THE ALGORITHM OF CORRECTION OF THE INERTIAL NAVIGATION SYSTEM OF THE UNMANNED AIRCRAFT ON THE BASIS OF THE OPTICAL-ELECTRONIC SYSTEM AND THE ELECTRONIC TERRAIN MAP
A.V. Sizov, S.V. Ippolitov, A.Y. Savchenko, V.A. Malyshev
The paper presents an algorithm of correction of the inertial navigation system of an unmanned aircraft based on the usage of an optical-electronic system and an electronic terrain map, which will provide high accuracy of determining of the navigation parameters, the speed of the correction system, small size, cost and also autonomy of work. This algorithm implements a new method of correction of the inertial navigation system based on the developed mathematical model describing the procedures for solving navigation problems: determining the relative coordinates of three identical points (landmarks on the ground) in the coordinate system of the optical-electronic system associated with the unmanned aircraft; recalculating of the obtained relative coordinates with the help of the matrix of guide cosines into the geographic coordinate system; determining the geographical coordinates of identical points from the electronic terrain map; calculation of the current geographical coordinates of the unmanned aircraft on the basis of its relative coordinates and geographical coordinates of identical points. The solution of the described problems is carried out by the developed algorithm, the final step of which is the input of the current geographical coordinates of the unmanned aircraft into the inertial navigation system for its correction.
Keywords: :inertial navigation system, optical-electronic system, electronic terrain map, unmanned aircraft.