Feasibility to Diagnose Inertial Navigation Systems Through Analysis of Schuler Errors

The paper is intended to discuss errors in measurements of angular velocity and linear acceleration by means of electronic inertial sensors incorporated into the Attitude and Heading Reference Systems (AHRS) as well as Inertial Navigation Systems (INS). The mathematical equations are found out to establish how these errors affect deviations of flight parameters (such as linear speed and coordinates of the aircraft position indicated by navigation systems) that are calculated from the measurements and imaged e.g. in helmetmounted cueing systems. Some issues related to diagnostics of inertial navigation systems are addressed as well, both the most recent ones (e.g. the TOTEM-3000 central station with laser sensors installed on-board of the W-3PL GŁUSZEC helicopter) integrated via digital data buses MIL-1553B or ARINC-429 as well as more outdated solutions, such as IKW-1 and IKW-8 system used for Su-22 aircrafts. The methods of examination of the data processing paths for signals received from inertial sensors are presented with guidelines for development of the computer system for assessment of technical condition exhibited by systems of inertial navigation with prolonged technical resource.