Pub Date : 2019-05-01DOI: 10.23919/ICINS.2019.8769359
W. Zhao, L. Zhou, G. Song
The paper presents a description of the hardware for SSINS (Space Stable Inertial Navigation System), and 4-gimbal analytic SSINS is selected. The navigation principle and mechanization of SSINS is studied based on the 4-gimbal space stable platform. The compensation mode of Inertial Space and the compensation mode of “mathematical platform” are suggested by analysing the compensation principle and mode of gyro drift. The mechanization schemes of two co-ordinates are analyzed in the paper, one is to solve the navigation information directly in inertial co-ordinates system and convert the navigation parameters of the Earth-Centered Inertial system to LGVC (Local Geodetic Vertical Coordinates) to show the navigation information of the local longitudinal and latitudinal value and speed. Numerical simulation results are presented in the end.
{"title":"A Study on Alignment of analytic Space Stable Inertial Navigation System","authors":"W. Zhao, L. Zhou, G. Song","doi":"10.23919/ICINS.2019.8769359","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769359","url":null,"abstract":"The paper presents a description of the hardware for SSINS (Space Stable Inertial Navigation System), and 4-gimbal analytic SSINS is selected. The navigation principle and mechanization of SSINS is studied based on the 4-gimbal space stable platform. The compensation mode of Inertial Space and the compensation mode of “mathematical platform” are suggested by analysing the compensation principle and mode of gyro drift. The mechanization schemes of two co-ordinates are analyzed in the paper, one is to solve the navigation information directly in inertial co-ordinates system and convert the navigation parameters of the Earth-Centered Inertial system to LGVC (Local Geodetic Vertical Coordinates) to show the navigation information of the local longitudinal and latitudinal value and speed. Numerical simulation results are presented in the end.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"6 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":"114423438","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.2019.8769342
I. Okon
The Paper is related to gyroscopic engineering and can be used for measurement of angular rates and turn angles in reference to inertial space as part of attitude control and navigation systems, as well as motion control systems.
{"title":"Auto-Compensation Bias and Calibration of Vibrating Coriolis Gyroscope","authors":"I. Okon","doi":"10.23919/ICINS.2019.8769342","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769342","url":null,"abstract":"The Paper is related to gyroscopic engineering and can be used for measurement of angular rates and turn angles in reference to inertial space as part of attitude control and navigation systems, as well as motion control systems.","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":"125816414","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.2019.8769395
V. Nikiforov, A. Gusev, T. A. Zhukova, A. Shiryaev, K. Andreev
This paper discusses “supersoft” control of final parameters in a single-axis gyrostabilizer, providing the required precision and “softness” of the gyro-stabilized platform (GSP) rotation from arbitrary initial position to the preset final state. The problems of the synthesis of “supersoft” terminal regulators for GSP and gyro unit (GU) are presented. The mathematical simulation of “supersoft” control is carried out. The conclusions on application of “supersoft” control of final parameters in a single-axis gyrostabilizer are drawn.
{"title":"“Supersoft” Control of Final Parameters in a Single-Axis Gyrostabilizer","authors":"V. Nikiforov, A. Gusev, T. A. Zhukova, A. Shiryaev, K. Andreev","doi":"10.23919/ICINS.2019.8769395","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769395","url":null,"abstract":"This paper discusses “supersoft” control of final parameters in a single-axis gyrostabilizer, providing the required precision and “softness” of the gyro-stabilized platform (GSP) rotation from arbitrary initial position to the preset final state. The problems of the synthesis of “supersoft” terminal regulators for GSP and gyro unit (GU) are presented. The mathematical simulation of “supersoft” control is carried out. The conclusions on application of “supersoft” control of final parameters in a single-axis gyrostabilizer are drawn.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"17 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":"127747985","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.2019.8769380
V. Raspopov, A. Ladonkin, V. V. Likhosherst
The paper discusses the adjustment and calibration features of the electronic module of a Coriolis vibratory gyroscope with a metal resonator switched on in the mode of an angular velocity sensor. The necessity to apply corrective functions for the sensor output signal is substantiated. The results of the sensor test with implemented corrective functions are given.
{"title":"Calibration of a Coriolis Vibratory Gyroscope with a Metal Resonator and an Electronic Unit","authors":"V. Raspopov, A. Ladonkin, V. V. Likhosherst","doi":"10.23919/ICINS.2019.8769380","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769380","url":null,"abstract":"The paper discusses the adjustment and calibration features of the electronic module of a Coriolis vibratory gyroscope with a metal resonator switched on in the mode of an angular velocity sensor. The necessity to apply corrective functions for the sensor output signal is substantiated. The results of the sensor test with implemented corrective functions are given.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"11 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":"115104942","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.2019.8769338
P. Davidson, M. Mansour, O. Stepanov, R. Piché
We propose a method to estimate the distance to objects based on the complementary nature of monocular image sequences and camera kinematic parameters. The fusion of camera measurements with the kinematics parameters that are measured by an IMU and an odometer is performed using an extended Kalman filter. Results of field experiments with a wheeled robot corroborated the results of the simulation study in terms of accuracy of depth estimation. The performance of the approach in depth estimation is strongly affected by the mutual observer and feature point geometry, measurement accuracy of the observer's motion parameters and distance covered by the observer. It was found that under favorable conditions the error in distance estimation does not exceed 1% of the distance to a feature point. This approach can be used to estimate distance to objects located hundreds of meters away from the camera.
{"title":"Depth Estimation from Motion Parallax: Experimental Evaluation","authors":"P. Davidson, M. Mansour, O. Stepanov, R. Piché","doi":"10.23919/ICINS.2019.8769338","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769338","url":null,"abstract":"We propose a method to estimate the distance to objects based on the complementary nature of monocular image sequences and camera kinematic parameters. The fusion of camera measurements with the kinematics parameters that are measured by an IMU and an odometer is performed using an extended Kalman filter. Results of field experiments with a wheeled robot corroborated the results of the simulation study in terms of accuracy of depth estimation. The performance of the approach in depth estimation is strongly affected by the mutual observer and feature point geometry, measurement accuracy of the observer's motion parameters and distance covered by the observer. It was found that under favorable conditions the error in distance estimation does not exceed 1% of the distance to a feature point. This approach can be used to estimate distance to objects located hundreds of meters away from the camera.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"1 11 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":"129323909","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.2019.8769408
Y. Somov, S. Butyrin, T. Somova, S. Somov
Contemporary land-survey satellites are placed in the orbits with altitude of up to 1000 km. For such spacecraft we present the methods developed for in-flight verification of its attitude control system based on the analysis of an image motion in the onboard telescope during scanning optoelectronic imagery.
{"title":"In-flight Checking of the Accuracy of the Navigation and Motion Control System for a Surveying Satellite Using Video Information","authors":"Y. Somov, S. Butyrin, T. Somova, S. Somov","doi":"10.23919/ICINS.2019.8769408","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769408","url":null,"abstract":"Contemporary land-survey satellites are placed in the orbits with altitude of up to 1000 km. For such spacecraft we present the methods developed for in-flight verification of its attitude control system based on the analysis of an image motion in the onboard telescope during scanning optoelectronic imagery.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"117 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":"129448838","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.2019.8769364
D. Bedin
For a problem of multilateration in the presense of outliers, a Bayesian procedure is proposed for obtaining an estimate of the aircraft unknown position and the signal broadcast time. In the procedure, the estimate is obtained as a sum of various options at which receivers the outliers were occurred.
{"title":"Linear Bayesian Estimate for Multilateration Problem in the Presence of Outliers","authors":"D. Bedin","doi":"10.23919/ICINS.2019.8769364","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769364","url":null,"abstract":"For a problem of multilateration in the presense of outliers, a Bayesian procedure is proposed for obtaining an estimate of the aircraft unknown position and the signal broadcast time. In the procedure, the estimate is obtained as a sum of various options at which receivers the outliers were occurred.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128072269","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.2019.8769369
A. Maslov, D. A. Maslov, I. Merkuryev, V. V. Podalkov
A micromechanical gyroscope with a ring resonator and magnetoelectric control sensors is considered. By using Hamilton variational principle, the dynamics equations of the ring are obtained, taking into account dissipation, nonlinear stiffness of torsions, and applied Ampere forces. By using the Bubnov-Galerkin method, a system of nonlinear differential equations that describes the resonator dynamics in the single-mode approximation is obtained. The mathematical model of the gyroscope in the mode of forced oscillations taking into account the nonlinear stiffness of torsion bars is derived. It is shown that torsion bars of elastic suspension cause cubic nonlinearity as well as a shift of the oscillation frequency and gyroscope drift.
{"title":"Dynamics of the Ring Micromechanical Gyroscope Taking into Account the Nonlinear Stiffness of the Suspension","authors":"A. Maslov, D. A. Maslov, I. Merkuryev, V. V. Podalkov","doi":"10.23919/ICINS.2019.8769369","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769369","url":null,"abstract":"A micromechanical gyroscope with a ring resonator and magnetoelectric control sensors is considered. By using Hamilton variational principle, the dynamics equations of the ring are obtained, taking into account dissipation, nonlinear stiffness of torsions, and applied Ampere forces. By using the Bubnov-Galerkin method, a system of nonlinear differential equations that describes the resonator dynamics in the single-mode approximation is obtained. The mathematical model of the gyroscope in the mode of forced oscillations taking into account the nonlinear stiffness of torsion bars is derived. It is shown that torsion bars of elastic suspension cause cubic nonlinearity as well as a shift of the oscillation frequency and gyroscope drift.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"172 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":"116386156","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.2019.8769423
S. Berkovich, A. Sholokhov, N. Kuz’mina, N. Kotov, A. Makhaev, S. E. Chernyshev, S. M. Tarasov
A method of relative measurements to control the accuracy characteristics of the automatic system for determining the astronomical azimuth is proposed and the algorithms for its implementation are given. The development of the method is relevant since there is no reference base for direct (absolute) control of accuracy characteristics by intercomparison. The method of relative measurements consists in estimating increments (changes) in the values of the astronomic azimuth of the sighting axis and the control element under controlled forced changes in the intermediate parameters of the system. Special algorithms have been developed to estimate the expected increments of astronomical azimuth values.
{"title":"Method of Relative Measurements to Control the Accuracy Characteristics of an Automatic Astronomic Azimuth System","authors":"S. Berkovich, A. Sholokhov, N. Kuz’mina, N. Kotov, A. Makhaev, S. E. Chernyshev, S. M. Tarasov","doi":"10.23919/ICINS.2019.8769423","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769423","url":null,"abstract":"A method of relative measurements to control the accuracy characteristics of the automatic system for determining the astronomical azimuth is proposed and the algorithms for its implementation are given. The development of the method is relevant since there is no reference base for direct (absolute) control of accuracy characteristics by intercomparison. The method of relative measurements consists in estimating increments (changes) in the values of the astronomic azimuth of the sighting axis and the control element under controlled forced changes in the intermediate parameters of the system. Special algorithms have been developed to estimate the expected increments of astronomical azimuth values.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"35 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":"124370472","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.2019.8769407
I. Belokonov, A. Kramlikh, M. Melnik
The approach proposed in this paper is based on the idea of creating a knowledge database aboard a nanosatellite that allows the reconfiguration of onboard software in order to choose the most appropriate algorithm for attitude determination and change parameters of the algorithms used. The paper presents the results of the research concerned with the SamSat nanosatellite platform: analysis of performances and formation of requirements to the instrument errors of the sensors used in the attitude control system to ensure the required accuracy of the problem solution; structure of knowledge database; logic of the onboard computer operation in terms of the choice of the applied attitude determination problem solution algorithm; simulation results of realization of the given approach on the model problem.
{"title":"An Alternative Approach to Improving Independence and Fault Tolerance of Solving the Problem of Determining Nanosatellite Attitude","authors":"I. Belokonov, A. Kramlikh, M. Melnik","doi":"10.23919/ICINS.2019.8769407","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769407","url":null,"abstract":"The approach proposed in this paper is based on the idea of creating a knowledge database aboard a nanosatellite that allows the reconfiguration of onboard software in order to choose the most appropriate algorithm for attitude determination and change parameters of the algorithms used. The paper presents the results of the research concerned with the SamSat nanosatellite platform: analysis of performances and formation of requirements to the instrument errors of the sensors used in the attitude control system to ensure the required accuracy of the problem solution; structure of knowledge database; logic of the onboard computer operation in terms of the choice of the applied attitude determination problem solution algorithm; simulation results of realization of the given approach on the model problem.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"13 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":"127964610","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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