| 摘要 |
G tarasThe proposed method for determining azimuth of the control element related to an object implies measuring the projections X, Y, Z of the Earth angular velocity vector and the projections gX, gY, gZ of the gravity vector on the measuring axes of angular velocity transducers and accelerometers that are collinear to the axes OX, OY, OZ of the rectangular coordinate system related to the object. The method is distinctive by that, for the purpose to increase the reliability of measurement data, operations are performed for determining the projections of the Earth angular velocity vector on the axes OX1, OY1, OZ1 of the rectangular coordinate system related to the horizon plane, determining angles 1, 2, 3 between the projections of the measuring axes on the axes OX1 and OY1, OX1 and OZ1, OY1 and OZ1, determining the projections of the Earth angular velocity vector on the axes B2X, B2Y, B2Z that correspond to the projections of the measuring axes on the axes of the rectangular coordinate system related to the horizon plane and the axes B1X, B1Y, B1Z of the rectangular coordinate system that is orthogonal to the rectangular coordinate system related to the horizon plane (when the coordinate axes alternate clockwise relative to the positive direction of the vertical axis of the rectangular coordinate system related to the horizon plane), determining the current values of the magnitudes of the Earth angular velocity, gravity, and latitude, comparing the said current values with the corresponding reference values, and using comparison data for determining the azimuth of the object control element by the corresponding formula.
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