Pub Date : 2019-05-27DOI: 10.23919/ICINS.2019.8769388
V. Soldatenkov, A. Levkovich, Y. Evseeva, V. Uspenskiĭ, V. M. Achil’diev, N. Bedro, M. Basarab, Y. Gruzevich, M. Komarova, N. S. Konnova
The article describes a device for simultaneous registration of electro- and seismocardiograms, so-called electroseismocardiography system. It is based on a low-noise, high-recision three-axis MEMS accelerometer and 24 bits sigmadelta ADC for electrocardiosignals capturing. The operation algorithm of the system is developed and described. The paper deals with the main methods of digital signal processing, as well as the possibility of using the data of electroseismocardiography for non-invasive diagnosis of human diseases.
{"title":"Electroseismocardiography System for Non-Invasive Human Diseases Diagnosis","authors":"V. Soldatenkov, A. Levkovich, Y. Evseeva, V. Uspenskiĭ, V. M. Achil’diev, N. Bedro, M. Basarab, Y. Gruzevich, M. Komarova, N. S. Konnova","doi":"10.23919/ICINS.2019.8769388","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769388","url":null,"abstract":"The article describes a device for simultaneous registration of electro- and seismocardiograms, so-called electroseismocardiography system. It is based on a low-noise, high-recision three-axis MEMS accelerometer and 24 bits sigmadelta ADC for electrocardiosignals capturing. The operation algorithm of the system is developed and described. The paper deals with the main methods of digital signal processing, as well as the possibility of using the data of electroseismocardiography for non-invasive diagnosis of human diseases.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115373430","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}
Pub Date : 2019-05-27DOI: 10.23919/ICINS.2019.8769372
Y. Broslavets, R. Egorov, A. A. Fomichev, E. A. Polukeev, D. M. Ambartsumyan
The paper considers the effect of coupling of counterpropagating waves caused by scattering of radiation in two- and four-frequency Zeeman laser gyroscopes on their characteristics. Methods for measuring the magnitude of coupling of counterpropagating waves via determination of parameters of the amplitude modulation of counterpropagating waves and via reconstruction of the beat signal phase are presented. The obtained values of the coupling magnitude were used to minimize it by 2–7 times by the geometry adjustment of the gyroscope cavity. Measurements of the zero drift and other parameters of two-frequency and four-frequency laser gyroscopes at different coupling magnitudes of counterpropagating waves have been carried out.
{"title":"Coupling of Counterpropagating Waves in Two-and Four-Frequency Zeeman Laser Gyroscopes with a Nonplanar Cavity","authors":"Y. Broslavets, R. Egorov, A. A. Fomichev, E. A. Polukeev, D. M. Ambartsumyan","doi":"10.23919/ICINS.2019.8769372","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769372","url":null,"abstract":"The paper considers the effect of coupling of counterpropagating waves caused by scattering of radiation in two- and four-frequency Zeeman laser gyroscopes on their characteristics. Methods for measuring the magnitude of coupling of counterpropagating waves via determination of parameters of the amplitude modulation of counterpropagating waves and via reconstruction of the beat signal phase are presented. The obtained values of the coupling magnitude were used to minimize it by 2–7 times by the geometry adjustment of the gyroscope cavity. Measurements of the zero drift and other parameters of two-frequency and four-frequency laser gyroscopes at different coupling magnitudes of counterpropagating waves have been carried out.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124188232","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}
Pub Date : 2019-05-01DOI: 10.23919/ICINS.2019.8769414
A. Nebylov, Vladimir Nebylov, A. Panferov, S. Brodsky
Methods for obtaining a software model of a winged aircraft (wind-in- ground effect vehicle) near a flat surface using the Comsol Multiphysics CFD package are considered. The scope of the resulting model was determined. A method for controlling an ekranoplane in a wide range of ground effect is proposed. The results of digital modeling are given.
{"title":"Methods of Motion Control Algorithms Synthesis in the Area of Ground-Effect","authors":"A. Nebylov, Vladimir Nebylov, A. Panferov, S. Brodsky","doi":"10.23919/ICINS.2019.8769414","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769414","url":null,"abstract":"Methods for obtaining a software model of a winged aircraft (wind-in- ground effect vehicle) near a flat surface using the Comsol Multiphysics CFD package are considered. The scope of the resulting model was determined. A method for controlling an ekranoplane in a wide range of ground effect is proposed. The results of digital modeling are given.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"8 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":"115649681","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}
Pub Date : 2019-05-01DOI: 10.23919/ICINS.2019.8769341
I. A. Chistiakov, A. Nikulin, I. Gartseev
This work proposes algorithms for reconstruction of closed-loop pedestrian trajectories based on two foot-mounted inertial measurement units (IMU). The first proposed algorithm allows calculation of a trajectory using measurements from only one IMU. The second algorithm uses data11The data used in the article are available for downloading at http://gartseev.ru/projects/mkins2019. from both foot-mounted IMUs simultaneously. Both algorithms are based on the Kalman filter and the assumption that while a foot is on the ground its velocity is supposed to be zero. Two methods for comparing the obtained trajectories are proposed, advantages and disadvantages of each method are indicated and a way to optimize the computation time is presented. In addition, a method is proposed for constructing one generalized trajectory of human motion based on the trajectories of each leg.
{"title":"PEDESTRIAN DEAD-RECKONING ALGORITHMS FOR DUAL FOOT-MOUNTED INERTIAL SENSORS","authors":"I. A. Chistiakov, A. Nikulin, I. Gartseev","doi":"10.23919/ICINS.2019.8769341","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769341","url":null,"abstract":"This work proposes algorithms for reconstruction of closed-loop pedestrian trajectories based on two foot-mounted inertial measurement units (IMU). The first proposed algorithm allows calculation of a trajectory using measurements from only one IMU. The second algorithm uses data11The data used in the article are available for downloading at http://gartseev.ru/projects/mkins2019. from both foot-mounted IMUs simultaneously. Both algorithms are based on the Kalman filter and the assumption that while a foot is on the ground its velocity is supposed to be zero. Two methods for comparing the obtained trajectories are proposed, advantages and disadvantages of each method are indicated and a way to optimize the computation time is presented. In addition, a method is proposed for constructing one generalized trajectory of human motion based on the trajectories of each leg.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"38 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":"123344911","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}
Pub Date : 2019-05-01DOI: 10.23919/ICINS.2019.8769409
D. Gryazin, I. Sergachev, Y. Matveev
A method is proposed for measuring the magnetic heading of a vessel in high latitudes, which consists in the extraction of signal proportional to the magnetic compass error at rolling, and its compensation in resulting measurements. The error signal is formed with the use of the yaw rate and a special computing algorithm. The paper describes the proposed algorithm as well as the Azimuth-KM0SD magnetic compass in which the proposed measurement method is implemented.
{"title":"A Method for Measuring the Magnetic Heading of a Vessel in High Latitudes and its Implementation in the Azimuth-KM05D Compass","authors":"D. Gryazin, I. Sergachev, Y. Matveev","doi":"10.23919/ICINS.2019.8769409","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769409","url":null,"abstract":"A method is proposed for measuring the magnetic heading of a vessel in high latitudes, which consists in the extraction of signal proportional to the magnetic compass error at rolling, and its compensation in resulting measurements. The error signal is formed with the use of the yaw rate and a special computing algorithm. The paper describes the proposed algorithm as well as the Azimuth-KM0SD magnetic compass in which the proposed measurement method is implemented.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"37 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114024863","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}
Pub Date : 2019-05-01DOI: 10.23919/ICINS.2019.8769403
I. Bykanov, V. Nikiforov
This paper shows the process of determining the permissible overloads acting on the sensitive element of the pendulum compensating accelerometer. The sensing element is a pendulum made of monocrystalline silicon in the form of a plate. The estimation of permissible overloads was carried out by the method of finite element analysis using modern computer aided design software. To check the adequacy of the results obtained, physical experiments were carried out, during which the pendulums were loaded along one of the axes.
{"title":"Estimation of Strength for the Sensitive Element of Si-Flex-Type Compensating Pendulum Accelerometer by the Method of Finite Element Analysis","authors":"I. Bykanov, V. Nikiforov","doi":"10.23919/ICINS.2019.8769403","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769403","url":null,"abstract":"This paper shows the process of determining the permissible overloads acting on the sensitive element of the pendulum compensating accelerometer. The sensing element is a pendulum made of monocrystalline silicon in the form of a plate. The estimation of permissible overloads was carried out by the method of finite element analysis using modern computer aided design software. To check the adequacy of the results obtained, physical experiments were carried out, during which the pendulums were loaded along one of the axes.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"3 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":"132024078","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}
Pub Date : 2019-05-01DOI: 10.23919/ICINS.2019.8769432
V. Peshekhonov, A. Sokolov, A. Krasnov
An overview of gravimetric systems designed by the Central Scientific Research Institute Elektropribor for various geophysical and geodetic applications is given. The prospects for further improvement of gravimetric equipment are discussed, with particular emphasis on the instruments for measuring absolute gravity and deflections of the vertical at sea.
{"title":"The Evolution of Gravimetric Systems Developed at the CSRI Elektropribor","authors":"V. Peshekhonov, A. Sokolov, A. Krasnov","doi":"10.23919/ICINS.2019.8769432","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769432","url":null,"abstract":"An overview of gravimetric systems designed by the Central Scientific Research Institute Elektropribor for various geophysical and geodetic applications is given. The prospects for further improvement of gravimetric equipment are discussed, with particular emphasis on the instruments for measuring absolute gravity and deflections of the vertical at sea.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"50 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":"132114988","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}
Pub Date : 2019-05-01DOI: 10.23919/ICINS.2019.8769426
S. Shafran, I. Kudryavtsev, V. Grechishnikov, A. V. Arkhipov
The report is focused on an example of using NT1065 in GNSS receiver. Described are the experimental results of testing acquisition and tracking modules, processing output data of NT1065.
{"title":"Application of IC NT1065 “Nomada”","authors":"S. Shafran, I. Kudryavtsev, V. Grechishnikov, A. V. Arkhipov","doi":"10.23919/ICINS.2019.8769426","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769426","url":null,"abstract":"The report is focused on an example of using NT1065 in GNSS receiver. Described are the experimental results of testing acquisition and tracking modules, processing output data of NT1065.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"15 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":"134554691","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}
Pub Date : 2019-05-01DOI: 10.23919/ICINS.2019.8769353
Y. Somov, S. Butyrin, S. Somov, T. Somova
Methods for navigation, guidance and control of a space robot-manipulator at preparation and capturing of a passive satellite in a sun-synchronous orbit are presented.
介绍了空间机械臂在太阳同步轨道被动卫星准备和捕获过程中的导航、制导和控制方法。
{"title":"Navigation and Control of Free-Flying Robot-Manipulator at Mechanical Capturing of a Passive Space Vehicle","authors":"Y. Somov, S. Butyrin, S. Somov, T. Somova","doi":"10.23919/ICINS.2019.8769353","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769353","url":null,"abstract":"Methods for navigation, guidance and control of a space robot-manipulator at preparation and capturing of a passive satellite in a sun-synchronous orbit are presented.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"11 2 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":"133023132","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}
Pub Date : 2019-05-01DOI: 10.23919/ICINS.2019.8769438
A. V. Molodenkov, S. Perelyaev, Y. Sapunkov, T. Molodenkova
The analytical solution of an approximate equation for the vector of a rigid body finite rotation has made it possible to solve the problem of determining the quaternion of orientation of a rigid body for an arbitrary angular velocity and small angle of rotation of a rigid body with the help of quadratures. Proceeding from this solution, the following approach to the design of a new algorithm for computation of strapdown INS orientation is proposed.
{"title":"Analytical Solution of an Approximate Equation for the Vector of a Rigid Body Finite Rotation and its Application to Construct the Algorithm for Determining the Strapdown INS Orientation","authors":"A. V. Molodenkov, S. Perelyaev, Y. Sapunkov, T. Molodenkova","doi":"10.23919/ICINS.2019.8769438","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769438","url":null,"abstract":"The analytical solution of an approximate equation for the vector of a rigid body finite rotation has made it possible to solve the problem of determining the quaternion of orientation of a rigid body for an arbitrary angular velocity and small angle of rotation of a rigid body with the help of quadratures. Proceeding from this solution, the following approach to the design of a new algorithm for computation of strapdown INS orientation is proposed.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"38 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":"131414118","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}
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