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.2019.8769364
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.2019.8769340
O. S. Amosov, S. G. Amosova
The neural network method for detecting and recognizing moving objects in the tasks of trajectory tracking according to the data from surveillance cameras is offered. The new method is effective in terms of accuracy and high-speed performance. The adapted architectures of neural networks are offered to identify vehicles, people and situations.
{"title":"The Neural Network Method for Detection and Recognition of Moving Objects in Trajectory Tracking Tasks according to the Video Stream","authors":"O. S. Amosov, S. G. Amosova","doi":"10.23919/ICINS.2019.8769340","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769340","url":null,"abstract":"The neural network method for detecting and recognizing moving objects in the tasks of trajectory tracking according to the data from surveillance cameras is offered. The new method is effective in terms of accuracy and high-speed performance. The adapted architectures of neural networks are offered to identify vehicles, people and situations.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"39 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":"128342678","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.2019.8769436
V. I. Grebennikov, D. Kalikhman, L. Kalikhman, S. F. Nakhov, V. Skorobogatov, E. A. Deputatova, A. Nikolaenko, R. Samitov, V. E. Kozhevnikov
The paper studies a number of problems related to the modernization of a six-axis unit of apparent acceleration meters (originally abbreviated as the “BILU” device), which is being used as part of the Soyuz spacecraft (SC) control system since 2002. It is shown that the use of a quartz pendulum accelerometer with digital feedback expanded the functional capabilities of the device, helped to practically realize the import substitution policy, and made it possible to introduce the device to the Progress-MS control system. The developed device has passed all types of ground testing and has been supplied to RSC Energia since January 2019.
{"title":"Six-Axis Unit of Apparent Acceleration Meters Based on a Precision Quartz Pendulum Accelerometer with Digital Feedback for Control Systems of Soyuz-MS and Progress-MS Spacecrafts","authors":"V. I. Grebennikov, D. Kalikhman, L. Kalikhman, S. F. Nakhov, V. Skorobogatov, E. A. Deputatova, A. Nikolaenko, R. Samitov, V. E. Kozhevnikov","doi":"10.23919/ICINS.2019.8769436","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769436","url":null,"abstract":"The paper studies a number of problems related to the modernization of a six-axis unit of apparent acceleration meters (originally abbreviated as the “BILU” device), which is being used as part of the Soyuz spacecraft (SC) control system since 2002. It is shown that the use of a quartz pendulum accelerometer with digital feedback expanded the functional capabilities of the device, helped to practically realize the import substitution policy, and made it possible to introduce the device to the Progress-MS control system. The developed device has passed all types of ground testing and has been supplied to RSC Energia since January 2019.","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":"128419765","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.2019.8769338
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.2019.8769407
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}
Pub Date : 2019-05-01DOI: 10.23919/ICINS.2019.8769405
D. Burov
The paper considers the concepts of analytic filtering with the use of principle of external disturbance reduction implemented in platform systems of angular orientation. The paper also describes an approach to determination of initial orientation parameters with the use of a physical principle of alignment. This principle implies realization of analytic dependencies in SINS navigation parameterization algorithm. These dependencies imitate the operation of an azimuth gyroscope and a horizontally stabilized platform. The results of field tests are presented. They justify the functionality and the effectiveness of the algorithm. Application of filtering results in an increased accuracy of SINS initial orientation especially when SINS are operated on ground mobile obj ects under the influence of angular vibrations, angular oscillations and a random change of the object casing angular position.
{"title":"From Platform to Strapdown Gyro Systems: External Disturbance Filtering for SINS Initial Alignment. The Results of its Application","authors":"D. Burov","doi":"10.23919/ICINS.2019.8769405","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769405","url":null,"abstract":"The paper considers the concepts of analytic filtering with the use of principle of external disturbance reduction implemented in platform systems of angular orientation. The paper also describes an approach to determination of initial orientation parameters with the use of a physical principle of alignment. This principle implies realization of analytic dependencies in SINS navigation parameterization algorithm. These dependencies imitate the operation of an azimuth gyroscope and a horizontally stabilized platform. The results of field tests are presented. They justify the functionality and the effectiveness of the algorithm. Application of filtering results in an increased accuracy of SINS initial orientation especially when SINS are operated on ground mobile obj ects under the influence of angular vibrations, angular oscillations and a random change of the object casing angular position.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"55 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":"121061663","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.2019.8769357
E. Gorskiy, I. Kopylov, E. Kharin, V. Kopelovich, A. Yasenok
This report details the performance of trajectory measurements on the basis of GLONASS and GPS satellite navigation systems providing for testing of airborne equipment of landing systems and flight control of the information field for ground-based equipment of instrument landing systems.
{"title":"Trajectory Measurements during Monitoring and Testing of Ground-Based Radio Equipment and Airborne Equipment of Instrument Landing Systems","authors":"E. Gorskiy, I. Kopylov, E. Kharin, V. Kopelovich, A. Yasenok","doi":"10.23919/ICINS.2019.8769357","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769357","url":null,"abstract":"This report details the performance of trajectory measurements on the basis of GLONASS and GPS satellite navigation systems providing for testing of airborne equipment of landing systems and flight control of the information field for ground-based equipment of instrument landing systems.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"116 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":"117266926","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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