METHOD FOR AUTOMATIC COMPENSATION OF STRAPDOWN ATTITUDE REFERENCE SYSTEM ERRORS IN SPACECRAFT ORIENTATION CONTROL SYSTEM AND APPARATUS REALISING SAID METHOD

FIELD: physics, navigation.SUBSTANCE: group of inventions relates to spacecraft strapdown attitude reference systems (BSO) with gyro-inertial and astro-navigation elements The disclosed method involves compensating BSO errors caused by systematic errors of angular velocity sensors. The method is based on comparing readings of angular velocity sensors and astroorientation sensors. An estimate of the angular velocity sensor error is generated by isodromic transformation of the result of comparing signals of the angular position of the spacecraft, measured by an astroorientation sensor unit and calculated in a BSO computer based on the angular velocity sensor readings. The angular velocity sensor error estimate signal at the output of the isodromic link is generated while connecting to the astroorientation sensor unit control. That signal is stored over the duration of disconnection from the astroorientation sensor unit control. The obtained signal is simultaneously subtracted from the angular velocity sensor readings continuously. Said angular velocity sensor readings reflect the absolute angular velocity of the spacecraft and the error caused by systematic errors. The apparatus which realises the disclosed method comprises a BSO, an astroorientation sensor unit and actuating devices. The gyro-inertial measurement unit of the BSO consists of single-component angular velocity sensors. A computer integrates kinematic equations based on information from the angular velocity sensors. Computer modules include isodromic links, adders and comparator elements.EFFECT: high accuracy of spacecraft orientation in continuous operating mode of the spacecraft owing to constant automatic compensation of BSO errors.2 cl, 1 dwg Группа изобретений относится к бесплатформенным системам ориентации (БСО) космических аппаратов (КА) с гироинерциальными и астронавигационными элементами. Предлагаемый способ состоит в компенсации ошибок БСО, вызванных систематическими погрешностями датчиков угловой скорости (ДУС). Он основан на сравнении показаний ДУС и датчиков астроориентации (ДАО). Оценку погрешности ДУС формируют изодромным преобразованием результата сравнения сигналов углового положения КА, измеренного блоком ДАО и вычисленного в вычислительном устройстве БСО по показаниям ДУС. Сигнал оценки погрешности ДУС на выходе изодромного звена формируют во время подключения к управлению блока ДАО. Этот сигнал запоминают на время отключения от управления блока ДАО. Одновременно осуществляю