Leveling of Analytic Platforms

Use of an analytic platform or strapdown system requires that the system em be initially leveled just as a conventional multigimbaled platform must be leveled. The process of leveling involves the determination of the orientation between the local vertical and an instrumented reference nce frame. With a conventional platform it is quite common to use a pair of servo loops to precess the inner gimbal until gravity signals are nulled on two orthogonally mounted accelerometers. The input axes of these two accelerometers thus define the horizontal plane and the platform is said to be leveled. A strapdown system, however, lacks the physical entity of the inner gimbal and consequently cannot be physically precessed into verticality. The method of leveling is nonetheless analogous if we consider the computational reference frame of the analytic platform to be the "alter ego" or counterpart of a physical inner gimbal. In general, strapdown leveling techniques can be divided into two categories: closed-loop leveling and open-loop leveling. These two techniques are quantitatively developed and discussed in this paper.