ИСТИНА

The task of simulating the trajectory parameters of an object: coordinates, linear velocity vector components, attitude angles, and the "ideal" readings from inertial sensors such as angular rate sensors and accelerometers when the object is moving above or below the pole is needed for testing onboard navigation algorithms of inertial navigation systems, such as strapdown inertial navigation system (INS). The unique aspect of the simulation problem mentioned is that traditional parameters such as longitude and heading angle cannot be used in relevant models, as these parameters are not defined for points lying on the axis of Earth's rotation. It has been demonstrated that this simulation can be performed using the quasi-Greenwich coordinate system, quasi-geodetic (or quasi-geocentric) coordinates, and quasi-angles of orientation, instead of the traditional ones. The zero test of inertial dead reckoning algorithms when the trajectory of an object crosses the axis of Earth’s rotation confirms the proposed solution to the problem.