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.2019.8769422
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.2019.8769340
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.2019.8769431
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.2019.8769421
Yuanxin Wu
Inertial navigation computation is to acquire the attitude, velocity and position information of a moving body by integrating inertial measurements from gyroscopes and accelerometers. Over half a century has witnessed great efforts in coping with the motion non-commutativity errors to accurately compute the navigation information as far as possible, so as not to comprise the quality measurements of inertial sensors. Highly dynamic applications and the forthcoming cold-atom precision inertial navigation systems demand for even more accurate inertial navigation computation. The paper gives birth to an ultimate inertial navigation algorithm to fulfill that demand, named the iNavFIter, which is based on a brand new framework of functional iterative integration and Chebyshev polynomials. Remarkably, the proposed iNavFIter reduces the non-commutativity errors to almost machine precision, namely, the coning/sculling/scrolling errors that have perplexed the navigation community for long. Numerical results are provided to demonstrate its accuracy superiority over the-state-of-the-art inertial navigation algorithms at affordable computation cost.
{"title":"Next-Generation Inertial Navigation Computation Based on Functional Iteration","authors":"Yuanxin Wu","doi":"10.23919/ICINS.2019.8769421","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769421","url":null,"abstract":"Inertial navigation computation is to acquire the attitude, velocity and position information of a moving body by integrating inertial measurements from gyroscopes and accelerometers. Over half a century has witnessed great efforts in coping with the motion non-commutativity errors to accurately compute the navigation information as far as possible, so as not to comprise the quality measurements of inertial sensors. Highly dynamic applications and the forthcoming cold-atom precision inertial navigation systems demand for even more accurate inertial navigation computation. The paper gives birth to an ultimate inertial navigation algorithm to fulfill that demand, named the iNavFIter, which is based on a brand new framework of functional iterative integration and Chebyshev polynomials. Remarkably, the proposed iNavFIter reduces the non-commutativity errors to almost machine precision, namely, the coning/sculling/scrolling errors that have perplexed the navigation community for long. Numerical results are provided to demonstrate its accuracy superiority over the-state-of-the-art inertial navigation algorithms at affordable computation cost.","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":"132055500","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.2019.8769464
A. Kovalev
A method is proposed for determining the angular rate in a micromechanical gyroscope based on separation of the signal phase rather than extraction of the envelope of secondary oscillations of the inertial mass. The theoretical and experimental tests have shown the possibility of using this method to measure the angular rate in principle. The proposed phase method has some advantages over the commonly used amplitude method.
{"title":"Phase Method for Measuring the output Signal of a Single-Mass MEMS Gyroscope as a Possibility of Improving its Performance","authors":"A. Kovalev","doi":"10.23919/ICINS.2019.8769464","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769464","url":null,"abstract":"A method is proposed for determining the angular rate in a micromechanical gyroscope based on separation of the signal phase rather than extraction of the envelope of secondary oscillations of the inertial mass. The theoretical and experimental tests have shown the possibility of using this method to measure the angular rate in principle. The proposed phase method has some advantages over the commonly used amplitude method.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"117 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132237176","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.2019.8769430
A.V. Soubbotin, V.S. Yermakov, M.B. Mafter
Design features, operational aspects and main functions of the Miniature Marine Integrated Navigation and Stabilization System (MMINSS) “Kama-NS-V” based on a strapdown sensor unit of fiber-optic gyroscopes are viewed in this paper. Main operational modes are described. Grounds are given for the field testing procedure. Its advantage lies in the possibility of autonomous check of all input parameters in arbitrary motion. The results of trials in observational and autonomous modes including start-ups at latitudes higher than 70°N in rough sea and arbitrary motion conditions are presented. Comparative analysis of navigational and dynamic parameters accuracy relative to the gimballed INS currently used in the navy is provided.
{"title":"Engineering and Operational Aspects of Miniature Marine Integrated Navigation and Stabilization System on Fiber-Optic Gyroscopes “KAMA-NS-V”","authors":"A.V. Soubbotin, V.S. Yermakov, M.B. Mafter","doi":"10.23919/ICINS.2019.8769430","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769430","url":null,"abstract":"Design features, operational aspects and main functions of the Miniature Marine Integrated Navigation and Stabilization System (MMINSS) “Kama-NS-V” based on a strapdown sensor unit of fiber-optic gyroscopes are viewed in this paper. Main operational modes are described. Grounds are given for the field testing procedure. Its advantage lies in the possibility of autonomous check of all input parameters in arbitrary motion. The results of trials in observational and autonomous modes including start-ups at latitudes higher than 70°N in rough sea and arbitrary motion conditions are presented. Comparative analysis of navigational and dynamic parameters accuracy relative to the gimballed INS currently used in the navy is provided.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"9 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":"129313025","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.2019.8769393
V. Avrutov, Yu. F. Lazarev
The article considers autonomous determination of initial position of a vehicle. The process is based on the methods of latitude determination and north-finding technique for land vehicles. These methods use strapdown inertial technology with Inertial Measurement Unit consisting of three accelerometers and three gyroscopes (angular rate sensors). The error model of longitude determination has been developed, dependent on errors of latitude and azimuth determination
{"title":"Autonomous Determination of Initial Position Data","authors":"V. Avrutov, Yu. F. Lazarev","doi":"10.23919/ICINS.2019.8769393","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769393","url":null,"abstract":"The article considers autonomous determination of initial position of a vehicle. The process is based on the methods of latitude determination and north-finding technique for land vehicles. These methods use strapdown inertial technology with Inertial Measurement Unit consisting of three accelerometers and three gyroscopes (angular rate sensors). The error model of longitude determination has been developed, dependent on errors of latitude and azimuth determination","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"162 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":"122623682","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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