Pub Date : 2019-05-01DOI: 10.23919/ICINS.2019.8769374
Tijing Cai, Qimeng Xu, Daijin Zhou, Shuaipeng Gao, Yang Liu, Junxiang Huang, G. I. Emelyantsev, A. Stepanov
This paper puts forward a multimode GNSS/MIMU integrated orientation and navigation system. The system consists of a rotary module, a GNSS board, a MIMU and a navigation computer. The motor drives multimode GNSS dual-antenna and MIMU driving. The extended Kalman filter with 17-dimension state vector fuses multimode GNSS ephemeris, carrier phase, velocity and position information, giving optimum estimate of the system's navigation parameters. The static experiment and dynamic experiment results show that the horizontal attitude error is less than 0.1° (1σ), the heading error is less than 1°(1σ).
{"title":"A Multimode GNSS/MIMU Integrated Orientation and Navigation System","authors":"Tijing Cai, Qimeng Xu, Daijin Zhou, Shuaipeng Gao, Yang Liu, Junxiang Huang, G. I. Emelyantsev, A. Stepanov","doi":"10.23919/ICINS.2019.8769374","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769374","url":null,"abstract":"This paper puts forward a multimode GNSS/MIMU integrated orientation and navigation system. The system consists of a rotary module, a GNSS board, a MIMU and a navigation computer. The motor drives multimode GNSS dual-antenna and MIMU driving. The extended Kalman filter with 17-dimension state vector fuses multimode GNSS ephemeris, carrier phase, velocity and position information, giving optimum estimate of the system's navigation parameters. The static experiment and dynamic experiment results show that the horizontal attitude error is less than 0.1° (1σ), the heading error is less than 1°(1σ).","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":"115355076","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.2019.8769373
A. Telny
This article presents the options for the integration of secondary navigation information of satellite navigation systems and the results of modeling the possibility of navigation measurements accuracy improvement during integration. Integration options are based on the method of determining the location of a moving object in space by imposing restrictions associated with the dynamic properties of the object. This method is recursive and is based on the use of secondary navigation information and readings of on-board meters of motion parameters, when each navigation measurement predicts the area of the possible location of the object at the time of subsequent navigation measurements. The corrected location of the object is considered to be the intersection of the areas of space of subsequent navigation measurements with the previously predicted areas of space. As a result of integration of navigation information of satellite navigation systems, the frequency of navigation data updates and the accuracy of navigation location of a moving object increase.
{"title":"About the Possibility of Integrating Information from Satellite Navigation Systems","authors":"A. Telny","doi":"10.23919/ICINS.2019.8769373","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769373","url":null,"abstract":"This article presents the options for the integration of secondary navigation information of satellite navigation systems and the results of modeling the possibility of navigation measurements accuracy improvement during integration. Integration options are based on the method of determining the location of a moving object in space by imposing restrictions associated with the dynamic properties of the object. This method is recursive and is based on the use of secondary navigation information and readings of on-board meters of motion parameters, when each navigation measurement predicts the area of the possible location of the object at the time of subsequent navigation measurements. The corrected location of the object is considered to be the intersection of the areas of space of subsequent navigation measurements with the previously predicted areas of space. As a result of integration of navigation information of satellite navigation systems, the frequency of navigation data updates and the accuracy of navigation location of a moving object increase.","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":"115415413","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.2019.8769359
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.2019.8769422
V. A. Tupysev, Y. Litvinenko
The problem of methods application for decentralized processing of information in case of nonlinear polynomial algorithms implementation in individual measurement modules is considered. Recursive algorithms of polynomial filtering are proposed as an example of processing the calculated coordinates, inertial system readings, and measured distances to two responder beacons. The results of simulation of a centralized scheme of measurements processing and the scheme based on the federated filtering algorithms are presented.
{"title":"Application of Polynomial-Type Filters to Integrated Navigation Systems with Modular Architecture","authors":"V. A. Tupysev, Y. Litvinenko","doi":"10.23919/ICINS.2019.8769422","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769422","url":null,"abstract":"The problem of methods application for decentralized processing of information in case of nonlinear polynomial algorithms implementation in individual measurement modules is considered. Recursive algorithms of polynomial filtering are proposed as an example of processing the calculated coordinates, inertial system readings, and measured distances to two responder beacons. The results of simulation of a centralized scheme of measurements processing and the scheme based on the federated filtering algorithms are presented.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"18 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":"132466354","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.2019.8769354
X. Hao, Y. Zhao, X. Wang, J. Zhou, J. Zheng
In this paper, we integrate the high-precision inertial navigation system (INS) with the GPS precise point positioning (PPP) by using the tightly-coupled architecture, which aims to obtain the preferable attitude and positioning information in the remote marine applications. The structure of INS/PPP tightly-coupled integrated navigation is presented firstly in the paper. Then, the observation model in the local geographic frame (ENU frame) is derived, where the Extend Kalman filter (EKF) is used for the information fusion. Finally, a real shipborne marine test is conducted to test the performance of INS/PPP tightly coupled integration. The experimental results show that the positioning accuracy of the integrated navigation system can be better than 10cm in the horizontal axis and 20cm for the vertical channel, and the attitude estimation error can be smaller than 1 arcsec. Besides this, the performance the tightly-coupled integration can be maintained during 100s simulated signal outages, while that performance of loosely-coupled integration will degrade significantly in such a case.
{"title":"Performance Evaluation of Tightly-Coupled INS/PPP Integrated Navigation in Remote Marine Surveying Application","authors":"X. Hao, Y. Zhao, X. Wang, J. Zhou, J. Zheng","doi":"10.23919/ICINS.2019.8769354","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769354","url":null,"abstract":"In this paper, we integrate the high-precision inertial navigation system (INS) with the GPS precise point positioning (PPP) by using the tightly-coupled architecture, which aims to obtain the preferable attitude and positioning information in the remote marine applications. The structure of INS/PPP tightly-coupled integrated navigation is presented firstly in the paper. Then, the observation model in the local geographic frame (ENU frame) is derived, where the Extend Kalman filter (EKF) is used for the information fusion. Finally, a real shipborne marine test is conducted to test the performance of INS/PPP tightly coupled integration. The experimental results show that the positioning accuracy of the integrated navigation system can be better than 10cm in the horizontal axis and 20cm for the vertical channel, and the attitude estimation error can be smaller than 1 arcsec. Besides this, the performance the tightly-coupled integration can be maintained during 100s simulated signal outages, while that performance of loosely-coupled integration will degrade significantly in such a case.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"60 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":"133724967","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.2019.8769431
Karsten Mueller, G. Trommer
An algorithm for real-time matching and tracking over image sequences is presented. The goal is that a quadrotor helicopter autonomously approaches a selected target. Therefore, it is necessary to locate the target in live images. In this paper, the target is a point in a window which is selected by an operator in a reference image. This reference point is projected into the live image and tracked over consecutive images. In order to reliably project the reference point into the live image, a robust matching algorithm is proposed. Projective transformations are applied to the reference image to extract additional keypoints and to gain invariance to out-of-plane perspective transformations. A rating based on a color descriptor and on the cross correlation values of regions around inlier keypoints is used to evaluate the quality of the estimated homography matrix. Since the matching algorithm does not exploit the beneficial characteristics of image sequences and because its processing time is not short enough for high frame rates, a tracking algorithm is presented. In order to avoid divergence, tracking is re-initialized based on the rating of the matching result. High detection rates even in image sequences with large viewpoint changes are achieved. Moreover, through parallelization the algorithm offers very low processing times. It is shown that images can be processed at high frame rates in real-time.
{"title":"Real-Time Image Matching and Tracking for Autonomous Quadrotor Helicopters","authors":"Karsten Mueller, G. Trommer","doi":"10.23919/ICINS.2019.8769431","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769431","url":null,"abstract":"An algorithm for real-time matching and tracking over image sequences is presented. The goal is that a quadrotor helicopter autonomously approaches a selected target. Therefore, it is necessary to locate the target in live images. In this paper, the target is a point in a window which is selected by an operator in a reference image. This reference point is projected into the live image and tracked over consecutive images. In order to reliably project the reference point into the live image, a robust matching algorithm is proposed. Projective transformations are applied to the reference image to extract additional keypoints and to gain invariance to out-of-plane perspective transformations. A rating based on a color descriptor and on the cross correlation values of regions around inlier keypoints is used to evaluate the quality of the estimated homography matrix. Since the matching algorithm does not exploit the beneficial characteristics of image sequences and because its processing time is not short enough for high frame rates, a tracking algorithm is presented. In order to avoid divergence, tracking is re-initialized based on the rating of the matching result. High detection rates even in image sequences with large viewpoint changes are achieved. Moreover, through parallelization the algorithm offers very low processing times. It is shown that images can be processed at high frame rates in real-time.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"362 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":"133159728","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.2019.8769435
S. Pavlova, Y. Nekrasov
This report analyzes foreign and domestic methods for improving robustness (accuracy in harsh environment) of MEMS gyros and considers improvement of the MEMS gyro developed by the CSRI Elektropribor owing to optimization of the gyro electrode structure and laws of voltage distribution. Gyro sensitivity to harsh environment conditions is discussed. The authors propose the criteria for changing the existing electrode structure and substantiate its choice and the electrode dimensions.
{"title":"Optimization of MEMS Gyro Electrode Configuration and Laws of Voltage Formation","authors":"S. Pavlova, Y. Nekrasov","doi":"10.23919/ICINS.2019.8769435","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769435","url":null,"abstract":"This report analyzes foreign and domestic methods for improving robustness (accuracy in harsh environment) of MEMS gyros and considers improvement of the MEMS gyro developed by the CSRI Elektropribor owing to optimization of the gyro electrode structure and laws of voltage distribution. Gyro sensitivity to harsh environment conditions is discussed. The authors propose the criteria for changing the existing electrode structure and substantiate its choice and the electrode dimensions.","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":"133058902","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}
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