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 invention relates to the field of navigation of various objects, moving in inertial space and equipped with on-board inertial navigation systems. A method for determining a position of reference axes in an inertial navigation system of an object with respect to a basic coordinate system is provided. The method includes measuring coordinates and/or speed in a basic coordinate system and an inertial coordinate system at moments of time. The method measures an acceleration vector in the inertial coordinate system at a trajectory portion of the moments of time which allows measuring of the coordinates and/or the speed. The coordinates and speed are determined by similarities in the coordinate systems at the moments of time in a portion not parallel to the trajectory portion where measurements have been made. Vectors corresponding to displacements and/or to an increase of speed of the object in the coordinate systems are determined for at least two portions of the trajectory. The vectors are used to determine a matrix of transfer between the coordinate systems.