RU2741501C1 - Method for calibrating dinamically adjustable gyroscope as part of inertial navigation system - Google Patents

Abstract

FIELD: instrument engineering.

SUBSTANCE: invention relates to instrument engineering and can be used for calibrating the time-changing angular velocity of dynamically adjustable gyroscopes as part of an inertial navigation system and the errors thereof in the development of orientation and navigation parameters, caused by said velocity of drift. In order to calibrate the time-changing angular drift velocity of dynamically adjustable gyroscopes as part of the inertial navigation system and the error in its orientation and navigation parameters caused by said drift velocity, the inertial navigation system is first installed on a horizontal fixed base relative to the ground, its launch is carried out, the gyroplatform is installed on a horizontal plane and on the plane of the meridian. Furthermore, a stabilized platform with dynamically adjustable gyroscopes is held in this spatial position, the signals of settings ate delivered to the inlet of on-course gyroscope stabilization channel amplifier, of electric spring amplifier of the channel as well as of the amplifiers for stabilizing the channels of roll and tangage. The time changes of orientation and navigation parameters produced by the inertial navigation system are then measured. Other launches are carried out with other settings, the results of which are used to detect signals of settings minimizing errors in the development of inertial navigation system parameters for orientation and navigation and in the operating modes signals formed in the computer on the basis of these minimizing settings are delivered into the channels for stabilizing the gyroplatform and into the channel of the electric spring of the course gyroscope.

EFFECT: technical result consists in ensuring adjustment of dynamically adjustable gyroscopes as part of an inertial navigation system which enables reducing the monotone change in the gas-dynamic drift velocity of dynamically adjustable gyroscopes and the resulting errors in the inertial navigation system by the development of the orientation and navigation parameters without replacing the gyroscope in the system.

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Description

The invention relates to the field of instrumentation, mainly gyroscopic, and can be used in the production of inertial navigation systems (INS) on dynamically tuned gyroscopes (DNG).

A known method for reducing the change in time of the drift velocity of the DNG in the launches used in the INS, by using in the manufacture of the technological operation of gas cleaning of its inner cavity and filling with a working gas. In the known method of filling dynamically tuned gyroscopes with gas (see inventor's certificate SU No. 1713342 according to class G01C 25/00 dated October 15, 1991), the internal cavity is cleaned by vacuum degassing, pumping out the resulting gas mixture, blowing the internal cavity of the DNG with hydrogen, followed by filling it with working gas and sealing. However, the DNG has a ball bearing support in which grease is used, which does not allow for a higher degree of cleaning of the internal cavity due to the fact that intensive evaporation of the lubricant occurs and the required DNG resource is not provided. During the manufacture of DNG, a monotonic change in time of the drift velocity at start-up may occur, which limits their release. This change in the drift speed is due to the occurrence in the DNG of a gas-dynamic moment acting on its rotor, due to a change in the state of the gaseous medium in its internal cavity occurring during the production process, associated with gas emissions from the lubricant of the ball bearing support and other elements.

To reduce the resulting monotonic change in the drift velocity in the launch, methods of its adjustment are used at the stage of the sealed DNG. So in the known method of adjusting a three-degree gyroscope (see inventor's certificate SU No. 1612700 according to class G01C 19/22 dated January 20, 1994), in order to reduce the error caused by the gas-dynamic moment, the DNG casing is heated locally and asymmetrically, while the minimum dynamic a change in the drift velocity along one axis is achieved by heating the casing along the perpendicular axis. To implement this method, the DNG must have a special thermostating system that allows the local zones of the casing to be heated unevenly and to regulate their heating temperature. In standard DNG, which do not have such a thermostatting system, it is not possible to regulate the monotonic change in the drift speed using a thermostating system.

The prototype is the method of adjusting a dynamically tuned gyroscope (see inventor's certificate SU No. 1245046 according to class G01C 25/00 of March 15, 1986). In this method, it is proposed to reduce the change in the drift speed caused by non-stationary gas-dynamic moments by changing the relative position of the body and rotor of the DNG operating in the current feedback mode of the torque sensor. To do this, different constant displacements are introduced into the electrical connections between the angle sensors and the torque sensors of the DNG until a minimum change in the drift velocity with time at startup is achieved. This displacement is implemented using a bridge circuit of the DNG angle sensors, which is located on its body and is one with it. When adjusting, changing the parameters of the bridge circuit, for example, the value of its resistances, they cause the appearance of signals on the angle sensors of the DNG, which are fed through the feedback circuit to its torque sensors. The torque sensors create a moment that turns the DNG rotor to a position at which the error signal on the angle sensors disappears. A change in the angular position of the rotor in relation to the body and the motor shaft will cause a change in the gas-dynamic moment acting on the rotor. By changing the angular position of the rotor in this way, it is possible to find such a position at which the monotonic change in the speed of the BOG drift at startup, caused by the unsteady gas-dynamic moment, becomes minimal.

In the known method, after carrying out an autonomous adjustment of the DNG to determine the angular position of the rotor by selecting the parameters of the bridge circuit of the angle sensors, which minimizes the monotonic change in the drift speed in the start, the bridge circuit of the angle sensors is sealed by filling with a sealant, and access to the circuit elements becomes impossible. In this final form, the DNG is installed in the ANN gyro platform. The thermal field of the DNG in the gyro platform differs from its thermal field during autonomous adjustments and tests due to the effect on it of internal sources of disturbance of the gyro platform, caused, for example, by the temperature effect of heat sources of the gyro platform (heaters of the thermostating system of the gyro platform, neighboring thermostated DNG, blowing of the fan of the gyro platform). A change in the thermal field of the DNG will cause its temperature deformations, for example, deformation of its casing, which will lead to a change in the gas-dynamic gaps and a possible increase in the monotonic drift velocity. An increase in the monotonic drift velocity of the DNG during the start of the INS is also caused by a change in the state of its gas medium due to the burning of the elements, especially the grease lubrication of the ball-bearing support in the course of operating time. If the magnitude of the monotonic drift velocity of the DGS within the INS has exceeded the tolerance limits, then overestimated errors in the determination of the orientation and navigation parameters of the INS occur, but it is not possible to adjust it as part of the system. In this case, it is necessary to remove the gyro platform from the ANN and extract the DNG from it, which is replaced with another one corresponding to the required parameters. At low operating time, the removed DOG is attempted to be restored by additional gas cleaning, but this is not always possible. Thus, if an overestimated change in the monotonic drift velocity occurs in the DNG adjusted by a known method by changing the parameters of the bridge circuit when operating as part of the INS, then such a DNG is usually replaced with a new one, which increases the labor intensity of the system, and in case of failure in operation, the cost of its repair. The absence, when using the known method, of the ability to adjust the monotonic change in the drift velocity of the DNG as part of the INS, leads to the possible operation of the system with maximum errors, which reduces the accuracy of orientation and navigation of the object.

The technical result that can be obtained with the implementation of the present invention is to provide the possibility of adjusting the DNG as part of the ANN, which makes it possible to reduce the monotonic change in the gas-dynamic drift velocity of the DGS and the resulting errors in the generation of the orientation and navigation parameters by the INS without replacing the gyroscope in the system.

The technical result is achieved by the fact that in the known method for adjusting a dynamically tunable gyroscope, which includes changing the mutual angular position of the elements of the gyroscope body and its rotor, an inertial navigation system is additionally installed on dynamically tuned gyroscopes, which has a thermostatted, controlled in azimuth and stabilized in the plane of the horizon gyro platform with a four-axis gimbal gimbal, including an additional tracking frame, on a horizontal base that is fixed relative to the Earth so that the axis of the additional frame directed to the object in the direction of movement is oriented to the North, an inertial navigation system is launched, with the inclusion of a thermostatting system, an exhibition of a stabilized gyro platform platform is performed into the horizon plane and towards the North, when its yaw, roll, pitch sensors show zero values, then they are kept in this spatial position The stabilized platform is fed with the help of an inertial navigation system computer to the input of the amplifier of the course stabilization channel of the gyro platform and to the input of the electric spring amplifier of the gyroscope of this channel the setting signals, respectively U ₁ , U _EP , and to the input of the stabilization amplifiers of the roll and pitch channels of the gyro platform, respectively, the setting signals U ₂ , U ₃ , and from the moment the inertial navigation system is ready, within one hour, changes in time of the attitude and navigation parameters generated by the inertial navigation system are measured; other launches are similarly performed with measurements of the attitude and navigation parameters at the same ambient temperatures and initial thermal states of the inertial navigation system, but with other values of the setpoint signals, the setpoint signals U ₁₀ , U _EP0 , U ₂₀ , U _{30 are found} , minimizing the errors in the development of the orientation and navigation parameters by the inertial navigation system at startup, and in operation In the modes of the inertial navigation system, the setpoint signals generated in the computer are fed:

U _1Р = U ₁₀ into the exchange rate stabilization channel;

U _EPR = U _EP0 into the channel of the electric spring of the course channel gyroscope;

U _2P = U ₂₀ Cosψ _g + U ₃₀ Sinψ _g into the roll stabilization channel;

U _3P = U ₃₀ Cosψ _g -U ₂₀ Sinψ _g into the pitch stabilization channel,

where ψ _g is the angle of rotation of the internal roll frame relative to the stabilized platform, which is measured using a gyro platform angle sensor of this rotation.

FIG. 1 shows the kinematic diagram of the gyro platform of the inertial navigation system on the DNG with a four-axis gimbal, which has: the axis OA of the suspension of the stabilized platform (SP), the axis of the OB of the suspension of the internal roll frame (RVK), the axis of the OS of the suspension of the pitch frame (RT), the axis of the OD of the additional frames (DR). The gyro platform contains: a stabilized platform 1, located in a gimbal suspension, an internal roll frame 2, a pitch frame 3, an additional external roll frame 4. On SP 1 there are: DNG 5 course channel, DNG 6 roll and pitch channels, accelerometers 7 and 8 with horizontal axes of sensitivity, accelerometer 9 with a vertical axis of sensitivity. Along the axis OA of the stabilized platform, there are installed: a sensor 10 of the rotation angle ψ _{g of the} RVK relative to the joint venture, a coordinate converter 11 and an unloading torque sensor 12 of the stabilization system. The following are installed along the axis of the OB of the internal roll frame: a sensor of the angle 13 of rotation ϕ _g PT relative to the RVK and the unloading torque sensor 14. Along the axis of the OS of the pitch frame, a sensor of the angle 15 of rotation υ _g DR relative to the RT and the unloading torque sensor 16 are installed along the axis of the OD of the additional frame. the sensor of the angle 17 of rotation γ _{g of the} object relative to the DR, the torque sensor 18 of the tracking system of the DR channel. DNG 5 and 6, respectively, include angle sensors 19.20 and 26, 27, moment sensors 21, 22 and 28, 29, rotor 23 and 30, internal gimbals 24 and 31 with cardan frames and elastic torsion bars, shafts 24 and 32 DNG engines. The stabilization system of the joint venture has stabilization amplifiers for the directional channel 12 and pitch and roll channels, 34 and 35, respectively, an amplifier 36 of an electric spring DNG 5 and an amplifier 37 of a channel of the DR tracking system.

The gyro platform on the DNG is an indicator one. When external disturbing moments act around the gimbal axes, the joint venture deviates from a given position. The deflection angles of the joint venture are measured with the use of DNG angle sensors. The signals from the DNG angle sensors are fed to the amplifiers, and from them - to the windings of the stabilization moments sensors, the moments of which balance the external disturbing moments. Keeping the SP in a given spatial position, up to stabilization errors, each of the two DNG located on the LP has two measuring axes. One of the measuring axes of the DNG 5 is redundant. To exclude the possibility of the rotor 23 of the DNG 5 to lie on the stop, which will entail a failure of the stabilization system, an electric spring system is used in the excess channel of the DNG 5, which includes an angle sensor 20, an amplifier 36 and a torque sensor 21.

When the object and the body of the gyro platform rotate relative to the axis OA of the joint venture at an angle ψ _g , the axis of the OB of the RVK suspension and the axis of the OS of the suspension RT will unfold together with them. In the presence of the angle ψ _{g, the} turn of the joint venture relative to, for example, the PT axis will be measured not only by the angle sensor 27 of the DNG 6, but also by its angle sensor 26, as a result of which an undesirable relationship between the stabilization channels will appear, which, at large values of ψ _g, will lead to system instability stabilization. To exclude such a possibility, a coordinate converter 10 is installed on the OA axis of the stabilized platform, and signals from angle sensors 26 and 27 of the DNG 6, which control the unloading moment sensors located along the RVK OB axis and the RT OS axis, are passed through the coordinate converter 10. With an ideal coordinate converter, these channels become independent.

For the normal functioning of the ANN for any evolution of the object, an additional tracking frame 4 is used in its gyro platform, the axis of rotation of which OD in the initial position coincides with the axis of the OB of the frame of the internal roll 2.

When considering the essence of the proposed method, we use the following coordinate systems (SC):

O _g X _g Y _g Z _g - geographic SC, in which the beginning of the SC is on the surface of the earth's ellipsoid, the O _g X _g axis lies in the plane of the local meridian and is directed to the North Pole, the O _g Y _g axis is directed vertically to the earth's ellipsoid, the axis O _g Z _{g is} directed to the east;

O _to X _to Y _to Z _to - SC connected to the body of the INS, the origin is placed at the center of mass of the object, the axes O _to X _to and O _to Y _to are located in the vertical plane of symmetry of the object, the axis O _to X _{to is} directed along the longitudinal axis of the object , and the O axis _to Y _to - along the perpendicular to the O axis _to X _to , lying in the vertical plane of symmetry of the object, the O axis _to Z _to forms the right SC;

O ₁ X ₁ Y ₁ Z ₁ - SC associated with the joint venture. The beginning of the SC is placed at the center of intersection of the axes OA, OB, OS, OD of the gyro platform, the O ₁ X ₁ axis is directed along the RVK OB axis in the direction of the longitudinal axis of the object, the O ₁ Y ₁ axis is directed upward along the OA platform axis, the O ₁ Z ₁ axis is directed so that the SC is right;

O ₂ X ₂ Y ₂ Z ₂ - SC associated with RVK. The beginning of the SC is placed at the center of intersection of the axes OA, OB, OS, OD of the gyro platform, the O ₂ X ₂ axis is directed along the RVK OB axis, the O ₂ Y ₂ axis is directed along the axis of rotation of the J OA, the O ₂ Z ₂ axis is directed so that the SC is right;

O ₃ X ₃ Y ₃ Z ₃ - SC associated with RT. The beginning of the SC is placed at the center of intersection of the axes of the gyro platform OA, OB, OS, OD, the O ₃ X ₃ axis is directed along the RVC axis in the direction of the longitudinal axis of the object, the O ₃ Z ₃ axis is directed along the OS axis of the pitch frame towards the starboard side of the object, the axis O ₃ Y _{3 is} directed so that the SK is right;

O ₄ X ₄ Y ₄ Z ₄ - SC associated with RT. The beginning of the SC is placed at the center of intersection of the axes of the gyro platform OA, OB, OS, OD, the O ₄ X ₄ axis is directed along the OD axis of the additional frame in the direction of the longitudinal axis of the object, the O ₄ Z ₄ axis is directed along the OS axis of the pitch frame towards the starboard side of the object, the axis О ₄ Y _{4 is} directed so that the SK is right;

O _g1 X _g1 Y _g1 Z _g1 - SC connected with the body of the DNG of the roll and pitch channel. The beginning of the SC is placed at the center of intersection of the axes of the internal gimbal, the axes O _g1 X _g1 and O _g1 Y _g1 are located in the measuring plane of the DNG, while the O _g1 X _g1 axis is parallel to the O ₁ Z ₁ axis _{of the} stabilized platform and is directed in the opposite direction, the Or axis _g1 Y _{g1 is} parallel to the axis O ₁ X ₁ SP and is directed in the opposite direction, the axis O _g1 Z _{g1 is} directed along the axis of its own rotation of the DNG rotor and forms the right SC;

O _g2 X _g2 Y _g2 Z _g2 - SC associated with the body of the DNG of the course channel. The beginning of the SC is placed at the center of intersection of the axes of the internal gimbal, the O _g2 X _g2 and O _g2 Y _g2 axes are located in the measuring plane of the DNH, while the O _g2 X _g2 axis is parallel to the O ₁ Z ₁ axis _{of the} stabilized platform and is directed in the opposite direction, the O axis _g2 Y _{g2 is} parallel to the axis O ₁ Y ₁ SP and is directed in the opposite direction, the axis O _g2 Z _{g2 is} directed along the axis of its own rotation of the rotor DNG and forms the right SC;

O _p1 X _p1 Y _p1 Z _p1 - SC of the Rezal axes connected with the rotor of the DNG of the roll and pitch channel. The beginning of the SC is placed at the center of intersection of the axes of the internal gimbal, the axis O _p1 X _p1 in the initial position coincides with the measuring axis O _g1 X _g1 DNG and is directed towards the angle sensor 27, the axis O _p1 Y _p1 in the initial position coincides with the measuring axis O _g1 Y _g1 DNG and directed towards the angle sensor 26, the axis O _p1 Z _{p1 is} directed along the axis of its own rotation of the rotor DNG and forms the right SC;

O _p2 X _p2 Y _p2 Z _P2 - SC of the Rezal axes associated with the rotor of the DNG of the course channel. The beginning of the SC is placed at the center of intersection of the axes of the internal gimbal suspension, the axis О _р2 X _Р2 in the initial position coincides with the measuring axis О _g2 X _g2 DNG and is directed towards the angle sensor 20, the axis O _P2 Y _P2 in the initial position coincides with the measuring axis O _g2 Y _g2 DNG and directed towards the angle sensor 19, the axis O _p2 Z _{P2 is} directed along the axis of its own rotation of the DNG rotor and forms the right SC;

FIG. 2 shows the relative initial arrangement of the SC O _g X _g Y _g Z _g , O _k X _k Y _k Z _k , O ₁ X ₁ Y ₁ Z ₁ , O ₂ X ₂ Y ₂ Z ₂ , O ₃ X ₃ Y ₃ Z ₃ , O ₄ X ₄ Y ₄ Z ₄ , O _g1 X _g1 Y _g1 Z _g1 , O _g2 X _g2 Y _g2 Z _g2 , O _p1 X _p1 Y _p1 Z _p1 , O _p2 X _p2 Y _p2 Z _P2 O _p2 X _P2 Y _p2 Z _P2 (in Fig. 2, the SC centers are placed at one point O _i , where i = r, k, 1, 2, 3, 4, r1, r2, p1, p2; H-vector of the angular momentum of the DNG) before adjusting the angular positions of the DNG rotors. In order to ensure, when adjusting the perpendicularity of all axes of the gimbal of the gyro platform, the zero value of the yaw angle ψ _g , measured by the sensor of the directional channel angle, as well as reproducing the orientation of the LB in a similar orientation when working on the object, the INS body is placed on a horizontal base stationary relative to the Earth, and the LF of the gyro platform set so that the associated CK O ₁ X ₁ Y ₁ Z ₁ coincides with the geographic CK O _g X _g Y _g Z _g , as shown in FIG. 2. In the process of adjustment, the geographic orientation of the SP is maintained by the INS.

The task of adjusting the DNG as part of the INS is to determine the angular orientation of their rotating rotors relative to the housings, which reduces the change in drift velocities caused by the action of gas-dynamic moments. When the rotor is tilted relative to the DNG body, the parameters of the gaps between the surface of the rotating rotor and non-rotating structural elements associated with the body change. A change in these gaps changes the values of the gas-dynamic moments acting along the rotor axes, at certain angles of inclination, the gas-dynamic moments are minimized and, as a consequence, a decrease in the time variation of the BOG drift velocities and errors in the generation of the orientation and navigation parameters by the INS.

When regulating the DNG 5, the setting signals U ₁ and U _ep, respectively, are fed to the directional channel of the stabilization of the ANN gyro platform to the input of the stabilization amplifier 33 (see Fig. 1), and to the channel of the electric spring of this DNG, to the input of the amplifier 36 _. The signal U ₁ appearing at the input of the amplifier 33 will cause the operation of the unloading torque sensor 12 of the exchange rate stabilization channel. The resulting moment will begin to rotate the joint venture and, accordingly, the DNG body 5 around its axis OA. In this case, the rotor 23 DNG 5 with an accuracy up to the value of its own drift speed, which is incomparably small relative to the speed of rotation of the joint venture, will maintain a constant position in the geographic SC, which is provided by the algorithm of the ANN operation. In DNG 5, when turning its body relative to the rotor around the measuring axis O _g2 Y _g2 , the angle sensor 19 generates a signal U _yr2 . The phasing of the stabilization channel is such that this signal, having passed through the corresponding amplifying path, will be subtracted from the setpoint signal U ₁ at the input of the stabilization amplifier 33. The increase in the angle of deflection of the DNG body 5 relative to its rotor 23 will continue until it is driven from the angle sensor. compensates the setpoint signal and at the input of the amplifier 33 there will be only a zero signal. In this case, the angle Q _yr2 deviation of the rotor 23 around the axis of the measuring axis O _r2 Y _r2 will be equal to the angle ψ _{r1 of} rotation of the joint venture around the RVK (see Fig. 3). The value of this angle will be Q _yr2 = K _yr2 U ₁ , where K _{yr2 is the} scale factor of the exchange rate stabilization channel. It is known from practice that for an acceptable decrease in the time variation of the gas-dynamic drift velocity of a typical DNG, rotor inclinations of the order of several arc minutes are required, while the angle to the rotor stop is equal to tens of arc minutes.

The setting signal U _ep at the input of the electric spring amplifier will cause the appearance of a current in the torque sensor 21 DNG 5, which will apply a torque acting along the axis O _P2 Y _{P2 of the} rotor 23. As a result of the action of this moment, the rotor 23 will begin to precess around the rotor axis O _P2 X _P2 to until the angle of deflection of the rotor Q _хг2 reaches a value at which the signal U _хг2 generated by the angle sensor 20 does not compensate the setting U _ЭП . Thus, the rotor 23 is _deflected by an angle Q _xr2 , and a zero signal is again formed at the input of the electric spring amplifier, and in the future the electric spring system, following this zero signal, will hold the rotor at this angle.

FIG. 3 shows the relative position of SC O _g X _g Y _g Z _g , O _to X _to Y _to Z _to , O _g2 X _g2 Y _g2 Z _g2 , O _p2 X _P2 Y _p2 Z _P2 (in Fig. 3, the centers of the SC are placed in one point O _j , where j = r, k, r2, p2) after adjusting the angular position of the directional DNG rotors.

Thus, the given setting signals to the directional stabilization channel and the electric spring channel caused the deviation of its rotor relative to the body along its two measuring axes and the rotation of the joint venture along the course by the angle ψ _r = Q _yp2 .

When regulating the stabilization channels for roll and pitch, the setpoint signals U ₂ and U ₃ are fed to the input of stabilization amplifiers 35 and 34 (see Fig. 1). As a result of the action of the signal U _{2, the} unloading motor 14 will begin to rotate the RVK, SP and, accordingly, DNG 6 around the OB axis. At the same time, the setpoint signal U _{3 will} cause the operation of the unloading motor 16, the rotation of the joint venture, the DNG body 6 around the OS axis. In this case, the rotor 30 DNG 6 will maintain a constant position in the geographic SC. The DTG 6 due to the rotation of its rotor relative to the housing 30 around the measuring axes OX and OY _{r1 r1} angle sensors 27, 26 generate signals _hg1 U, U _ug1. The phasing of the stabilization channels in roll and pitch is such that the signals U _xg1 , _Uy1 , passing through the amplifying paths, will be subtracted from the signals of the settings U ₂ , U ₃ at the inputs of the stabilization amplifiers, respectively 35 and 34. The increase in the angles of deflection of the DNG 6 body relative to its rotor 30 will continue until the signals from the angle sensors 27 and 26 compensate for the signals of the settings U ₂ , U ₃ , and operating zero signals are generated at the inputs of the amplifiers 35 and 36.

When carrying out the mode of the initial alignment of the INS, before the navigation mode, the slopes of the SP in the roll and pitch are eliminated and the measuring axes of the DNG 6 are set in the horizontal plane, and its rotor 30 will have an inclination relative to the body, characterized by the angles Q _xr1 and Q _ang1 . During the initial alignment, the vector of the angular momentum of the DNG 6 will be brought into the meridian plane, and its measuring axis OY _r1 will be directed vertically.

The use of the proposed method in the ANN on a maneuverable object will require the determination of the working signals of the settings U _2P and U _3p , supplied to the input of the amplifiers of the roll and pitch stabilization channels, depending on the course of the object. The use of the tracking system of the additional frame, including the roll angle sensor 13, the amplifier 37 and the torque sensor 18, allows keeping the angle ϕ _g of the RVK rotation equal to zero during object maneuvers. In this case, the internal axes of the gimbal joint venture maintain orthogonality, which makes it possible to decompose the DNG 6 signals as a function of the angle of rotation ψ _g only along the course axis OA. As a result of the adjustment, the angles of inclination of the rotor DNG 6 along the axes of sensitivity OX _g1 and OY _g1 have the values Q ⁰ _xg1 and Q ⁰ _yr1 . These angular values must be constant at arbitrary yaw angles ψ _{g of the} object in order to maintain the minimum changes in time of the drift velocities of the DNG 6 and, accordingly, the orientation and navigation parameters of the INS, achieved during the adjustment process. The angles of inclination of the DNG rotor 6 Q ⁰ _xg1 and Q ⁰ _yr1 at the input of stabilization amplifiers 35 and 34 at ψ _r = 0 correspond to the setpoint signals U ₂ ⁰ and U ₃ ⁰ , which are compensated by signals U _xr1 ⁰ and U _yr1 ⁰ from angle sensors 27 and 26 DNG 6. When the object is rotated by an angle \ | / _{g, the} values of these signals from angle sensors 27 and 26 must be saved so that the rotor tilt angles Q ⁰ _xr1 and Q ⁰ _{yr1 remain the same} , but at the same time, having passed through the coordinate converter 10, they will determine at the inputs of stabilization amplifiers 35 and 34, respectively, the operating signals of the angle senders

U _2du = U _хг1 ⁰ Cosψ _г -U _yy1 ⁰ Sinψ _г ,

U = U _{3du hg1} Sinψ ⁰ _g ⁰ + U _ug1 Cosψ _g.

To ensure the preservation of the angles of inclination Q ⁰ _xg1 and Q ⁰ _{yr1 DNG} 6 when the object is rotated through an angle ψ _r, these signals from the angle sensors must be compensated for by the following operating setpoint signals

U ₂ = -U _xg1 ⁰ Cosψ _g + U _yr1 ⁰ Sinψ _g ,

U ₃ = -U _xg1 ⁰ Sinψ _g -U _yy1 ⁰ Cosψ _g .

Considering that U _xg1 ⁰ = -U ₂ ⁰ , U _yr1 ⁰ = -U ₃ ⁰ , the working setpoint signals will have the form

U ₂ = U _хг1 ⁰ Cosψ _г -U _yy1 ⁰ Sinψ _г ,

U ₃ = U _xg1 ⁰ Sinψ _g + U _yr1 ⁰ Cosψ _g .

Thus, the proposed method for adjusting dynamically tuned gyroscopes as part of an inertial navigation system has the following differences from the known method:

- a new action is introduced related to the inclination of the DNG rotors operating as part of the INS;

- a new action is introduced related to the implementation of the tilts of the DNG rotors by supplying setpoint signals to the input of the amplifiers of the stabilization channels of the INS gyro platform and to the input of the electric spring of the excess channel of the exchange DNG;

- a new action is introduced related to the determination of the working setpoint signals supplied to the stabilization channels of the INS gyro platform, based on the measurement of its orientation and navigation parameters at different angles of inclination of the DNG rotors

- a new formula dependence for the operating setpoint signals supplied to the inputs of the stabilization amplifiers of the roll and pitch channels is presented, which is a functional dependence on the yaw angle, for a four-axis gyro platform with an additional frame;

- a new quality has been proposed, associated with a decrease in the INS errors caused by the gas-dynamic drift velocity of the OGP by regulating it as part of the INS without removing and replacing the OGP in the gyro platform.

FIG. 1 shows a kinematic diagram of a gyro platform with a four-axis gimbal suspension of an inertial navigation system based on dynamically tuned gyroscopes.

FIG. 2 shows the relative arrangement of coordinate systems O _r X _r Y _r Z _r , O _to X _to Y _to Z _to , O ₁ X ₁ Y ₁ Z ₁ , O ₂ X ₂ Y ₂ Z ₂ , O ₃ X ₃ Y ₃ Z ₃ , O ₄ X ₄ Y ₄ Z ₄ , O _g1 X _g1 Y _g1 Z _g1 O _g2 X _g2 Y _g2 Z _g2 , O _p1 X _p1 Y _p1 Z _p1 , O _p2 X _p2 Y _p2 Z _p2 before adjusting the angular positions of the DNG rotors ...

FIG. 3 shows the relative position of the coordinate systems O _g X _g Y _g Z _g , O _to X _to Y _to Z _to , O _g2 X _g2 Y _r2 Z _g2 , O _p2 X _p2 Y _p2 Z _p2 after adjusting the angular position of the course DNG.

FIG. 4 shows a block diagram of the regulation of the angular positions of the DNG rotors as part of the inertial navigation system.

Adjustment of the angular positions of the DNG rotors in the INS can be realized using its standard blocks.

FIG. 4 shows a block diagram of the regulation of the angular positions of the DNG rotors as part of the inertial navigation system, which includes: gyro platform 1; amplifier block 2; analog-to-code converter 3; code-voltage converter 4; calculator 5.

The gyro platform 1 includes (the elements of the gyro platform are designated as in Fig. 1): course DNG 5; DNG of roll and pitch channels 6; coordinate converter 10; stabilized platform torque sensor 12; the moment sensor 14 of the internal roll frame; moment sensor 16 of the pitch frame; rotation angle sensor 11 of the stabilized platform; the sensor of the angle of rotation 13 of the frame of the internal roll; the sensor of the angle of rotation 15 of the pitch frame; amplifier 36 of the electric spring of the course gyroscope.

Heading DNG 5 has an angle sensor 19 and a torque sensor 21 along the axis of sensitivity OY _g2 ; along the axis of sensitivity OX _r2 - angle sensor 20 and torque sensor 22. Angle sensors 19 and 20 measure the angles of rotation of the rotor 20 relative to the axes OY _r2 and OX _r2 , and moment sensors 21, 22 apply moments to the rotor along these axes. DNG 6 channels of roll and pitch has an angle sensor 27 and a torque sensor 29 along the axis of sensitivity OX _r1, an angle sensor 26 and a torque sensor 28 along the axis of sensitivity OY _r1. Angle sensors 27, 26 measure the angles of rotation of the rotor 30.

Amplifier unit (BU) 2 is designed for power amplification and conversion of analog voltage into proportional current for stabilization torque sensors; contains stabilization amplifier 33 stabilized area; stabilization amplifier 35 of the internal roll frame.

An analog-to-code converter (PAK) 3 converts the signals from the outputs of the angle sensors of the stabilized platform, internal roll frame, pitch frame into a parallel binary code.

The code-voltage converter (PCN) 4 converts the code information received from the calculator 5 into signals proportional to the angles that enter the control unit as specified angles.

Calculator 5, in addition to solving the main tasks of the exhibition, navigation, compensation of instrumental errors, generates one-time control signals for all units of the system.

When implementing the proposed method using the block diagram shown in FIG. 4, in the calculator 55, setpoint signals are generated in digital form, which are fed to the PCN 4, in which the code information is converted into setpoint signals _U1 , U _EP , U ₂ , U ₃ , proportional to the deflection angles of the DNG rotors and fed to the BU 2, and then to the torque sensors 12, 16, 14 stabilization channels and to the electric spring amplifier 36 of the course DNG. The moment sensors of the stabilization channels will tilt the JV and turn it along the course until the signals coming from the DNG angle sensors compensate for the setpoint signals and zero signals are established at the input of amplifiers 33, 34, 35. A similar process will take place in the channel of the electric spring of the course DNG. The resulting angles of inclination of the joint venture relative to the horizon and the same angles of inclination of the rotors relative to their bodies are measured by the gyro platform angle sensors 11, 13, 15, then converted by the PAK 3 into a binary code and sent to the computer, in which the angles of inclination of the rotors are determined. As a result of the adjustment, the values of the signals of the settings U ₁ ⁰ , and _ep ⁰ , U ₂ ⁰ , U ₃ ⁰ are determined, which minimize the INS errors caused by the gas-dynamic drift velocity of the DOG. These signals will be stored in the calculator and used in the INS operating modes. In the standard mode of the initial alignment of the INS, the measuring axes of the DNG are brought into the plane of the horizon and meridian, and their rotor will be inclined relative to the measuring planes, which will allow in the operating modes of navigation to provide a decrease in the speed of DNG drifts caused by changes in time of their gas-dynamic moments, and caused by by them the errors of the ANN generation of orientation and navigation parameters.

The use of the proposed method will improve the technical characteristics of the INS on the DGS, in particular, to reduce its errors caused by the gas-dynamic drift speed of the DGS, and also to reduce the cost of repairing the INS, due to the occurrence of the gas-dynamic drift speed during operation, which exceeds the required tolerance, due to the possibility of its reduction by the proposed method without removing the failed DNG from the gyro platform and replacing it.

Claims (6)

A method for adjusting a dynamically tuned gyroscope as part of an inertial navigation system, including changing the relative angular position of the elements of the gyroscope body and its rotor, characterized in that an inertial navigation system is pre-installed on dynamically tuned gyroscopes, which has a thermostatted, azimuth-controlled and stabilized gyro platform with a four-axis gimbal gimbal, including an additional tracking frame, on a horizontal base that is fixed relative to the Earth so that the axis of the additional frame directed to the object in the direction of movement is oriented to the North, an inertial navigation system is launched, with the inclusion of a thermostatting system, an exhibition of a stabilized gyro platform platform is performed into the horizon plane and towards the North, when its yaw, roll, pitch sensors show zero values, then they are kept in this spatial position and the stabilized platform are fed with the help of an inertial navigation system computer to the input of the amplifier of the course stabilization channel of the gyro platform and to the input of the electric spring amplifier of the gyroscope of this channel the setting signals, respectively U ₁ , U _EP , and to the input of the stabilization amplifiers of the roll and pitch channels of the gyro platform, respectively, the setting signals U ₂ , U ₃ , and from the moment the inertial navigation system is ready, within one hour, changes in time of the attitude and navigation parameters generated by the inertial navigation system are measured; other launches are similarly performed with measurements of the attitude and navigation parameters at the same ambient temperatures and initial thermal states of the inertial navigation system, but with other values of the setpoint signals, the setpoint signals U ₁₀ , U _EP0 , U ₂₀ , U _{30 are found} , minimizing the errors in the development of the orientation and navigation parameters by the inertial navigation system at launch, and in the working In the modes of the inertial navigation system, the setpoint signals generated in the computer are fed: U _1P = U ₁₀ into the exchange rate stabilization channel; U _EPR = U _EP0 into the channel of the electric spring of the course channel gyroscope; U _2P = U ₂₀ Cosψ _g + U ₃₀ Sinψ _g into the roll stabilization channel; U _3P = U ₃₀ Cosψ _g -U ₂₀ Sinψ _g into the pitch stabilization channel, where ψ _g is the angle of rotation of the internal roll frame relative to the stabilized platform, which is measured using a gyro platform angle sensor of this rotation.

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