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

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On the method of instrumental errors parameterization for a gravity gradiometer 重力梯度仪仪器误差参数化方法研究
2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2018-05-01 DOI: 10.23919/ICINS.2018.8405851
A. Golovan, E. V. Gorushkina, I. Papusha
{"title":"On the method of instrumental errors parameterization for a gravity gradiometer","authors":"A. Golovan, E. V. Gorushkina, I. Papusha","doi":"10.23919/ICINS.2018.8405851","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405851","url":null,"abstract":"The paper presents the description of an error mathematical model for one of the instrument versions of a gravity gradiometer installed on a mobile base and measuring the gradient tensor of the Earth gravitational field. The model has been developed for the world's only and unique gradiometer design brought to the stage of practical implementation and serial production.","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"46 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":"130503587","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: 3
The usability of MTI IMU sensor data in PDR indoor positioning MTI IMU传感器数据在PDR室内定位中的可用性
2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2018-05-01 DOI: 10.23919/ICINS.2018.8405864
H. Guo, M. Uradziński
{"title":"The usability of MTI IMU sensor data in PDR indoor positioning","authors":"H. Guo, M. Uradziński","doi":"10.23919/ICINS.2018.8405864","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405864","url":null,"abstract":"In presented inertial pedestrian navigation system, MTI/IMU was used successfully by strapping the IMU on foot/shoe. The PDR indoor positioning method has been implemented in a Kalman-based framework. The Extended Kalman Filter (EKF) is updated with velocity and angular rate measurements by the Zero-Velocity-Update (ZUPT) and Zero-Angular-Rate-Update (ZARU) separately. There is an advantage of the step detection combined with ZUPT and ZARU for calculating the actual position, distance travelled and estimating the IMU sensors' inherent accumulated error by EKF. Several tests (100Hz, 50Hz and 25Hz) with MTI/IMU device have been performed and analyzed in order to evaluate the performance of the proposed methods. In this paper the final results of normal, slow and fast walking at 100Hz are presented, which are the most stable.","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"81 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":"122466078","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: 9
The effect of slow fluctuation processes in the ring laser gyroscope on its bias instability 环形激光陀螺中慢波动过程对其偏置不稳定性的影响
2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2018-05-01 DOI: 10.23919/ICINS.2018.8405898
A. Molchanov, M. Chirkin, A. E. Serebryakov, V. V. Klimakov, H. N. Dao, V. Mishin
{"title":"The effect of slow fluctuation processes in the ring laser gyroscope on its bias instability","authors":"A. Molchanov, M. Chirkin, A. E. Serebryakov, V. V. Klimakov, H. N. Dao, V. Mishin","doi":"10.23919/ICINS.2018.8405898","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405898","url":null,"abstract":"We have identified the origin of the bias instability of the laser gyroscope, which included the ring heliumneon laser with mechanical dither. The data observed consist of the gyro counts of vertical projection of the Earth's angular rate and the bilateral gas discharge maintaining voltages in the ring laser. The measurements were carried out under conditions of prolonged operation after the gyroscope was started, stabilization of the discharge currents and the ambient temperature. Detected spontaneous changes in the maintaining voltages are the results of fluctuations in the contamination concentration in the active medium of the laser. The revealed process leads to the non-reciprocity of counter propagating waves, which the ring laser generates. The swing of the trend line for registered angular rate correlates with the oscillations of the bilateral gas discharge maintaining voltages. The Allan variance analysis confirms the observed value of the laser gyro bias instability that makes it possible to identify the process of the appearance of unsteady gas flows in the ring laser with changes in the concentration of contaminations in the laser active medium.","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"6 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":"115361472","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
Gyro north and latitude finder 陀螺北纬测定仪
2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2018-05-01 DOI: 10.23919/ICINS.2018.8405912
V. Avrutov
{"title":"Gyro north and latitude finder","authors":"V. Avrutov","doi":"10.23919/ICINS.2018.8405912","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405912","url":null,"abstract":"Gyro North and Latitude Finder is a strapdown device for determination of an initial latitude and azimuth or heading with respect to a true north. In this article we present a new method for latitude determination for a fixed base. The method is based on strapdown inertial technology. The Inertial Measurement Unit (IMU) is used for latitude and azimuth determination. The IMU is composed of accelerometers, gyroscopes and a signal processing circuit. The error models of the latitude determination method and gyrocompassing mode are developed. It is discussed that the errors of latitude determination and gyrocompassing mode depend on the errors of gyroscopes and accelerometers. The experiments have demonstrated that the application of this method provides for latitude determination. The IMU experiments were conducted with ring laser gyroscopes and pendulum accelerometers.","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"15 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":"126520024","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: 4
Assessment of the possibility of underwater navigation support for autonomous underwater vehicles at long ranges 远程自主水下航行器水下导航支持的可能性评估
2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2018-05-01 DOI: 10.23919/ICINS.2018.8405871
I. Burdinsky, S. A. Otcheskii
{"title":"Assessment of the possibility of underwater navigation support for autonomous underwater vehicles at long ranges","authors":"I. Burdinsky, S. A. Otcheskii","doi":"10.23919/ICINS.2018.8405871","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405871","url":null,"abstract":"This work is devoted to the consideration of general principles for building a network of reference beacons, the solution of the AUV observation problem, and the estimation of the error in determining the underwater vehicle coordinates at long distances. The report presents the results of processing the data from experiments performed in the water area of the Sea of Japan. Field experiments were conducted in conditions with a pronounced temporal and Doppler hydroacoustic signal energy dissipation with a distance of up to 350 km and the speed of the signal receiver movement of up to 4 knots. The obtained data allow us to formulate general principles for the technology of constructing a network of hydroacoustic signal reference sources to solve the problem of observing underwater moving objects over a long distance and to propose the concept of creating a global underwater navigation system. Scientifically grounded and experimentally researched technical solutions for creating fundamentally new elements of an AUV long-range navigation system will significantly increase the period of autonomy, the accuracy of performing survey and exploration works and monitoring the coastal zone by underwater mobile objects.","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"112 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":"124253179","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
Navigation, guidance and control of a free-flying robot during its rendezvous with a passive space vehicle 自由飞行机器人与被动空间飞行器交会期间的导航、制导和控制
2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2018-05-01 DOI: 10.23919/ICINS.2018.8405935
Y. Somov, S. Butyrin, S. Somov
{"title":"Navigation, guidance and control of a free-flying robot during its rendezvous with a passive space vehicle","authors":"Y. Somov, S. Butyrin, S. Somov","doi":"10.23919/ICINS.2018.8405935","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405935","url":null,"abstract":"Methods for navigation, guidance and control of a space robot-manipulator at its approach to a passive space vehicle on a sun-synchronous orbit in conditions of uncertainty and incompleteness of measurements are considered. An operational strategy to estimate the resources needed for onboard devices of the robot's attitude and orbit control system is discussed.","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"78 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":"134614620","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
Using high-order signal variance moments to evaluate noise characteristics of measuring channels 利用高阶信号方差矩评价测量通道的噪声特性
2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2018-05-01 DOI: 10.23919/ICINS.2018.8405850
A. Fedotov, S. Perepelkina, V. M. Kutovoy, O. I. Maslova
{"title":"Using high-order signal variance moments to evaluate noise characteristics of measuring channels","authors":"A. Fedotov, S. Perepelkina, V. M. Kutovoy, O. I. Maslova","doi":"10.23919/ICINS.2018.8405850","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405850","url":null,"abstract":"The article examines the applicability of high-order (the third and fourth) signal variance moments for determining the characteristic properties of various standard measurement noise, sinusoidal noise and Markovian-type noise with all sorts of constraints on the noise level. The discrete model of measurement noise developed by Scientific and Production Association of Automation named after the academician N.A. Semikhatov is used as a research tool. On the basis of the high-order signal variance moments, the estimates of the asymmetry and kurtosis coefficients were obtained. The characteristic form of the indicated coefficients for some varieties of the considered noise makes it possible to use them for qualitative analysis of the noise of the measuring channels of the sensitive elements of the strapdown inertial navigation systems.","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"474 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":"131825707","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
Determination of mutual orientation of inertial modules mounted on a moving object at a distance from each other 确定安装在移动物体上的惯性模块的相互方向
2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2018-05-01 DOI: 10.23919/ICINS.2018.8405908
V. Smirnov, V. Savelyev, A. Prohortsov, A. E. Yakovlev
{"title":"Determination of mutual orientation of inertial modules mounted on a moving object at a distance from each other","authors":"V. Smirnov, V. Savelyev, A. Prohortsov, A. E. Yakovlev","doi":"10.23919/ICINS.2018.8405908","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405908","url":null,"abstract":"Method for determination of mutual orientation of inertial modules mounted on moving object remote from each other is proposed.","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"25 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":"115036329","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
Preprocessing of measurements and estimation of the disturbances as methods to increase the accuracy of the guaranteed estimation algorithm 对测量值进行预处理，对扰动进行估计，以提高保证估计算法的精度
2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2018-05-01 DOI: 10.23919/ICINS.2018.8405875
I. O. Osipov, P. A. Yourovskikh, V. Shiryaev
{"title":"Preprocessing of measurements and estimation of the disturbances as methods to increase the accuracy of the guaranteed estimation algorithm","authors":"I. O. Osipov, P. A. Yourovskikh, V. Shiryaev","doi":"10.23919/ICINS.2018.8405875","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405875","url":null,"abstract":"This paper considers the estimation problem of linear dynamical system state (state vector) for optimal control under uncertainty. To increase the accuracy of state vector estimation two approaches can be used: preprocessing of measurements and estimation of the disturbances by the minimax filtering. These approaches are validated for the problem of stabilizing the pitch angle of a launch vehicle.","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"96 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":"115087218","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
Development and investigation of algorithms for determining relative navigation and orientation based on distance measurements 基于距离测量确定相对导航和方向的算法的发展和研究
2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2018-05-01 DOI: 10.23919/ICINS.2018.8405930
I. Belokonov, A. Bogatyrev, A. Kramlikh
{"title":"Development and investigation of algorithms for determining relative navigation and orientation based on distance measurements","authors":"I. Belokonov, A. Bogatyrev, A. Kramlikh","doi":"10.23919/ICINS.2018.8405930","DOIUrl":"https://doi.org/10.23919/ICINS.2018.8405930","url":null,"abstract":"In research the problems of nanosatellite relative navigation and attitude determination at formation flight are considered. For relative navigation and attitude determination the algorithms based on methods of range radionavigation have been developed. The algorithm field of applicability is formulated. Estimates of the algorithm method errors are obtained and recommendations about their practical use are formulated.","PeriodicalId":243907,"journal":{"name":"2018 25th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"1 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":"120982046","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
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