Method Errors of the Dead Reckoning Schemes Based on a Single Free Gyroscope

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.