Murahovsky S. Algorithmic means for increasing the accuracy of gyrotheodolites on a limited mobile basis

In the dissertation the following scientific results were received: 1. The method for determining the parameters of motion of a sensitive element of a gyrotheodolite relative to the main axis - angle and angular velocity on the basis of information from the system of stabilization of the rotation of the gyromotor was first developed. 2. The method of determining the angular velocity of a sensitive element in the azimuth on the basis of the state identifier is developed, the necessary eigenfrequencies are determined on the basis of the analysis of the frequency characteristics of the sys-tem. 3. The method of algorithmic compensation of a vibration error due to the use of internal sources of information of the device is improved, and the efficiency of the developed methods under the action on the gyrotheodolite of the translational vibra-tion, both deterministic and random, is shown. The practical value of the results obtained is that on the basis of them it is pos-sible to use land gyrocompasses and gyrotheodolites in conditions of a limited mobile basis, while the possibility of providing the necessary accuracy is possible. The devel-oped methods for determining the parameters of the motion of a sensitive element of gyrotheodolite are protected by patents of Ukraine on the utility model. The development of modern ground-based means requires the use of middle and high-accuracy gyroscopic compasses in its composition. High requirements for gyro-compasses and gyrotheodolites, which are used in ground-based systems, necessitate the device to operate in conditions of linear and angular vibration. In our time, the de-velopment of new and improving existing methods for improving the accuracy of ground gyrocompasses is relevant. The solution of the problem of increasing accuracy is possible both by constructive methods, and by means of mathematical processing of information, which is issued by the device. An overview of ground orientation systems based on a variety of principles is conducted. The gyrotheodolites created on the basis of rotor gyroscopes are consid-ered, special attention is paid to devices and systems of domestic production. The analysis of methods for increasing the accuracy of gyroscopic terrestrial orientation methods has been carried out and one of the topical ways to increase the accuracy of gyrotheodolites is the use of algorithmic methods for increasing accuracy. An analysis of a mathematical model of the sensitive element was carried out, and it was clear that the precession and full equations. An analysis of the effect of harmonic vibration on the accuracy of gyrotheodolite has been obtained, analytical dependences of the vibration error on the basis of frequency characteristics have been obtained. An analysis of the influence of random vibration on the accuracy of gyroth-eodolite was obtained, analytical dependences of the vibration error on the basis of correlation functions were obtained. The analysis of ways to increase the accuracy of gyrotheodolites at work on a limitedly mobile basis is carried out and the use of the method of algorithmic compensation of vibrational error is proposed. The algorithmic compensation modeling is carried out on the basis of the developed information model of gyrotheodolite. The methods of determination of additional parameters of motion of a sensitive element of gyrotheodolite are considered. The method of differentiating the signal of the angle sensor, in the compensation feedback system, is developed and simulated. The observed synthesis was carried out to determine the estimation of the angular ve-locity of the sensitive element of the gyrotheodolite. The system of control of the angular speed of the gyromotor is considered. On the basis of the mathematical model of motion of a sensitive element in a nongyrosta-bilized plane, a method for estimating additional parameters of motion is developed. The simulation was carried out. The definition of typical accelerations in the places of installation of gyrotheod-olite by hardware and software complex consisting of three accelerometers is carried out. Imitational simulation of vibration acceleration influence on accuracy of gyrothe-odolite is carried out. The composition and characteristics of the stabilization system of the rotation of the gyromotor are analyzed. The output signals of the stabilization system are considered and compensation of the vibration error is made on the basis of experimental data.