2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)最新文献

{"title":"Inertial sensor data based motion estimation aided by image processing and differential barometry","authors":"C. Doer, G. Scholz, J. Ruppelt, G. Trommer","doi":"10.23919/ICINS.2018.8405839","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405839","url":null,"abstract":"In this paper, a navigation filter is presented that can be used for pedestrian navigation or autonomous micro aerial vehicles (MAV) in the context of search and rescue missions. The proposed system does not rely on external infrastructure and does not make any geometric assumptions on the environment. Point to point navigation tasks are addressed as these are typical for search and rescue scenarios. Therefore, a high accuracy odometry approach is applied. The proposed system fuses sensor data of a mono camera, an IMU and a barometer. In particular, a filter-based approach to visual inertial odometry (VIO) is extended by the fusion with a barometer. Additionally, a tightly coupling between image processing and filter state is applied such that a robust feature tracking and a standstill detection is achieved. The proposed system is evaluated with both simulated and real world datasets. The navigation solution is estimated consistently at IMU rate. The final position error is below one percent of the distance traveled on real world datasets.","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124881627","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":"Inertial navigation in space using quaternion regular equations of astrodynamics","authors":"Y. Chelnokov","doi":"10.23919/ICINS.2018.8405879","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405879","url":null,"abstract":"The new quaternion equations of perfect functioning of the spatial inertial navigation systems with azimuthally stabilized platform and with gyrostabilized platform which retains its orientation in an inertial reference frame, and the quaternion equations of perfect functioning of the strapdown inertial navigation systems in regular four-dimensional Kustaanheimo-Stiefel variables are proposed. These INS equations have a dynamic analogy with the quaternion regular equations of the perturbed spatial two-body problem, which makes it possible to use the results, obtained in the theory of regular celestial mechanics and astrodynamics, in space inertial navigation. This paper discusses the development of INS algorithms using the proposed quaternion equations of INS perfect functioning. This paper develops the results, derived in [1, 2].","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"223 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115556338","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":"Influence of mecanum wheels construction on accuracy of the omnidirectional platform navigation (on exanple of KUKA youBot robot)","authors":"B. Adamov","doi":"10.23919/ICINS.2018.8405889","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405889","url":null,"abstract":"The object of the study is an omnidirectional platform of the mobile robot KUKA youBot, its platform is equipped with two pairs of omnidirectional mecanum-wheels. A kinematic analysis of the system is carried out taking into account number of wheel rollers and its real geometry. The accuracy of the algorithm for calculating the coordinates of the mobile platform using odometric information that does not take into account the construction of the wheels is studied. An algorithm is proposed to improve the accuracy of odometric navigation.","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117092897","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":"In-flight development of SINS-500NS satellite inertial navigation system at high latitudes","authors":"A. Chernodarov, A. Patrikeev, O. A. Karpov","doi":"10.23919/ICINS.2018.8405919","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405919","url":null,"abstract":"Basic features of implementing the modes of operation of a strapdown inertial navigation system (SINS) under polar conditions are considered. The above-mentioned SINS based on fiber-optic gyros has been the subject of our studies. Approaches to the improvement of the accuracy characteristics of such SINS are proposed, which are based on the use of geophysical invariants and on the integrated processing of appropriate observations. The results of field development of the SINS presented in this paper are shown and analyzed.","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116168750","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":"Guidance and attitude control of a land-survey satellite at a scanning stereoscopic imagery","authors":"Y. Somov, S. Butyrin","doi":"10.23919/ICINS.2018.8405934","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405934","url":null,"abstract":"The problem of guidance and attitude control for a land-survey satellite at a scanning stereoscopic imagery is considered. The synthesis of the satellite angular guidance law is based on relations that bind the image motion with the kinematic parameters of the satellite spatial motion relative to the Earth's surface, ensuring constant values of the observation distance and angle of convergence during a scanning from two perspectives. We present the developed methods and the results of the simulation of the stereoscopic imagery fulfilled by a satellite in a sun-synchronous orbit.","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"131 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122489811","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":"Miniature gyroscopic orientation system for unmanned aerial vehicle","authors":"D. M. Malyutin","doi":"10.23919/ICINS.2018.8405916","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405916","url":null,"abstract":"The paper gives a mathematical description of a miniature multifunctional biaxial gyroscopic stabilization system on micromechanical sensors with the ability to simultaneously stabilize and control the position of optical equipment in space and to generate information on the angles of roll and pitch of an aircraft.","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114469533","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":"Forming a trajectory of a map-matching navigation system by the criterion of minimum coordinate errors","authors":"A. Sholokhov, S. Berkovich, N. Kotov, R. N. Sadekov","doi":"10.23919/ICINS.2018.8405887","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405887","url":null,"abstract":"The problem of forming a trajectory of an object that has got a minimum sum of the root-mean-square error of the coordinates is considered. The desired trajectory is formed from short movements of the object between the nodes of the navigation map. The contribution of each object movement to the total error is determined by the relative location of the nodes, the in-formativeness of navigation field and the rate of increase of the coordinate errors of a map-matching navigation system. It is calculated with the use of the covariance channel of the Kalman filter. The use of numerical methods for solving transportation problems is proposed to find the optimal object trajectory. Among them preference is given to the A-star method. A numerical example of a trajectory formation with minimal errors of coordinates is given for a map-matching navigation system.","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124566002","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":"GNSS terrain obstacle modelling using fisheye lense for smartphones","authors":"R. Pelc-Mieczkowska, D. Tomaszewski","doi":"10.23919/ICINS.2018.8405884","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405884","url":null,"abstract":"The GNSS methods of precise positioning are nowadays widely used despite the fact that the accuracy and reliability of those methods are limited to open sky localizations. The presence of terrain obstacles, for instance in urban, mountain or forest environments, significantly effects the accuracy of GNSS measurements due to signal reception blockage and the multipath effect. In case of such hard observational conditions an accurate mission planning is still essential despite the large number of satellites in GNSS systems constellations. Currently there is a variety of mission planning software. Most of those applications allow to create hand-drawn polar obstruction diagrams. This task can be performed more accurately by applying some semi-automated terrain obstacles modelling methods. Hemispherical photography, despite its large amount of distortions, can be successfully used in many areas, such as forest research, meteorology and surveying. This kind of image offers the advantage of providing spatially resolved information of all obstacles above the measurement point. Therefore it can be used as a tool for GNSS site satellite window diagram direct determining. In previous research authors have successfully tested terrain obstacles models obtained from terrestrial laser scanning and digital hemispherical photography (Nikon D90 12.3 megapixel digital semi-professional camera with Sigma 8mm f/3.5 EX DG circular fish-eye lens). Current study describes a method for rapid capturing the terrain obstacles by cheap and simple smartphones fisheye lens. Additionally authors describe method of smartphone camera levelling with the use of AHRS algorithm and development of centering method based on smartphone front camera image. Main aim of the research is to investigate the suitability of cheap fisheye lens for modeling terrain obstacles over the GNSS measurement points.","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130572812","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 novel autonomous navigation technique using pictures in support of a circumlunar mission: Development testing aboard the ISS","authors":"E. Mikrin, M. Belyaev, P. A. Borovikhin, D. Y. Karavaev","doi":"10.23919/ICINS.2018.8405838","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405838","url":null,"abstract":"Natural growth of spaceflight involves exploration of the Solar system. The Moon is the first space body to be explored by the terrestrial civilization, and the 21st century may see the beginning of a geopolitical competition for the natural resources of the Moon. Implementation of the lunar exploration program will provide a stepping stone to deep space exploration, development of a circumlunar infrastructure, starting manned missions to the lunar surface and, in the long run, establishing an outpost on the lunar surface in the interests of the Russian program of fundamental and applied space research, as well as future manned missions to Mars and other bodies of the Solar system. In order to successfully accomplish a manned mission to the Moon, a number of engineering problems need to be solved, one of which is autonomous navigation in circumlunar flight. Up to a certain distance of the spacecraft (SC) from Earth the orbital parameters and corrective burns can be generated from data received from the ground tracking system. In addition to it, data from the onboard satellite navigation equipment can be used. However, in the vicinity of the Moon and during the time when the Moon blocks the view of Earth from the SC, corrective burns need to be generated with inputs from autonomous navigation measurements. Such measurements are usually taken with special optical instruments and sensors, which are used to determine directions towards selected stars, as well as the positions of the Moon, Earth and the Sun. It is also possible to use pictures of the planet to determine the SC orbital parameters. Moreover, the current state of the art of the professional digital photographic equipment makes it possible for the crew to use for autonomous navigation measurement not only special photographic equipment, but also common (off-the-shelf) still camera, just by taking hand-held shots of the sunlit lunar surface through a window. Pictures of the lunar surface taken with a digital camera can then be transferred by the crew to an onboard laptop computer and subjected to any transformations, including those that allow determining the survey point, that is, the spatial position of the camera at the moment when the picture was taken. If need be, these data, which have been independently computed by the crew, can then be entered into the control system. In addition to the existing navigation methods, such lunar photography can be used, for example, to set up a backup, monitoring or emergency autonomous navigation system. The paper proposes a technique for determining the SC position using pictures of the planetary surface. It discusses the experience of development testing of the proposed technique and cites examples of using the technique as applied to the images taken by the ISS cosmonauts within the framework of experiments “Uragan”, “Vizir”, “Vector-T”. The feasibility of using this technique in circumlunar flight is illustrated by the processing of pictures take","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121542046","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":"Specific features of methods and algorithms for planning unmanned vehicles' routes in dynamically changing road scene","authors":"N. Krapukhina, R. Senchenko","doi":"10.23919/ICINS.2018.8405840","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405840","url":null,"abstract":"In this work the authors tackle the question of unmanned navigation and calculate the route in the traffic flow. With the growth of vehicle autonomy this issue becomes systemic and requires upgrading of the existing models, methods and algorithms since some of the decisions normally made by a person (driver) are now transferred to the on-board unit of movement modeling and decision-making unit. This work presents methods for calculating the foute of an unmanned vehicle route based on the information about various levels of the transport system. The 1st level describes the generalized characteristics of the global route based on the chosen set of criteria; 2nd level describes the position and movement dynamics for the multitude of the traffic participants in the vicinity; level 3 shows the calculated trajectory for the vehicle maneuvering in the traffic flow. The suggested methods were developed with the use of multi-agent multi-level simulation model of the transport system proposed by the authors earlier, which allows for route calculation based on a variety of criteria.","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132131821","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}