Pub Date : 2019-05-01DOI: 10.23919/ICINS.2019.8769411
R. Ermakov, I. K. Kuz'menko, E. N. Skripal, A. Seranova, D. E. Gutsevich, A. Abakumov, D. Livshits, K.D. Chekhovskaya, A. L’vov
The work deals with approaches, techniques and technical solutions that are reflected in the structure of the unmanned flight and navigation system, which allow to meet the stringent requirements to reliability and fail-safety.
{"title":"Aspects of Designing a Fail-Safe Flight and Navigation System for Unmanned Aerial Vehicles","authors":"R. Ermakov, I. K. Kuz'menko, E. N. Skripal, A. Seranova, D. E. Gutsevich, A. Abakumov, D. Livshits, K.D. Chekhovskaya, A. L’vov","doi":"10.23919/ICINS.2019.8769411","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769411","url":null,"abstract":"The work deals with approaches, techniques and technical solutions that are reflected in the structure of the unmanned flight and navigation system, which allow to meet the stringent requirements to reliability and fail-safety.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"1 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":"123137057","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.2019.8769448
L. Kiselev, V. Kostousov
The paper deals with the information and computational models connected with solution of navigation and gravimetric tasks in underwater robotics. On the basis of experimental data, available probabilistic assessments of accuracy at trajectory measurements and mapping of gravity anomalies, informativity of an abnormal gravitation field are given with the aim of navigation by reconstructed gravimetric map.
{"title":"On Interrelation and Similarity in Solution of Navigation and Gravimetric Tasks in Underwater Robotics","authors":"L. Kiselev, V. Kostousov","doi":"10.23919/ICINS.2019.8769448","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769448","url":null,"abstract":"The paper deals with the information and computational models connected with solution of navigation and gravimetric tasks in underwater robotics. On the basis of experimental data, available probabilistic assessments of accuracy at trajectory measurements and mapping of gravity anomalies, informativity of an abnormal gravitation field are given with the aim of navigation by reconstructed gravimetric map.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"31 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":"132196208","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.2019.8769339
J. Zhu, D. Dai, W. Wu, X. Wang, J. Wang
The gravity anomaly matching technique is one of the key technologies in gravity aided inertial navigation, which is a totally passive method to correct the accumulated system error. The gravity anomaly measurement with a gravimeter operates in the real position of a vehicle are compared with the data picked up from a gravity map with the position indicated by the inertial system. The difference contains the position error information which can be estimated in a kalman filter as well as in other system. In consideration of the nonlinearity of the gravity anomaly distribution, nonlinear filtering algorithms are applied into the gravity anomaly matching technique. The measurement noise which is the difference between the gravimeter data and the map data in the same position affect the estimating result a lot, while former studies usually use the white noise to simulate the measurement noise, which cannot represent the real situation. In this paper, the measurement noises are analyzed in detail based on the real gravimeter data and the existing gravity map. According to the applications of the shipborne inertial attitude measurement system, which moves in a relatively low speed, the characteristics of the measurement noises are discussed. Different from the former studies in which the measurement noises are simply treated as the white noise, the noise intensity and the correlation time are both considered as the parameters when modelling the measurement noise. The impact of the measurement noise on the gravity anomaly matching technique are also analyzed with different model parameters. Based on the parameter identification of the global gravity anomaly model, the frequency domain analysis are applied to the gravity anomaly signal that the shipborne inertial attitude measurement system sensed. The gravity anomaly signal along the trace are simulated as the Gauss-Markov process with different parameters, while the measurement noise are also generated independently. The impact of the measurement noise on the gravity anomaly matching technique are studied in detail with changing the parameter. Semi-physical simulations are operated with the real movement parameters of a shipborne inertial attitude measurement system and the simulated gravimeter data. With the cubature kalman filtering algorithm used in a single-axis rotation attitude & heading measurement system, the matching results show that the attitude estimation accuracy and the convergence rate improves with the measurement noise intensity decreasing, which indicates that the measuring accuracy of the gravity anomaly data should be enhanced. On the other hand, with the correlation time increasing, the filter becomes much easier to diverge, which means the resolution power of the measuring data should be improved. Methods to decrease the time correlation of the gravity anomaly data are also discussed. Simulation results show that by extending the sample time or enhancing the space frequency, the d
{"title":"Assessment of the Impact of the Measurement Noise on the Gravity Anomaly Matching Technique","authors":"J. Zhu, D. Dai, W. Wu, X. Wang, J. Wang","doi":"10.23919/ICINS.2019.8769339","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769339","url":null,"abstract":"The gravity anomaly matching technique is one of the key technologies in gravity aided inertial navigation, which is a totally passive method to correct the accumulated system error. The gravity anomaly measurement with a gravimeter operates in the real position of a vehicle are compared with the data picked up from a gravity map with the position indicated by the inertial system. The difference contains the position error information which can be estimated in a kalman filter as well as in other system. In consideration of the nonlinearity of the gravity anomaly distribution, nonlinear filtering algorithms are applied into the gravity anomaly matching technique. The measurement noise which is the difference between the gravimeter data and the map data in the same position affect the estimating result a lot, while former studies usually use the white noise to simulate the measurement noise, which cannot represent the real situation. In this paper, the measurement noises are analyzed in detail based on the real gravimeter data and the existing gravity map. According to the applications of the shipborne inertial attitude measurement system, which moves in a relatively low speed, the characteristics of the measurement noises are discussed. Different from the former studies in which the measurement noises are simply treated as the white noise, the noise intensity and the correlation time are both considered as the parameters when modelling the measurement noise. The impact of the measurement noise on the gravity anomaly matching technique are also analyzed with different model parameters. Based on the parameter identification of the global gravity anomaly model, the frequency domain analysis are applied to the gravity anomaly signal that the shipborne inertial attitude measurement system sensed. The gravity anomaly signal along the trace are simulated as the Gauss-Markov process with different parameters, while the measurement noise are also generated independently. The impact of the measurement noise on the gravity anomaly matching technique are studied in detail with changing the parameter. Semi-physical simulations are operated with the real movement parameters of a shipborne inertial attitude measurement system and the simulated gravimeter data. With the cubature kalman filtering algorithm used in a single-axis rotation attitude & heading measurement system, the matching results show that the attitude estimation accuracy and the convergence rate improves with the measurement noise intensity decreasing, which indicates that the measuring accuracy of the gravity anomaly data should be enhanced. On the other hand, with the correlation time increasing, the filter becomes much easier to diverge, which means the resolution power of the measuring data should be improved. Methods to decrease the time correlation of the gravity anomaly data are also discussed. Simulation results show that by extending the sample time or enhancing the space frequency, the d","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":"126544875","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.2019.8769371
N. Vasilyuk, M. Vorobiev, D. Tokarev
The integrated navigation system for determining the position, velocity and attitude of a vehicle is described. This system consists of a dual-antenna GNSS receiver and a microelectromechanical inertial measurement unit embedded into one of two antennas. The dual-antenna GNSS receiver measures only two of the three attitude angles, which are calculated from the fractional parts of the total phases of the carrier signal without resolution of integer ambiguities. Inertial measurements are performed by the inertial measurement unit located inside one of the antennas near its phase center. The measurements are transmitted to the GNSS receiver via the radio frequency cable, together with the GNSS signal received by that antenna. Inertial measurements are combined with the GNSS measurements of the position, velocity, and two attitude angles using the Extended Kalman Filter according to the “loose coupling” approach. Operation principles of individual components of the integrated system are described. The results of the experiments with this system-carried out on various types of vehicles and under various environment conditions are presented.
{"title":"Integrated Navigation System with a Dual-Antenna GNSS Receiver and a MEMS IMU Embedded into One of the Two Antennas","authors":"N. Vasilyuk, M. Vorobiev, D. Tokarev","doi":"10.23919/ICINS.2019.8769371","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769371","url":null,"abstract":"The integrated navigation system for determining the position, velocity and attitude of a vehicle is described. This system consists of a dual-antenna GNSS receiver and a microelectromechanical inertial measurement unit embedded into one of two antennas. The dual-antenna GNSS receiver measures only two of the three attitude angles, which are calculated from the fractional parts of the total phases of the carrier signal without resolution of integer ambiguities. Inertial measurements are performed by the inertial measurement unit located inside one of the antennas near its phase center. The measurements are transmitted to the GNSS receiver via the radio frequency cable, together with the GNSS signal received by that antenna. Inertial measurements are combined with the GNSS measurements of the position, velocity, and two attitude angles using the Extended Kalman Filter according to the “loose coupling” approach. Operation principles of individual components of the integrated system are described. The results of the experiments with this system-carried out on various types of vehicles and under various environment conditions are presented.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"1 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":"114223586","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.2019.8769428
D. Qu, Y. Lu, Y. Tao, M. Wang, X. Zhao, X. Lei
Laser gyroscope is a high precision optical angular rate sensor. The stability of the Laser gyro output directly affects the navigation accuracy of the laser gyro inertial navigation system (LINS). On base of analyzing the error model of LINS, the temperature compensation model of laser gyroscope is established. The temperature compensation model of the gyro bias is established and the gyro bias is compensated with the method of subsection Hermite interpolation. Data collection and temperature compensation experimentations of the laser gyro in different temperature conditions are designed and completed. The output of the laser gyro is compensated off-line by the gyro pulse compensation model. The gyro bias is recalculated using the compensated gyro calibration data in order to validate the affection of the gyro temperature compensation method. Experiments show that the compensation effect of this temperature compensation method is visible. The laser gyro static output stability is improved more than 3 times at room temperature. Experiments show that this method has high engineering application value.
{"title":"Study of Laser Gyro Temperature Compensation Technique on LINS","authors":"D. Qu, Y. Lu, Y. Tao, M. Wang, X. Zhao, X. Lei","doi":"10.23919/ICINS.2019.8769428","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769428","url":null,"abstract":"Laser gyroscope is a high precision optical angular rate sensor. The stability of the Laser gyro output directly affects the navigation accuracy of the laser gyro inertial navigation system (LINS). On base of analyzing the error model of LINS, the temperature compensation model of laser gyroscope is established. The temperature compensation model of the gyro bias is established and the gyro bias is compensated with the method of subsection Hermite interpolation. Data collection and temperature compensation experimentations of the laser gyro in different temperature conditions are designed and completed. The output of the laser gyro is compensated off-line by the gyro pulse compensation model. The gyro bias is recalculated using the compensated gyro calibration data in order to validate the affection of the gyro temperature compensation method. Experiments show that the compensation effect of this temperature compensation method is visible. The laser gyro static output stability is improved more than 3 times at room temperature. Experiments show that this method has high engineering application value.","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":"123876928","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.2019.8769440
H. Benzerrouk, Quang H. Nguyen, Fang Xiaoxing, A. Amrhar, A. Nebylov, R. Landry
This paper addresses an original problem of integrated navigation system based on iridium Next low Earth orbit Iridium Next satellites. In uncovered Radar areas such as oceanic regions, in the northern, southern poles, or in the desert regions, it is important that any aircraft can navigate even in denied GNSS environment. In such conditions, how to maintain tracking information of airlines especially during distress and emergency situations? to achieve that, a new design Inertial/Doppler integration design is developed and proposed. Position and speed of the aircraft are estimated based on multiple Doppler information fusion from Low Earth Orbit (LEO) satellites downlink signals. In this paper, Iridium Next LEO constellation is considered as an emerging technology, and privileged for search and rescue and flight safety applications. Simulations based on experimental data collected by USRP E310 demonstrated very good performances. The new navigation system represents a good alternative to GNSS Positioning, Navigation and Timing Solution (PNT). To achieve high performances, derivative free distributed nonlinear filtering algorithms based on multi variant Quadrature Kalman filters are considered and implemented. A distributed design centralized at the Iridium gateway carried out very good results to be considered as an extended solution to Radar information used to track airlines and manage airspace by its integration into the Air Traffic Management System (ATMS) in all countries.
{"title":"Alternative PNT based on Iridium Next LEO Satellites Doppler/INS Integrated Navigation System","authors":"H. Benzerrouk, Quang H. Nguyen, Fang Xiaoxing, A. Amrhar, A. Nebylov, R. Landry","doi":"10.23919/ICINS.2019.8769440","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769440","url":null,"abstract":"This paper addresses an original problem of integrated navigation system based on iridium Next low Earth orbit Iridium Next satellites. In uncovered Radar areas such as oceanic regions, in the northern, southern poles, or in the desert regions, it is important that any aircraft can navigate even in denied GNSS environment. In such conditions, how to maintain tracking information of airlines especially during distress and emergency situations? to achieve that, a new design Inertial/Doppler integration design is developed and proposed. Position and speed of the aircraft are estimated based on multiple Doppler information fusion from Low Earth Orbit (LEO) satellites downlink signals. In this paper, Iridium Next LEO constellation is considered as an emerging technology, and privileged for search and rescue and flight safety applications. Simulations based on experimental data collected by USRP E310 demonstrated very good performances. The new navigation system represents a good alternative to GNSS Positioning, Navigation and Timing Solution (PNT). To achieve high performances, derivative free distributed nonlinear filtering algorithms based on multi variant Quadrature Kalman filters are considered and implemented. A distributed design centralized at the Iridium gateway carried out very good results to be considered as an extended solution to Radar information used to track airlines and manage airspace by its integration into the Air Traffic Management System (ATMS) in all countries.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117121649","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.2019.8769356
E. Barinova, I. Timbai
The paper considers the angular motion of a dynamically symmetric CubeSat nanosatellite on a circular orbit under the aerodynamic and gravitational moments. Because of the rectangular shape of the CubeSat nanosatellite, the aerodynamic moment depends on two angles of orientation: angles of attack and proper rotation. The relative motion of CubeSat nanosatellites differs from the relative motion of axi-symmetric satellites. The formulas for calculating the relative equilibrium positions in the orbital reference frame for the dynamically symmetric CubeSat nanosatellite, when the center of mass is displaced from the geometric center along three axes, are obtained.
{"title":"Study of Relative Equilibrium Positions of a Dynamically Symmetric Cubesat Nanosatellite under Aerodynamic and Gravitational Moments","authors":"E. Barinova, I. Timbai","doi":"10.23919/ICINS.2019.8769356","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769356","url":null,"abstract":"The paper considers the angular motion of a dynamically symmetric CubeSat nanosatellite on a circular orbit under the aerodynamic and gravitational moments. Because of the rectangular shape of the CubeSat nanosatellite, the aerodynamic moment depends on two angles of orientation: angles of attack and proper rotation. The relative motion of CubeSat nanosatellites differs from the relative motion of axi-symmetric satellites. The formulas for calculating the relative equilibrium positions in the orbital reference frame for the dynamically symmetric CubeSat nanosatellite, when the center of mass is displaced from the geometric center along three axes, are obtained.","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":"131184678","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.2019.8769397
V. Soldatenkov, Y. Gruzevich, V. M. Achil’diev, A. Levkovich, M. Komarova, N. Bedro
The report is devoted to the development of tilt and microvibration sensor with digital output based on MEMS accelerometer with analog output. Sensor's optimal circuit design solutions were selected, micromechanical accelerometer signal processing algorithms were developed, noise components in the measurement channel were determined, amplitudefrequency characteristics were constructed and analyzed.
{"title":"Tilt and Microvibration Sensor for Condition Monitoring of Buildings","authors":"V. Soldatenkov, Y. Gruzevich, V. M. Achil’diev, A. Levkovich, M. Komarova, N. Bedro","doi":"10.23919/ICINS.2019.8769397","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769397","url":null,"abstract":"The report is devoted to the development of tilt and microvibration sensor with digital output based on MEMS accelerometer with analog output. Sensor's optimal circuit design solutions were selected, micromechanical accelerometer signal processing algorithms were developed, noise components in the measurement channel were determined, amplitudefrequency characteristics were constructed and analyzed.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"10 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":"131462742","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.2019.8769379
X. Hu, Zh. Wang
The high precision positioning and navigation of underwater vehicles is one of the key technologies for deep-sea exploration and ocean exploration, the underwater localization systems can be categorized into two main types: Inertial Navigation System (INS) and acoustic positioning system. INS is widely used in underwater navigation on account of its autonomy, however, without the information aiding from additional sensors, the errors of inertial measurement units accumulate with time passes. The acoustic positioning system can be divided into three types: Long Base Line (LBL), Short Base Line (SBL) and Ultra Short Base Line (USBL). They are defined according to the distance between transponders. The short baseline (SBL) positioning system includes more than 3 transponders to form an acoustic array, and the formation of the array is normally triangle or quadrilateral. The distance between the transponder is accurately measured and generally more than 10m. The acoustic array coordinate system is built based on the transponder and its relationship with the carrier coordinate system of the vehicle is determined by conventional method, the main disadvantage of the SBL positioning system is that the baseline length is relatively large in order to achieve high accuracy in deep-water measurement. However, as the lateral length of the vehicles is small, it is difficult to make sure the transponders be placed way from each other, meanwhile it is difficult to calibrate multiple transponders and avoid noise. To solve this problem, this paper present an inertial navigation system and single range navigation system (SRNS) based on one acoustic transponder, the navigation system consist of an acoustic transponder, a pressure transponder and inertial sensors mounted on the vehicle and an answering device transponder which is laoid out at tens of meters deep straight under the buoy. This paper studies the measurement equation's nonlinearity effect of the INS/SRNS, establishes state equation and measurement equation of the INS/SRNS integrated system. To deal with the nonlinear noise problems of transponders, meanwhile, in view that fault detection based on traditional state chi-square hypothesis testing cannot determine the specific cause of the fault, and could only determine the validity of measure information, a new fault detection algorithm based on dual-state method is adopted. The application of this method on underwater integrated navigation system demonstrates that the algorithm can rapidly and accurately detecting and identify the faults in the system. Experiments on QIANDAO Lake show that the proposed method restrains the divergence trend error of the integrated system's navigation, which verify the effectiveness of the single range integrated navigation.
{"title":"A New Method Based on Dual-State Chi-Square Fault-Tolerant to Inertial/Acoustic Range Integrated Navigation System with Single Transponder","authors":"X. Hu, Zh. Wang","doi":"10.23919/ICINS.2019.8769379","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769379","url":null,"abstract":"The high precision positioning and navigation of underwater vehicles is one of the key technologies for deep-sea exploration and ocean exploration, the underwater localization systems can be categorized into two main types: Inertial Navigation System (INS) and acoustic positioning system. INS is widely used in underwater navigation on account of its autonomy, however, without the information aiding from additional sensors, the errors of inertial measurement units accumulate with time passes. The acoustic positioning system can be divided into three types: Long Base Line (LBL), Short Base Line (SBL) and Ultra Short Base Line (USBL). They are defined according to the distance between transponders. The short baseline (SBL) positioning system includes more than 3 transponders to form an acoustic array, and the formation of the array is normally triangle or quadrilateral. The distance between the transponder is accurately measured and generally more than 10m. The acoustic array coordinate system is built based on the transponder and its relationship with the carrier coordinate system of the vehicle is determined by conventional method, the main disadvantage of the SBL positioning system is that the baseline length is relatively large in order to achieve high accuracy in deep-water measurement. However, as the lateral length of the vehicles is small, it is difficult to make sure the transponders be placed way from each other, meanwhile it is difficult to calibrate multiple transponders and avoid noise. To solve this problem, this paper present an inertial navigation system and single range navigation system (SRNS) based on one acoustic transponder, the navigation system consist of an acoustic transponder, a pressure transponder and inertial sensors mounted on the vehicle and an answering device transponder which is laoid out at tens of meters deep straight under the buoy. This paper studies the measurement equation's nonlinearity effect of the INS/SRNS, establishes state equation and measurement equation of the INS/SRNS integrated system. To deal with the nonlinear noise problems of transponders, meanwhile, in view that fault detection based on traditional state chi-square hypothesis testing cannot determine the specific cause of the fault, and could only determine the validity of measure information, a new fault detection algorithm based on dual-state method is adopted. The application of this method on underwater integrated navigation system demonstrates that the algorithm can rapidly and accurately detecting and identify the faults in the system. Experiments on QIANDAO Lake show that the proposed method restrains the divergence trend error of the integrated system's navigation, which verify the effectiveness of the single range integrated navigation.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"14 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":"116440487","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.2019.8769417
A. Kozlov, F. Kapralov, A. Fomichev
We present a method for a microsecond-level calibration of a constant timing skew between gyroscope channels in an inertial measurement unit of navigation grade. In our method, special types of harmonic oscillations applied to the inertial system produce predictable attitude error growth related to the timing skew. We obtain its estimates in a manner that makes the result insensible to the possible residual errors in inertial sensor calibration and other instrumentation. Apart from parameters of oscillations, the method requires essentially no other information but the standard navigation output of the inertial unit. Two case studies demonstrate the practical utility of the suggested approach.
{"title":"Calibration of a Timing Skew between Gyroscope Measurements in a Strapdown Inertial Navigation System","authors":"A. Kozlov, F. Kapralov, A. Fomichev","doi":"10.23919/ICINS.2019.8769417","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769417","url":null,"abstract":"We present a method for a microsecond-level calibration of a constant timing skew between gyroscope channels in an inertial measurement unit of navigation grade. In our method, special types of harmonic oscillations applied to the inertial system produce predictable attitude error growth related to the timing skew. We obtain its estimates in a manner that makes the result insensible to the possible residual errors in inertial sensor calibration and other instrumentation. Apart from parameters of oscillations, the method requires essentially no other information but the standard navigation output of the inertial unit. Two case studies demonstrate the practical utility of the suggested approach.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"16 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":"122157880","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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