Makarchuk D. Methods and models of increasing the efficiency of naval navigation on the basis of inertial navigation systems under uncertainty

In the dissertation work the actual scientific problem was solved, which consisted in the synthesis of methods and models of increasing the efficiency of naval navigation in conditions of uncertainty, which will provide an increase in the efficiency of naval navigation in conditions of uncertainty by taking into account the anomalies of the gravitational field of the Earth and the position of the temple of the gyroplotform. It is established that the optimal filtration of the navigation information processing is provided with the organization of the following calculation model: on the basis of the received measurement of the correction signal of the navigation system, we calculate the a posterior density, and then determine the optimal estimation of the state vector of the navigation system, which we then use to obtain the error estimation of the vector of navigational parameters produced on each step of measuring navigation parameters. The obtained relations express the connection between the errors of the inertial system in the development of the coordinates, and the course of the object, on the one hand, and the errors of constructing the vertical and the inertial triangular on the other. Also obtained equation of error of construction of a vertical, taking into account mistakes horizontally platform with accelerometers, implementing a system of coordinates and instrumental errors of accelerometers. An estimation of accuracy of the models of taking into account the anomalies of the gravitational field of the Earth in navigation systems, where the error of construction of the vertical, caused by the errors of the deviation of the temple is considered the main one. For given values of errors in determining the position of the temple at level 1; 2; 3 "gives an error in determining the construction of the vertical at 1.3, 2.3 and 3.3" respectively, which is 12-18% better than the current inertial systems. In order to evaluate the performance indicators of the proposed information support methodology, an simulation model of the operation of the next change was developed and implemented as part of the ARM layout of the aviation controller (flight manager) of the RCC. With this model, individual performance indicators were obtained. Estimated methodological errors in the development of geodetic coordinates, due to inaccurate consideration of the radii of curvature of the earth ellipsoid. It was established that when maneuvering a sea vessel at speed v = 10 - 20 m / s the value of these errors is not more than 0,5 "even at latitude 89 °.