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

摘要

A method for determining a position of reference axes in an inertial navigation system of an object with respect to a basic coordinate system is provided. The method includes measuring coordinates and/or speed in a basic coordinate system and an inertial coordinate system at moments of time. The method measures an acceleration vector in the inertial coordinate system at a trajectory portion of the moments of time which allows measuring of the coordinates and/or the speed. The coordinates and speed are determined by similarities in the coordinate systems at the moments of time in a portion not parallel to the trajectory portion where measurements have been made. Vectors corresponding to displacements and/or to an increase of speed of the object in the coordinate systems are determined for at least two portions of the trajectory. The vectors are used to determine a matrix of transfer between the coordinate systems.