gyroscopyГироскопия и навигацияGiroskopiya i Navigatsiya0869-70352075-0927AO «Концерн «ЦНИИ «Электроприбор»10.17285/0869-7035.2015.23.4.173-182gyroscopy-345Research ArticleСтатьиГрубая выставка вертикали безгироскопной инерциальной навигационной системыGyro-free INS coarse alignmentВакнинЕ.VakninE.КлейнИ.KleinI.Rafael Advanced Defense Systems Ltd., ХайфаИзраильRafael Advanced Defense Systems Ltd.Israel201601122025241173182Copyright © Вакнин Е., Клейн И., 20252025Вакнин Е., Клейн И.Vaknin E., Klein I.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.gyroscopy.ru/jour/article/view/345

Грубая выставка на неподвижном основании используется для начального определения ориентации инерциальной навигационной системы (ИНС) с помощью векторов силы тяжести и угловой скорости вращения Земли. В безгироскопной ИНС используются только акселерометры, следовательно, в такой системе невозможно измерить и вычислить угол рыскания. В статье описывается процесс грубой выставки вертикали и выводятся характеристики погрешностей безгироскопной системы, сравниваются различные конфигурации акселерометров.

For a stationary system, coarse alignment is used to initially determine the orientation of the INS by utilizing the Earth gravity and rotation vectors. Yet, a gyro-free INS has only accelerometers and hence cannot measure the Earth rotation vector and thus cannot deduce its yaw angle. In this paper, we formulate the coarsealignment procedure and derive error characteristics for a gyro-free system. In addition, a comparison between different configurations of accelerometers is being conducted.

Грубая выставкаточная выставкавертикальбезгироскопная инерциальная навигационная системанеподвижная системаакселерометрвекторы силы тяжести и угловой скорости вращения Земли.Сoarse alignmentfine alignmentgyro-free INSstationary systemaccelerometerEarth gravity and rotation vectors.ReferencesTitterton, D.H. and Weston J.L, Strapdown Inertial Navigation Technology, The Institution of Electrical Engineers, 2004.Titterton, D.H. and Weston J.L, Strapdown Inertial Navigation Technology, The Institution of Electrical Engineers, 2004.Britting, K.R., Inertial Navigation Systems Analysis, John Wiley & Sons Inc., 1971. 3. Rogers, R.M., Applied Mathematics in Integrated Navigation Systems, American Institute of Aeronautics and Astronautics, 2003, second edition.Britting, K.R., Inertial Navigation Systems Analysis, John Wiley & Sons Inc., 1971. 3. Rogers, R.M., Applied Mathematics in Integrated Navigation Systems, American Institute of Aeronautics and Astronautics, 2003, second edition.Ciblak, N., Determining the angular motion of a rigid body using linear accelerometers without integration, 3rd International Conference on Recent Advances in Space Technologies, RAST ’07, 2007, pp. 585–590.Ciblak, N., Determining the angular motion of a rigid body using linear accelerometers without integration, 3rd International Conference on Recent Advances in Space Technologies, RAST ’07, 2007, pp. 585–590.Henson, R. and Pachter, M., Optimal gyro-free IMU geometry, AIAA Guidance, Navigation and Control Conference and Exhibit, August 2005.Henson, R. and Pachter, M., Optimal gyro-free IMU geometry, AIAA Guidance, Navigation and Control Conference and Exhibit, August 2005.Pachter, M., Welker, T.C., and Huffman, R.E., Gyro-free INS theory, Journal of the Institute of Navigation, 2013, vol. 60, no. 2, pp. 85-96.Pachter, M., Welker, T.C., and Huffman, R.E., Gyro-free INS theory, Journal of the Institute of Navigation, 2013, vol. 60, no. 2, pp. 85-96.Chen, J.H, Lee, S.C., and and DeBra, D., Gyroscope free strapdown inertial measurement unit by six linear accelerometers, Journal of Guidance, Control and Dynamics, March-April 1994, vol. 17, No.2.Chen, J.H, Lee, S.C., and and DeBra, D., Gyroscope free strapdown inertial measurement unit by six linear accelerometers, Journal of Guidance, Control and Dynamics, March-April 1994, vol. 17, No.2.Tan, Chin-Woo, and Sungsu Park, Design of accelerometer-based inertial navigation systems, Instrumentation and Measurement, IEEE Transactions, on, 54.6 pp. 2520-2530, 2005.Tan, Chin-Woo, and Sungsu Park, Design of accelerometer-based inertial navigation systems, Instrumentation and Measurement, IEEE Transactions, on, 54.6 pp. 2520-2530, 2005.Tan, Chin-Woo, et al. Design of gyroscope-free navigation systems, Intelligent Transportation Systems, IEEE Proceedings, 2001.Tan, Chin-Woo, et al. Design of gyroscope-free navigation systems, Intelligent Transportation Systems, IEEE Proceedings, 2001.Algrain, M.C., and Jafar, S., Estimation of 3D angular motion using gyroscopes and linear accelerometers, Aerospace and Electronic Systems, IEEE Transactions on 27.6, pp. 910-920, 1991.Algrain, M.C., and Jafar, S., Estimation of 3D angular motion using gyroscopes and linear accelerometers, Aerospace and Electronic Systems, IEEE Transactions on 27.6, pp. 910-920, 1991.Zappa, B., Legnani, G., van den Bogert, A.J., and Adamini, R., On the number and placement of accelerometers for angular velocity and acceleration determination, Journal of Dynamic Systems Measurement and Control, 2011, 123, pp. 552–554.Zappa, B., Legnani, G., van den Bogert, A.J., and Adamini, R., On the number and placement of accelerometers for angular velocity and acceleration determination, Journal of Dynamic Systems Measurement and Control, 2011, 123, pp. 552–554.Ezzaldeen, E., Knedlik, S., and Loffeld, O., Angular motion estimation using dynamic models in a gyro-free inertial measurement unit, Sensors, 2012, 12.5, pp. 5310-5327.Ezzaldeen, E., Knedlik, S., and Loffeld, O., Angular motion estimation using dynamic models in a gyro-free inertial measurement unit, Sensors, 2012, 12.5, pp. 5310-5327.Klein I., Analytic error assessment of gyro-free INS, Journal of Applied Geodesy, 2015, vol. 9, no. 1, pp. 49-62.Klein I., Analytic error assessment of gyro-free INS, Journal of Applied Geodesy, 2015, vol. 9, no. 1, pp. 49-62.Kempe, V., Inertial MEMS Principles and Practice, Cambridge University Press, 2011.Kempe, V., Inertial MEMS Principles and Practice, Cambridge University Press, 2011.Groves, P.D., Principles of GNSS, Inertial and Multisensor Integrated Navigation Systems", Artech House, 2008.Groves, P.D., Principles of GNSS, Inertial and Multisensor Integrated Navigation Systems", Artech House, 2008.Farrell, J.A., Aided Navigation GPS with High Rate Sensors, McGraw-Hill, 2008.Farrell, J.A., Aided Navigation GPS with High Rate Sensors, McGraw-Hill, 2008.

The authors declare that there are no conflicts of interest present.