Раціональний вибір конфігурації гіроскопічних вимірювачів для бесплатформних інерціальних навігаційних систем високодинамічних об'єктів

Abstract

The problem of extending the field of effective use of strapdown inertial navigation systems to the class of highly dynamic objects is considered. To ensure effective motion control, high requirements are put forward for the accuracy of determining the orientation angles and coordinates of an object, which can only be satisfied if high-tech precision gyroscopes and accelerometers are used in SINS. Also, the use of SINS is limited by the possible dynamics of the object. The solution to this problem is based on the possibility of taking into account the conditions of the future operation of the SINS due to the rational choice of the placement or configuration of the gyroscopes' sensitivity axes. This choice makes it possible to reduce the requirements for the measuring range of the meter unit while maintaining functionality as part of the strapdown inertial navigation system as a whole. For this purpose, it is proposed to place gyroscopes in a special way relative coordinate system of the instrument. This arrangement allows to use gyroscopes with a relatively small operating range to measure a significant object rotation speed. The choice of such a configuration is realized through the solution of an certain optimization problem with constraints. In the general case, the problem is solved numerically, and in some cases, an analytical solution is possible. An additional advantage of the optimal configuration is the increase in the accuracy of the SINS by reducing the effect of the error of the scale factor of gyroscopes. The resulting solution is applied in practice during the design and creation of a specialized SINS.