Integrated magnetic-inertial system for mobile objects orientation

V.A.Arkhipov, V.A.Olaev

" Elara " Scientific Production Instrument Making Enterprise

Russia, Cheboksary

S.O.Lebedev

"Sokol " Experimental Design Bureau

Russia, Kazan

A.A.Potapov

A.N.Tupolev Kazan State Technical University

Russia, 420015, Kazan, L.Tolstoy str., 15

The subject of work is designing of integrated magnetic-inertial systems for mobile objects orientation definition based on experience in orientation systems engineering on the basis of DS-83 electronic compass. Development of integrated magnetic-inertial system of mobile objects orientation (IMIS) began with development of DS-83 <Horizont> electronic compass on the basis of scientific production organization of (Kazan, 1993). It was continued in SPIE <Elara> Public Corporation (Cheboksary; since 1995) within the framework of conversion programs and now proceeds on the basis of EDO <Sokol> Public Corporation (Kazan) and SPIE <Elara> Public Corporation. In 1999 DS-83 <Horizont> electronic compass with automatic compensation of magnetic deviation was prepared for batch production. Nowadays, having gained some experience, preparation for new IMIS variants manufacture is carried out.

The work is based on research, submitted at the International IFNA-ANS-AAAS Scientific Seminar on problems of modelling of the complex systems of multidisciplinary character (Kazan, November, 2006),

Magnetic-inertial orientation system (IMIS) construction is based on the following procedure. For a mobile object course definition, first, the inclination angles of a mobile object (bank and pitch / trim angles) should be determined, and after that the course angle of a mobile object should be determined.

A set of algorithms for mobile object inclination angles definition is programmed in IMIS, that use accelerometers, angular rate sensors and magnetometers readings. Depending on type of mobile object and its maneuverability the corresponding algorithm of mobile object inclination angle definition or corresponding versions of sensor integration for reducing ballistics deviations are used.