Chernodarov A.V., Shigin А.I.

This paper is devoted to the problem of implementation of analytical approaches to the improvement of the operational characteristics of sensors in autonomous modes of the functioning of strapdown inertial navigation systems. The proposed solution of the above problem relies on the bringing of the problem of digital signal processing to a Kalman construction and on the tuning of such a construction to the functioning under a priori uncertainty and possible discordant measurements. The results of researches confirm the efficiency of association, in a uniform technological cycle, of the following procedures of multilevel processing of the signals of inertial sensors : polynomial smoothing of signals, adaptive robust estimation of instrumental drifts of sensors, determination of the current level of reliability of sensors. With such an approach, noise components of sensor errors are "suppressed" at the stage of the smoothing of signals, and autocorrelated (regular) components are "suppressed" at the stage of drift estimation with due regard for information on the models of noise and on invariants. In addition, from an estimate of the current level of sensor reliability it is obviously possible to make a decision on the possibility of further operation of sensors in the structure of strapdown inertial navigation systems.