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

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 ti, and ti+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 ti-ti+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 ti and ti+1;
• at moments of time tj and tj+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-ti+1 and tj-tj+1, which are selected to be at least two, the object speed vector increments ΔV1 and ΔV7 are determined in the basic coordinate system ΔViB, ΔVjB and in the object's intertial coordinate system 2 ΔViU, ΔVjU;
• 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:
• ΔViB=AΔViU,
• ΔVjB=AΔVjU,
• i,j=1 . . .n, i≠j,
• where A—matrix of transfer from the basic coordinate system to the inertial coordinate system of the object,
• n—number of trajectory portions;
• then according to matrix A components, the positions of the reference axes of the inertial navigation system of the object is determined in relation to the basic system.

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 ti and ti+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 ti-ti+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 ti and ti+1;
• at moments of time tj and tj+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 ti-ti+1 and tj-tj+1, which are selected to be at least two, displacement vectors Li, Lj and speed vector increments ΔVi, ΔVj of the object are determined in the basic coordinate system LiB, LjB, ΔViB, ΔVjB and in the inertial coordinate system of the object LiU, LjU, ΔViU, ΔVjU;
• 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:
• LiB=ALiU, ΔViB=AΔViU
• LjB=AljU, ΔVjB=AΔVjU
• i,j=1 . . .n, i≠j,
• where A—matrix of transition from the basic coordinate system to the inertial coordinate system of the object,
• n—number of trajectory portions;
• then according to matrix A components, the position of the reference axes of the inertial navigation system of the object is determined in relation to the basic system.