Yu., Cand. Sc. (Eng.), Assoc. Professor, Department of Instruments and
Orientation Systems of Stabilization and Navigation, Bauman Moscow State Technical