Nekrasova M. Hybrid inertial system for objects with high angular dynamics

Developed methods for improving the accuracy of the operation of the SINS for objects that rotate rapidly, based on the use of too many accelerometers. In the framework of this study, the structure of the accelerometer SINS was developed, the number and principle of placing an excess number of accelerometers was chosen. The method of functioning of such SINS in the conditions of rapid rotation has been developed. An error model was constructed and the accuracy characteristics of the ABINS method were obtained. The area of its effective application is investigated. Formed requirements for accelerometers, in accordance with the requirements of the system. The method of calibrating the accelerometer system has been improved, in which, in addition to standard errors, the errors of the accelerometer in the unit are also taken into account. A method for correcting angles for objects that rotate rapidly using experimental measurements of accelerometers has been devel-oped. This allows improving the accuracy of autonomous navigation for such objects. The ABINS algorithm was simulated under the conditions of a rotating object.