METHOD FOR DETERMINING THE POSITION OF REFERENCE AXES IN AN INERTIAL NAVIGATION SYSTEM OF AN OBJECT IN RESPECT WITH THE BASIC COORDINATES AND EMBODIMENTS THEREOF

The present method for determining the position of reference axes in an inertial navigation system 2 of an object 1 in respect with the basic coordinate system 3 and embodiments thereof relate to the field of navigation of various objects, moving in inertial space and equipped with on-board inertial navigation systems (aircraft, spacecraft, motor vehicles, watercraft). The present method for determining the position of reference axes in an inertial navigation system 2 of an object 1 in respect with the basic coordinate system 3 comprising navigation measurements of the object moving in inertial space is distinctive in that: in the basic coordinate system 3 and in the inertial coordinate system 2 of the object 1, at the moments of time ti and ti+1, the moving object's 1 coordinates or/and speed vector are measured in the coordinate system of a global navigation system GLONAS or/and NAVSTAR 4 selected as the basic coordinate system 3; at the ti - ti+1 trajectory portion, the acceleration vector in the inertial coordinate system 2 of the object 1 is measured, in accordance with which acceleration vector the coordinates or/and speed of the object 1 are determined at the same ti and ti+1 moments of time; at the moments of time tj and tj+1, at the object 1 trajectory portion, which is non-parallel with the portion of the preceding navigation measurements, similar determination of the object's coordinates or/and speed is made in the basic coordinate system 3 and in the inertial coordinate system 2 of the object 1; then, on the basis of the determined coordinates or/and speeds at each of at least two trajectory portions ti - ti+1 and tj - tj+1, the object's displacement vectors Li, LJ or/and speed vector increments DELTA Vi, DELTA Vj are determined in the basic coordinate system 3 Li, Lj, DELTA Vi, DELTA Vj and in the inertial reference system 2 of the object 1 Li, Lj, DELTA Vi, DELTA Vj; next, on the basis of those displacements or/and speed increments, the matrix of transfer between the basic coordinate system 3 and the inertial coordinate system 2 of the object 1 is determined, and, on the basis of the matrix components, the position of reference axes in an inertial navigation system 2 of the object 1 in respect with the basic system 3 is defined. In the case of rectilinear movement of the object 1, a maneuver is executed ensuring at least two non-parallel trajectory portions on which the navigation measurements are made. The present method makes it possible to