Proskura G. Models and methods of correction of miniature strapdown inertial navigation systems errors

The object of research are processes of formation of parameters of orientation and navigation in miniature strapdown inertial navigation systems. A research objective is increase of accuracy miniature strapdown inertial navigation system by research of processes of correction of instrumental errors of micromechanical inertial sensors. The basic methods of research is: methods of space of conditions at research of observability and detectability instrumental errors of inertial sensors, methods of an optimum filtration and identification of dynamic systems at formation of an estimated vector of miniINS errors, methods of statistical dynamics of automatic systems, methods of the analysis of dynamic systems and methods of computer modelling at research of accuracy of methods of miniINS correction. Scientific significance of results is defined by that are developed new and existing models and methods of correction of miniINS errors which have allowed to raise essentially accuracy of formation of parameters of orientation and navigation of mobile objects at the expense of increase of accuracy of the description of INS errors in the conditions of use of rough inertial MEMS-sensors, identification maintenance of all a component of a vector of errors of navigating system and an effective utilisation of their estimations in the course of correction are improved. Practical significance consists that results of work have allowed: to generate recommendations concerning a choice a component of a vector of instrumental errors of inertial sensors for reception of necessary accuracy of their estimation, and also a mode of the organisation of correction for increase of accuracy of miniature inertial system; to raise accuracy of correction of the angular and high-speed information of the inertial systems constructed on the basis of sensors; to improve algorithmic and the software regarding formation of parameters of miniature inertial system. The developed models and methods create a necessary basis for increase of accuracy of formation of parameters of orientation and navigation of mobile objects. For the first time the method of formation of an estimated vector of errors of the inertial system which feature is definition detectability of instrumental errors of inertial sensors that allows to provide identification of all a component of a vector of errors of system is developed. Mathematical models of errors miniature integrated strapdown inertial navigating systems by the account of features of microelectromechanical inertial sensors that allows to raise accuracy of the description of models of errors of miniature inertial systems are improved. Has received the further development method of correction of miniature inertial systems regarding the analysis of different kinds of feedback of process of correction by estimations of errors that allows to raise accuracy of formation of parameters of orientation and navigation. Introduction - branch. Further use of the results received in the dissertation: the models and methods developed in the dissertation create a methodological basis for increase of accuracy of formation of parameters of orientation and navigation of mobile objects in the conditions of use of navigating systems with rough inertial MEMS-sensors. The offered models and methods can find application at Research-and-production enterprise ХАРТРОН (Kharkov), КБ "Луч", ПО "Артема" (Kiev), factory "Монолит" (Kharkov), branch "Чугуевский АРЗ", Open Company "ВЕЛЕС", etc.