Abstract

The paper discusses the method that was proposed earlier to provide nonperturbation of dead reckoning (DR) owing to a single-channel inertial vertical, constructed with the use of a triad of accelerometers and a single free gyroscope, as well as compensation for the effect of inertial accelerations directly in computed DR using the data from an external speed meter (a log). The DR method errors specific to this scheme are analyzed, in particular, those conditioned by the fact that, in the general case, positions of the accelerometers and the log for marine underwater and surface vessels do not coincide either with each other or the center of the vessel motion. Analytical calculations and the simulation results are given to show that the level of DR method errors is insignificant for the class of the objects under consideration.

中文翻译：

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基于单个自由陀螺仪的航位推算方案的方法误差

摘要

本文讨论了较早提出的不使用航道推算（DR）干扰的方法，该方法是使用三重加速度计和单个自由陀螺仪构成的单通道惯性垂直方向，并补偿了航迹推算的影响。使用外部速度计（对数）的数据直接在计算得出的DR中获得惯性加速度。分析了该方法特有的DR方法误差，特别是那些受以下条件制约的情况：在一般情况下，加速度计的位置以及海洋水下和水面船只的对数彼此不重合，或者与重心不重合。船只运动。给出的分析计算和仿真结果表明，对于所考虑对象的类别，DR方法错误的程度无关紧要。