| 摘要 |
Using an inertial master box (3) mounted on a carrier for measuring its movements with respect to a geographic frame of reference of fixed directions along three axes Xg, Yg, Zg, the method comprises measuring actions which consist in constantly measuring an orientation of a frame of reference tied to the inertial master box Xm, Ym, Zm by using the inertial master box (3) in the geographic frame of reference, positioning actions which consist in applying a sequence of cycles of eight turnings-over of the inertial master box (3) each of which keeps the axis Ym in a direction parallel to the axis Yg, a succession of two turnings-over about the axis Xm being preceded and followed by a turning-over about the axis Zm, a succession of two turnings-over about the axis Zm being preceded and followed by a turning-over about the axis Xm. The device comprises a first motor (5) for causing a gimbal (2) to pivot on a first axle (4) secured to the carrier, a second motor (7) for causing the inertial master box (3) to pivot about a second axle (6) perpendicular to the first axle (4) and secured to the gimbal (2) and a processor (12) for calculating three attitude angles by running a first inertial navigation program of the strapdown type and for controlling the first and second motors (5, 7) by running a second program which, using the calculated attitude angles, places the inertial master box (3) in a succession of stable angular positions with respect to the said frame of reference of fixed directions in a sequence of cycles of eight turnings-over of the inertial master box (3) in at least two perpendicular planes, each of constant orientation in the frame of reference of fixed directions.
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