Patent ID: 6650287
Filing Date: 2003-11-18
Classification: G01C,G01S

Abstract:
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 of the moving object are measured in a coordinate system of a global navigation system where â€œGLONASâ€  or/and â€œNAVSTARâ€  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 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 coordinates are made in the basic coordinate system and in the inertial coordinate system of the object; then on a basis of the coordinates 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 of the object are determined in the basic coordinate system LiB, LjB and in the inertial coordinate system of the object 1 LiU, LjU; 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: â€ƒLiB=ALiU,LjB=ALjU, i,j=1 . . .n, iâ‰ j, where Aâ€”matrix of transfer from the basic coordinate system to the inertial coordinate system of the object,nâ€”number of trajectory portions; then according to matrix A components, the position of the reference axes in the inertial navigation system of the object is determined in respect with the basic system.