Method for determining the position of reference axes in an inertial navigation system of an object in respect with the basic coordinates and embodiments thereof

• US 6,650,287 B1
• Filed: 01/29/2002
• Issued: 11/18/2003
• Est. Priority Date: 07/29/1999
• Status: Expired due to Fees

• Current Assignee: Air Launch Aeropace Corporation
• Original Assignee: Anatoly Stepanovich Karpov, Robert Konstantinovich Ivanov, Vladimir Sergeevich Rachuk
• Inventors: Karpov, Anatoly Stepanovich, Kovalevsky, Mikhail Markovich, Monakhov, Jury Vladimirovich, Ivanov, Robert Konstantinovich, Borisov, Andrei Vladimirovich, Rachuk, Vladimir Sergeevich
• Primary Examiner(s): Phan, Dao
• Application Number:
  US10/048,176
• Time in Patent Office: 658 Days
• Field of Search: 342/457, 342/357.01, 342/357.02, 342/357.06, 342/357.14, 701/213, 701/215, 701/300
• US Class Current: 342/357.3
• CPC Class Codes: G01S 19/53 Determining attitude

Abstract

A method for determining a position of reference axes in an inertial navigation system of an object with respect to a basic coordinate system is provided. The method includes measuring coordinates and/or speed in a basic coordinate system and an inertial coordinate system at moments of time. The method measures an acceleration vector in the inertial coordinate system at a trajectory portion of the moments of time which allows measuring of the coordinates and/or the speed. The coordinates and speed are determined by similarities in the coordinate systems at the moments of time in a portion not parallel to the trajectory portion where measurements have been made. Vectors corresponding to displacements and/or to an increase of speed of the object in the coordinate systems are determined for at least two portions of the trajectory. The vectors are used to determine a matrix of transfer between the coordinate systems.

Claims

1. A method for determining a position of reference axes in an inertial navigation system of an object in respect with a basic coordinate system, comprising navigation measurements of the object moving in inertial space, in the basic coordinate system and in the inertial coordinate system of the object, wherein:

at moments of time t_i and t_i+1, coordinates of the moving object are measured in a coordinate system of a global navigation system where “

GLONAS”

or/and “

NAVSTAR”

are selected as the basic coordinate system;

at a t_i-t_i+1 trajectory portion, an acceleration vector is measured in the inertial coordinate system of the object, in accordance with which the object coordinates are determined at the same moments of time t_i and t_i+1;

at moments of time t_j and t_j+1 at an object trajectory portion which is not parallel with the portion of preceding navigation measurements, similar measurements of the object coordinates are made in the basic coordinate system and in the inertial coordinate system of the object;

then on a basis of the coordinates determined at each portion of the trajectory t_i-t_i+1 and t_j-t_j+1, which are selected to be at least two, displacement vectors L_i, L_j of the object are determined in the basic coordinate system L_i^B, L_j^B and in the inertial coordinate system of the object 1 L_i^U, L_j^U;

next, a matrix of transfer between the basic coordinate system and the inertial coordinate system of the object is determined from a set of equations;

 

L_i^B=AL_i^U,

4. A method according to claim 1, wherein during movement of an object along a rectilinear trajectory in inertial space, a maneuver is executed, which ensures at least two non-parallel trajectory portions where navigation measurements are carried out.

2. A method for determining a position of reference axes in an inertial navigation system of an object in respect with a basic coordinate system, comprising navigation measurements of the object moving in inertial space, in the basic coordinate system and in the inertial coordinate system of the object, wherein:

at moments of time t_i, and t_i+1, a speed vector of the moving object is measured in a coordinate system of a global navigation system where “

GLONAS”

or/and “

NAVSTAR”

are selected as the basic coordinate system;

at a t_i-t_i+1 trajectory portion, an acceleration vector is measured in the inertial coordinate system of the object, in accordance with which the object'"'"'s coordinates are determined at the same moments of time t_i and t_i+1;

at moments of time t_j and t_j+1, at an object trajectory portion which is not parallel with the portion of preceding navigation measurements, similar measurements of the object speed vector are made in the basic coordinate system and in the inertial coordinate system of the object;

then on a basis of the speed vectors determined at each portion of the trajectory t₁-t_i+1 and t_j-t_j+1, which are selected to be at least two, the object speed vector increments Δ

V₁ and Δ

V₇ are determined in the basic coordinate system Δ

V_i^B, Δ

V_j^B and in the object'"'"'s intertial coordinate system 2 Δ

V_i^U, Δ

V_j^U;

next, a matrix of transfer between the basic coordinate system and the inertial coordinate system of the object is determined from a set of equations;

5. A method according to claim 2, wherein during movement of an object along a rectilinear trajectory in inertial space, a maneuver is executed, which ensures at least two non-parallel trajectory portions where navigation measurements are carried out.

3. A method for determining a position of reference axes in an inertial navigation system of an object in respect with a basic coordinate system, comprising navigation measurements of the object moving in inertial space, in the basic coordinate system and in the inertial coordinate system of the object, wherein:

at moments of time t_i and t_i+1, coordinates and a speed vector of the moving object are measured in a coordinate system of a global navigation system, where “

GLONAS”

or/and “

NAVSTAR”

are selected as the basic coordinate system;

at a t_i-t_i+1 trajectory portion, an acceleration vector is measured in the inertial coordinate system of the object, in accordance with which the coordinates and speed vector of the object 1 are determined at the same moments of time t_i and t_i+1;

at moments of time t_j and t_j+1, at an object trajectory portion which is not parallel with the portion of the preceding navigation measurements, similar measurements of the coordinates and the speed vector of the object are made in the basic coordinate system and in the inertial coordinate system of the object;

then on the basis of the coordinates and speed vectors determined at each portion of the trajectory t_i-t_i+1 and t_j-t_j+1, which are selected to be at least two, displacement vectors L_i, L_j and speed vector increments Δ

V_i, Δ

V_j of the object are determined in the basic coordinate system L_i^B, L_j^B, Δ

V_i^B, Δ

V_j^B and in the inertial coordinate system of the object L_i^U, L_j^U, Δ

V_i^U, Δ

V_j^U;

next, a matrix of transfer between the basic coordinate system and the inertial coordinate system of the object is determined from a set of equations;

6. A method according to claim 3, wherein during movement of an object along a rectilinear trajectory in inertial space, a maneuver is executed, which ensures at least two non-parallel trajectory portions where navigation measurements are carried out.