2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)最新文献

{"title":"Evaluation of the Impact of External Influences on the Characteristics of the Ring Confocal Resonator","authors":"S. Bekbauova, Y. Filatov, N. Nikolaeva, E. Shalymov, V. Venediktov","doi":"10.23919/ICINS.2019.8769398","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769398","url":null,"abstract":"The impact of external effects, which the resonator may experience as part of a miniature optical resonator gyroscope, on the characteristics of one of the possible ring confocal resonator configurations is analyzed. The multiphysical simulation package OOFELIE:: Multiphysics is used to study the ring confocal resonator.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"12 13","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120866823","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Development of Digital Regulators for Control Systems of Gyroscopic Devices and Associated Metrological Installations Using Modern Methods of Synthesis to Improve Accuracy and Dynamic Characteristics","authors":"D. Kalikhman, E. A. Deputatova, D. S. Gnusarev, V. Skorobogatov, V. M. Nikoforov, A. Yankovsky, E. Krivtsov","doi":"10.23919/ICINS.2019.8769376","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769376","url":null,"abstract":"The report considers the development of digital regulators for modern dynamic systems, depending on the operating conditions and the effects of external disturbing factors with the development of control algorithms using full scale computer modeling with subsequent prototype implementation.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"194 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123363761","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A Promising Flight-Navigation Complex with an Intelligent Component","authors":"M. S. Selezneva, A. Babichenko, K. Neusypin, A. Proletarsky, I. V. Muratov","doi":"10.23919/ICINS.2019.8769389","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769389","url":null,"abstract":"The structure of the aircraft flight-navigation complex, capable of changing its architecture depending on the interference level and flight conditions, is developed. The algorithmic support of the complex additionally includes an intelligent component, consisting of self-organization algorithm, a dynamic database and a criterion for comparing the forecast and the current state of the complex. A integration algorithm is developed. The integration algorithm includes the original criterion for the degree of observability of state variables, which allows forming the optimal complex structure.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114342469","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"An Integrated Inertial-Odometric Navigation System with Satellite Calibration","authors":"A. Chernodarov, A. Patrikeev, S. A. Ivanov","doi":"10.23919/ICINS.2019.8769401","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769401","url":null,"abstract":"Special features of the functioning of navigation systems (NS) under urban conditions are considered. The object of studies was an NS built on the basis of inertial and odometer systems. The technology of integration of such systems is proposed. As a kernel, the inertial navigation system SINS-500NS based on fiber-optic gyros is included in this NS. The results of natural development of inertial-odometric NS presented in this paper are given and analyzed.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131060544","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Using Observability Measures in a Strapdown INS Auto-Calibration","authors":"N. Vavilova, A. Golovan, A. Kozlov, I. Papusha, N. Parusnikov, O. Zorina, E. Izmaylov, S. Kukhtevich, A. Fomichev","doi":"10.23919/ICINS.2019.8769418","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769418","url":null,"abstract":"Auto-calibration is a technique generally used to improve the long-term performance of the pure inertial mode of an inertial navigation system equipped with a GPS receiver. Techniques of this sort use weighted estimates for instrumental error parameters, which were obtained in previous flight series, to compensate navigation errors in the current flight. Weights of the estimates should reflect their accuracy, and the way they are derived does highly affect the performance of the auto-calibration algorithm. One may define the weights either empirically based on the properties of the flight in which the estimates were obtained, or take the actual covariance estimates from the estimation procedure. We consider a stochastic observability measure derived from Kalman filtering to be used for calculating weights in the auto-calibration algorithm.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131951225","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Error Analysis Technique for Indirect Method of Calibration of a Strapdown Inertial Measurement Unit","authors":"L. Vodicheva, Yu. V. Parysheva","doi":"10.23919/ICINS.2019.8769361","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769361","url":null,"abstract":"Possible versions of the indirect method of calibration of a strapdown inertial measurement unit are briefly analyzed. The version of the indirect method with simple measurement equations that can be decomposed and solved just algebraically is considered. The technique for obtaining analytical expressions connecting calibration errors with their sourced and expressions themselves are described. The influence of the calibrated parameters, uncalibrated parameters, and errors of calibration equipment on the calibration accuracy is analyzed.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"207 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133975260","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A New Method Based on Dual-State Chi-Square Fault-Tolerant to Inertial/Acoustic Range Integrated Navigation System with Single Transponder","authors":"X. Hu, Zh. Wang","doi":"10.23919/ICINS.2019.8769379","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769379","url":null,"abstract":"The high precision positioning and navigation of underwater vehicles is one of the key technologies for deep-sea exploration and ocean exploration, the underwater localization systems can be categorized into two main types: Inertial Navigation System (INS) and acoustic positioning system. INS is widely used in underwater navigation on account of its autonomy, however, without the information aiding from additional sensors, the errors of inertial measurement units accumulate with time passes. The acoustic positioning system can be divided into three types: Long Base Line (LBL), Short Base Line (SBL) and Ultra Short Base Line (USBL). They are defined according to the distance between transponders. The short baseline (SBL) positioning system includes more than 3 transponders to form an acoustic array, and the formation of the array is normally triangle or quadrilateral. The distance between the transponder is accurately measured and generally more than 10m. The acoustic array coordinate system is built based on the transponder and its relationship with the carrier coordinate system of the vehicle is determined by conventional method, the main disadvantage of the SBL positioning system is that the baseline length is relatively large in order to achieve high accuracy in deep-water measurement. However, as the lateral length of the vehicles is small, it is difficult to make sure the transponders be placed way from each other, meanwhile it is difficult to calibrate multiple transponders and avoid noise. To solve this problem, this paper present an inertial navigation system and single range navigation system (SRNS) based on one acoustic transponder, the navigation system consist of an acoustic transponder, a pressure transponder and inertial sensors mounted on the vehicle and an answering device transponder which is laoid out at tens of meters deep straight under the buoy. This paper studies the measurement equation's nonlinearity effect of the INS/SRNS, establishes state equation and measurement equation of the INS/SRNS integrated system. To deal with the nonlinear noise problems of transponders, meanwhile, in view that fault detection based on traditional state chi-square hypothesis testing cannot determine the specific cause of the fault, and could only determine the validity of measure information, a new fault detection algorithm based on dual-state method is adopted. The application of this method on underwater integrated navigation system demonstrates that the algorithm can rapidly and accurately detecting and identify the faults in the system. Experiments on QIANDAO Lake show that the proposed method restrains the divergence trend error of the integrated system's navigation, which verify the effectiveness of the single range integrated navigation.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116440487","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Calibration of a Timing Skew between Gyroscope Measurements in a Strapdown Inertial Navigation System","authors":"A. Kozlov, F. Kapralov, A. Fomichev","doi":"10.23919/ICINS.2019.8769417","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769417","url":null,"abstract":"We present a method for a microsecond-level calibration of a constant timing skew between gyroscope channels in an inertial measurement unit of navigation grade. In our method, special types of harmonic oscillations applied to the inertial system produce predictable attitude error growth related to the timing skew. We obtain its estimates in a manner that makes the result insensible to the possible residual errors in inertial sensor calibration and other instrumentation. Apart from parameters of oscillations, the method requires essentially no other information but the standard navigation output of the inertial unit. Two case studies demonstrate the practical utility of the suggested approach.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122157880","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Improvement in Accuracy of Strapdown Inertial Navigation System due to Controlled Precessional Motion","authors":"A. Fedotov, S. Perepelkina","doi":"10.23919/ICINS.2019.8769349","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769349","url":null,"abstract":"An object with rotation limitations about one of its axes is examined. A model of angular motion of an object with regular precession, the axis of which is directed along the axis with rotation limitations, is considered. It is shown that autonomous estimation of the accuracy characteristics of the corresponding angle-measuring channel of the inertial measurement unit of the object's strapdown inertial navigation system (SINS) is possible due to the organization of controlled precessional motion with respect to two axes of the object that are free from limitations. The parameters of the controlled precessional motion are estimated by amplitude and frequency based on the acceptable level of methodical error of the SINS algorithms by the angular position. The influence of the amplitude component of the instrumental error on the accuracy of estimating the characteristics of the angle-measuring channel with rotation limitations is considered.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123950199","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Efficiency of using Satellite Measurements for Marine Gravimetry","authors":"D. Koshaev, A. Motorin, O. Stepanov","doi":"10.23919/ICINS.2019.8769346","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769346","url":null,"abstract":"Efficiency of using global navigation satellite system (GNSS) measurements for determining the gravity anomalies (GA) at sea by solving the filtering and smoothing problems based on satellite and gravimeter data is studied. The GA, ship heaving, errors of satellite and gravimeter measurements are presented as stochastic processes. The analysis is based on the standard deviations of the GA estimation errors, calculated at different heaving and in different modes of GNSS data processing.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123961592","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}