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2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)最新文献

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Creation of Conditions for the Maximum Suppression of Magnetic Field Influence on Zero Drift in Four-Frequency and Quasi-Four-Frequency Zeeman Laser Gyroscopes 四频和准四频塞曼激光陀螺仪中磁场对零漂移影响最大抑制条件的建立
2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2020-05-01 DOI: 10.23919/icins43215.2020.9133808
Y. Broslavets, A. A. Fomichev, D. M. Ambartsumyan, E. A. Polukeev
{"title":"Creation of Conditions for the Maximum Suppression of Magnetic Field Influence on Zero Drift in Four-Frequency and Quasi-Four-Frequency Zeeman Laser Gyroscopes","authors":"Y. Broslavets, A. A. Fomichev, D. M. Ambartsumyan, E. A. Polukeev","doi":"10.23919/icins43215.2020.9133808","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133808","url":null,"abstract":"The research conducted in this work, was aimed at finding conditions that suppress the influence of the magnetic field on zero drift in Zeeman four-frequency and quasi-four-frequency laser gyroscopes. We determined the optimal areas within the gain contour in the active medium. During operation in those areas the maximum suppression of the influence of the magnetic field on the drift of the gyroscope is provided. A gyroscope control system that switches gyroscope to the regime of minimum magnetic sensitivity has been created. We obtained weakening of the effect of the magnetic field on zero drift by more than three orders of magnitude.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131321269","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}
引用次数: 1
Vehicle Dead-Reckoning Autonomous Algorithm Based on Turn Velocity Updates in Kalman Filter 基于卡尔曼滤波下转弯速度更新的车辆航位自动推算算法
2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2020-05-01 DOI: 10.23919/icins43215.2020.9133748
Aleksandr Mikov, A. Moschevikin, R. Voronov
{"title":"Vehicle Dead-Reckoning Autonomous Algorithm Based on Turn Velocity Updates in Kalman Filter","authors":"Aleksandr Mikov, A. Moschevikin, R. Voronov","doi":"10.23919/icins43215.2020.9133748","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133748","url":null,"abstract":"The paper presents a Kalman-based dead-reckoning algorithm for a vehicle. The algorithm uses inertial data only. No data from other sources of information are utilized. The proposed technique relies on two aspects: pseudo-acceleration removal procedure and novel turn velocity update (TVU) correction technique applied when the vehicle performs a maneuver. The dynamic algorithm performance was evaluated using real data obtained from the forklift and compared with the output of the ultra-wideband positioning system. To achieve this, the synchronization between UWB and inertial data was employed by aligning velocities in acceleration and deceleration moments. Seven experiments were carried out to test the method. The duration of each experiment varied from 4 to 24 minutes. The travelled distance corresponded to the range from 118 to 380 meters. The algorithm shows fair position estimation results with the data obtained from commercial off-the-shelf MEMS sensors on a long-term run. The median position error did not exceed 1.2 meters for all performed tests. The end position estimation error, respectively, was not worse than 1.2% of total travelled distance.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114576646","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}
引用次数: 2
Application of a Micromechanical Gyroscope for Measuring the Angular Momentum in a Seminatural Modeling of Disturbed Rotation of a Space Probe in the Atmosphere 微机械陀螺仪测量角动量在空间探测器大气扰动旋转半自然建模中的应用
2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2020-05-01 DOI: 10.23919/icins43215.2020.9133848
V. Lyubimov, P.V. Lyubimov
{"title":"Application of a Micromechanical Gyroscope for Measuring the Angular Momentum in a Seminatural Modeling of Disturbed Rotation of a Space Probe in the Atmosphere","authors":"V. Lyubimov, P.V. Lyubimov","doi":"10.23919/icins43215.2020.9133848","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133848","url":null,"abstract":"We consider the problem of the experimental determination of the angular momentum induced by disturbing asymmetry torques during the motion of the probe model relative to its center of mass. The aim of the study is to develop a scaled-down model of a space probe for atmospheric descent for seminatural modeling of its motion relative to the center of mass with the measurement of the angular velocity by an on-board MEMS gyroscope. Numerical values of the angular velocity are used to calculate the angular momentum of the model.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122071579","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}
引用次数: 0
Temperature Drift and Instability of a Zero Signal of Pendulum Compensating Q-Flex Accelerometer 摆补偿Q-Flex加速度计零信号的温度漂移和不稳定性
2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2020-05-01 DOI: 10.23919/icins43215.2020.9133987
S. Konovalov, D. Mayorov, A.E. Semenov, Yu.A. Ponomarev, V. E. Chulkov, A. Malykhin, M. S. Kharlamov, D.A. Malykhin
{"title":"Temperature Drift and Instability of a Zero Signal of Pendulum Compensating Q-Flex Accelerometer","authors":"S. Konovalov, D. Mayorov, A.E. Semenov, Yu.A. Ponomarev, V. E. Chulkov, A. Malykhin, M. S. Kharlamov, D.A. Malykhin","doi":"10.23919/icins43215.2020.9133987","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133987","url":null,"abstract":"A main issue in high precision navigation grade accelerometers development is a provision of a zero signal and a scale factor stability and repeatability. A development and research experience for Q-flex and Si-flex compensating accelerometers allows to determine main causes of such instability and non-repeatability. Main causes are as follows: •manufacture errors in beams of an elastic suspension of a pendulum blade such as a non-flatness, a surface roughness, displacements of beam planes to general plane (both parallel displacements forming a box and angular rotations of beams); •deformations and shape distortions of beams during spraying metal of current leads; •a material structure heterogeneity in magnetic housings and pole cups of a plunger torque sensor of a device; •material structure changes in magnetic housings during operation of the device, primarily during temperature cycles. A number of technological errors in accelerometer elements leads to an appearance of stepwise changes in the zero signal and the scale factor, which are not amenable to algorithmic compensation. These errors are associated with features of super invar and quartz elements in devices, as well as with the features of technological processes. The paper describes a number of experimental observations carried out with Q-flex accelerometers from various manufacturers, gives an analysis of errors causes and provides recommendations to eliminate these considered errors.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129429546","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}
引用次数: 2
A Robust Target Detection Algorithm Using MEMS Inertial Sensors for Shipboard Video System 舰船视频系统中基于MEMS惯性传感器的鲁棒目标检测算法
2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2020-05-01 DOI: 10.23919/icins43215.2020.9134003
Wen Liu, Xuefeng Yang, JianBao Zhang
{"title":"A Robust Target Detection Algorithm Using MEMS Inertial Sensors for Shipboard Video System","authors":"Wen Liu, Xuefeng Yang, JianBao Zhang","doi":"10.23919/icins43215.2020.9134003","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9134003","url":null,"abstract":"Marine situational awareness is the core technology of intelligent ship, and the target detection is the important foundation of situational awareness. In this paper, a robust target detection algorithm using MEMS inertial sensors is proposed for sky-sea line detection for shipboard video system, the key idea is using the inertial data of the shipborne camera to estimate the position and angle of the sky-sea lines in the video frames, so as to achieve the accuracy of the detection area, improve the detection accuracy and reduce the interference of wave clutter. And it is proved by experiments that robust detection results have been achieved.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128982149","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}
引用次数: 2
Adaptive Cubature Kalman Filter Algorithm Based on Quaternion Error Modeling 基于四元数误差建模的自适应Cubature Kalman滤波算法
2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2020-05-01 DOI: 10.23919/icins43215.2020.9133740
Kai Liu, You Zhao, Zhigang Zhu
{"title":"Adaptive Cubature Kalman Filter Algorithm Based on Quaternion Error Modeling","authors":"Kai Liu, You Zhao, Zhigang Zhu","doi":"10.23919/icins43215.2020.9133740","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133740","url":null,"abstract":"Initial alignment is the key link before initial device enters navigation function. In the actual use of the marine inertial navigation system, the external environment is complex, the error modeling cannot be simply approached and processed by linear filtering. To solve this problem, the adaptive CKF algorithm based on quaternion error modeling is proposed. The proposed method uses multiple fading factors to redistribute the weight of measurement information, so as to reduce the algorithm error caused by inaccurate noise parameters in the complex environment. Simulation results show that the adaptive CKF algorithm based on quaternion error modeling proposed in this paper can solve the large misalignment angle transfer alignment. Compared with UKF and CKF algorithm, when the system noise covariance changes, the proposed algorithm can effectively improve alignment precision and accuracy.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129276008","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}
引用次数: 0
Application of the Maximum Likelihood Method When Combining Information from Primary Meters in a Precision Rotary Test Bench with Inertial Sensors and a Digital Control System to Improve Its Accuracy 应用极大似然法将精密回转试验台一次仪表信息与惯性传感器和数字控制系统相结合以提高其精度
2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2020-05-01 DOI: 10.23919/icins43215.2020.9133963
D. Kalikhman, A. A. Lvov, E. Krivtsov, E. A. Deputatova, R. Ermakov, A. Yankovsky
{"title":"Application of the Maximum Likelihood Method When Combining Information from Primary Meters in a Precision Rotary Test Bench with Inertial Sensors and a Digital Control System to Improve Its Accuracy","authors":"D. Kalikhman, A. A. Lvov, E. Krivtsov, E. A. Deputatova, R. Ermakov, A. Yankovsky","doi":"10.23919/icins43215.2020.9133963","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133963","url":null,"abstract":"The paper examines the operation of a precision rotary test bench with an excessive number of primary meters, some of which are used as inertial sensitive elements in the digital control system of the test bench. Application of the maximum likelihood method for combining the information from the meters, which improves the accuracy characteristics of the rotary test bench, is shown. A method for obtaining the integral estimation of the angular rate of the test bench platform is presented.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126896730","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}
引用次数: 0
Visual Localization of a Ground Vehicle Using a Monocamera and Geodesic-Bound Road Signs 使用单摄像头和测地线方向道路标志的地面车辆视觉定位
2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2020-05-01 DOI: 10.23919/icins43215.2020.9133769
R. Bikmaev, A. Polukarov, R. N. Sadekov
{"title":"Visual Localization of a Ground Vehicle Using a Monocamera and Geodesic-Bound Road Signs","authors":"R. Bikmaev, A. Polukarov, R. N. Sadekov","doi":"10.23919/icins43215.2020.9133769","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133769","url":null,"abstract":"The work explores the on-board navigation system of the moving object, which includes a camera, odometer and steering sensor. The navigation algorithm is based on the method of visual odometry compensated by the data of recognized road signs. Recognition of road signs is carried out on the basis of a roll-out neural network. The algorithm is tested on natural data.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114117055","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}
引用次数: 1
The Implementation of IMU/Stereo Vision Slam System for Mobile Robot 移动机器人IMU/立体视觉冲击系统的实现
2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2020-05-01 DOI: 10.23919/icins43215.2020.9133980
Hou Juan-Rou, Wang Zhan-qing
{"title":"The Implementation of IMU/Stereo Vision Slam System for Mobile Robot","authors":"Hou Juan-Rou, Wang Zhan-qing","doi":"10.23919/icins43215.2020.9133980","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133980","url":null,"abstract":"In the research of unmanned vehicle technology, the integrated navigation system based on inertial measurement unit and stereo camera has gradually become a research hotspot. The inertial navigation system has the characteristics of higher short-time precision, and does not radiate information to the outside world. The stereo vision navigation system collects image information of the environment, and performs feature extraction and tracking on the feature points in the acquired images to recover the motion of the carrier. In this paper, the stereo vision navigation system is used to correct the long-term error accumulation of the inertial navigation system. On the other hand, the short-time precision of the inertial navigation system can also compensate the vision navigation system caused by the blurred image information caused by the carrier moving too fast. The integrated navigation system of IMU together with stereo vision camera can gain better comprehensive performance. In this paper, Multi-State Fusion Kalman Filter (MSF) and Multi-State Constraint Kalman Filter (MSCKF) are used to fuse the inertial navigation system and vision navigation system. When constructing the MSCKF framework, we use sparse optical flow method to achieve feature tracking, and using triangulation in computer vision to calculate the positions of feature points, and use the data set to verify the accuracy of the two algorithms. Finally, constructing an environmental point cloud map using the estimated state of feature points. Under the environment of i7-8750H cpu, the experimental results show that tight coupling is more accurate than loose coupling.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125241538","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}
引用次数: 7
Flight Test Results of the Six-Axis Unit of Apparent Acceleration Meters Based on a Precision Quartz Pendulum Accelerometer with Digital Feedback as Part of the Soyuz MS-14 Spacecraft 联盟号MS-14飞船基于数字反馈精密石英摆加速度计的六轴视加速度计单元飞行试验结果
2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2020-05-01 DOI: 10.23919/icins43215.2020.9133779
L. Kalikhman, Yurij Nikolaenko, R. Samitov, D. Kalikhman, V. Lutchenko, V. E. Kozhevnikov, E. A. Deputatova, S. F. Nakhov, V. Skorobogatov
{"title":"Flight Test Results of the Six-Axis Unit of Apparent Acceleration Meters Based on a Precision Quartz Pendulum Accelerometer with Digital Feedback as Part of the Soyuz MS-14 Spacecraft","authors":"L. Kalikhman, Yurij Nikolaenko, R. Samitov, D. Kalikhman, V. Lutchenko, V. E. Kozhevnikov, E. A. Deputatova, S. F. Nakhov, V. Skorobogatov","doi":"10.23919/icins43215.2020.9133779","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133779","url":null,"abstract":"The report reviews the flight test results of the unit of linear acceleration meters (the BILU device) built on quartz pendulum accelerometers with digital feedback amplifier and pulse-width electric current control of torque sensor of each measuring channel. The unit has passed the flight tests as part of the control system of the Soyuz MS-14 spacecraft. A number of topics is considered, including the results of flight tests themselves, as well as the result of the analysis of the BILU device parameters after the tests, which confirm the stability of the main technical characteristics of the device.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127623581","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}
引用次数: 0
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