Development of method and algorithm of dynamic gyrocompassing for high­speed systems of navigation and control of movement

Abstract

The main direction of solving the problem of creating and improving motion control systems for modern aerospace objects is the use of redundant information coming from inertial sensors and a receiver of satellite navigation signals. This explains why the issues of rational combination of information in such systems and the optimization of algorithms for its processing on the on-board computer are given considerable attention today. But not all tasks of increasing the accuracy of navigational definitions can be solved with the help of satellite information. The initial exhibition of the navigation system for azimuth also belongs to such tasks. The design of the dynamic gyrocompass on laser gyroscopes with mechanical dither device is proposed and described in detail. In this design, measurements are made in conditions of controlled rotation of the sensor unit. Thanks to this, without loss of functionality, it is possible to abandon the mechanical dither device, which significantly reduces the level of the high-frequency component of the measurements. Such reduction is important from the point of view of increasing the convergence rate of the azimuth estimate to the true value and increasing the gyrocompass performance as a whole. An algorithm for applying this method of gyrocompassing has also been developed. It processes the current measurement variables of two gyroscopes with high frequency. This technology makes it possible to improve the autocompensation of the quasi-stationary component of the error; to reduce the sensitivity of the azimuth estimate to the effect of an external magnetic field, which led to an increase in the accuracy of determining the azimuth using a dynamic gyrocompass. With the help of modeling it is proved that the accuracy of this gyrocompass is higher than in the case of using gyroscopes with mechanical dither device.