Об одном подходе к использованию избыточной информации в задачах определения угловой ориентации по наблюдению за двумя векторами
Abstract
The paper summarizes the results of developing an approach to the use of informational redundancy in a widely met problem of attitude determination from two vector observations. This approach is based on using the relationship that should be met by all 12 vectors’ components. In the known publications this scalar relation was used for the sensor outputs checking only. Meanwhile it could be used for either (1) sensor errors calibration or (2) reconstruction of one component of one vector (in the case of incomplete composition of sensors or for the period when the in-put of one sensor is distorted, say, by a vehicle maneuver) as well.
In the paper the usefulness of such approach for the sensor calibration purposes is illustrated as applied to the gimbaled ESG-based INS. It is shown that with this additional relation in hand it became possible to determine all reasonable gyro drift model coefficients as well as the mechanical misalignments.
To demonstrate the advantages of using this approach for the reconstruction of one vector component the results of treating two attitude determination problems are presented. One refers to airplane attitude determination by means of accelerometers and magnetometers and the other to borehole attitude determination using gyro in-clinometer which has no sensor measuring the axial angular rate component.
About the Author
Ю. Литманович
Литманович Юрий Аронович, доктор технических наук, начальник отдела, ученый секретарь. Действительный член общественного объединения «Академия навигации и управления движением».
ОАО «Концерн «ЦНИИ «Электроприбор» (С.-Петербург).
Russian Federation
Russian Federation
References
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Review
For citations:
. Giroskopiya i Navigatsiya. 2012;20(3):99-110. (In Russ.)
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