Ignatovych O.V.

Errors Comppensation of Attitude and Heading Reference System at Object Swaying

The algorithm of accuracy increasing is developed for orientation system – strapdown Attitude and Heading Reference System (AHRS) at its installation on ships or other carrier objects with known distance from swaying center. The proposed algorithm allows to compensate AHRS errors caused by accelerations at object swaying, in autonomous mode where AHRS sensors (accelerometers and rate sensors) are used only. Accuracy of these errors compensation is evaluated. At this the proportional-integral variant of rate sensors correction from accelerometers is considered.