Procedure and system for autonomous harmonization of equipment on board a vehicle, using means for measuring terrestrial gravitational and magnetic fields.

摘要

- Procedure for harmonisation of equipment (2) with respect to a vehicle (1). - According to the invention: . a machine (8) which is harmonised with respect to the vehicle (1), as well as a magnetometer machine (10) harmonised with respect to the equipment (2) are disposed on board the vehicle (1); . using the machine (8), the values of the components of a vector representing the terrestrial gravitational field @ are measured; . using the said magnetometer machine (10), the values of the components of a vector representing the terrestrial magnetic field @ are measured; . using the said equipment (2), the values of the components of a vector representing the terrestrial gravitational field @ are measured; . using the said equipment magnetometer (11), the values of the components of a vector representing the terrestrial magnetic field @ are measured; . the values measured by the machine (8), by the said equipment (2), by the magnetometer machine (10) and by the equipment magnetometer (11) are transmitted to a memory (7); and . there is calculated, in a computer (6), a rotation operator R1( alpha , beta , GAMMA ) which corrects, at least mostly, the angular harmonisation errors between the reference system of the said vehicle (1) and the reference system of the said equipment (2).