Pub Date : 2019-05-01DOI: 10.23919/ICINS.2019.8769351
Sh. Zhu, S. Li, Y. Liu, Q. Fu
In order to improve the high-precision navigation and positioning capability of vehicles in harsh environments such as urban area, canyons and tunnels, where satellite signals are obstructed or even disconnected, a low-cost MEMS-IMU and RTK tightly coupled technology is used to achieve high-precision positioning of vehicles in centimeters. In this paper, the tightly coupled Kalman filter algorithm model and the kinematic constrained filtering scheme are deduced. Under the condition of short-time disconnection of satellite signals, combined with device error compensation and vehicle kinematics constraint assistance, the system can still achieve relatively high precision positioning result output.
{"title":"Low-Cost MEMS-IMU/RTK Tightly Coupled Vehicle Navigation System with Robust Lane-Level Position Accuracy","authors":"Sh. Zhu, S. Li, Y. Liu, Q. Fu","doi":"10.23919/ICINS.2019.8769351","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769351","url":null,"abstract":"In order to improve the high-precision navigation and positioning capability of vehicles in harsh environments such as urban area, canyons and tunnels, where satellite signals are obstructed or even disconnected, a low-cost MEMS-IMU and RTK tightly coupled technology is used to achieve high-precision positioning of vehicles in centimeters. In this paper, the tightly coupled Kalman filter algorithm model and the kinematic constrained filtering scheme are deduced. Under the condition of short-time disconnection of satellite signals, combined with device error compensation and vehicle kinematics constraint assistance, the system can still achieve relatively high precision positioning result output.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"65 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":"115712653","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.2019.8769383
D. Kalikhman, E. A. Deputatova, D. S. Gnusarev, V. Nikiforov, I. Bykanov
This paper considers the possibility of improving the quality of control parameters of the sensitive element in a float type gyroscope - angular rate sensor. The electronics unit of the sensor contains a nominal regulator, synthesized using the method of targeted frequency characteristics and represents a serial connection of aperiodic and boosting links. This report also considers a dynamic output regulator based on the method of invariant ellipsoids that was synthesized for the studied angular rate sensor. The results of mathematical modeling of the response of the sensitive element to different types of external disturbances are presented for the two types of regulators. Comparison of the results shows the advantages of the dynamic regulator over the nominal one.
{"title":"Dynamic Output Regulator of the Angular Rate Sensor Built on the Invariant Ellipsoid Methods","authors":"D. Kalikhman, E. A. Deputatova, D. S. Gnusarev, V. Nikiforov, I. Bykanov","doi":"10.23919/ICINS.2019.8769383","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769383","url":null,"abstract":"This paper considers the possibility of improving the quality of control parameters of the sensitive element in a float type gyroscope - angular rate sensor. The electronics unit of the sensor contains a nominal regulator, synthesized using the method of targeted frequency characteristics and represents a serial connection of aperiodic and boosting links. This report also considers a dynamic output regulator based on the method of invariant ellipsoids that was synthesized for the studied angular rate sensor. The results of mathematical modeling of the response of the sensitive element to different types of external disturbances are presented for the two types of regulators. Comparison of the results shows the advantages of the dynamic regulator over the nominal one.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"47 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":"130587781","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.2019.8769394
{"title":"26th Saint Petersburg International Conference on Integrated Navigation Systems","authors":"","doi":"10.23919/icins.2019.8769394","DOIUrl":"https://doi.org/10.23919/icins.2019.8769394","url":null,"abstract":"","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":"115004277","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.2019.8769424
O. Tkachenko, S. Kovtun, Y. B. Dubov
The object of the research is the systems for ensuring the take-off and landing of ship-based aircraft: the optical landing system and the control law of this system, and the system for controlling the take-off from the ramp.
本文的研究对象是舰载飞机的起降保障系统:光学着陆系统及其控制规律，以及坡道起飞控制系统。
{"title":"The Application of Ship Motion Prediction for Ensuring the Safety of Takeoff and Landing of Carrier-Based Aircraft","authors":"O. Tkachenko, S. Kovtun, Y. B. Dubov","doi":"10.23919/ICINS.2019.8769424","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769424","url":null,"abstract":"The object of the research is the systems for ensuring the take-off and landing of ship-based aircraft: the optical landing system and the control law of this system, and the system for controlling the take-off from the ramp.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"89 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":"133612371","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.2019.8769365
D. Iarosh, G. Reneva, A. Kornilova, P. Konovalov
The results of the development of a cross-platform software (framework), designed to create and test multi-agent control and navigation algorithms in a highly dynamic environment with a centralized control system based on the Robocup SSL competition, are presented. The framework supports the programming of control signal calculation algorithms using MATLAB [1] and system of technical vision which is called “SSL Vision” [2]. To support various models and types of robots, an universal network interface has been implemented. The paper provides an overview of existing solutions, describes the architecture and implementation features of the proposed framework, and gives practical examples of the system's work with multi-agent navigation and control.
{"title":"Multiagent System of Mobile Robots for Robotic Football","authors":"D. Iarosh, G. Reneva, A. Kornilova, P. Konovalov","doi":"10.23919/ICINS.2019.8769365","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769365","url":null,"abstract":"The results of the development of a cross-platform software (framework), designed to create and test multi-agent control and navigation algorithms in a highly dynamic environment with a centralized control system based on the Robocup SSL competition, are presented. The framework supports the programming of control signal calculation algorithms using MATLAB [1] and system of technical vision which is called “SSL Vision” [2]. To support various models and types of robots, an universal network interface has been implemented. The paper provides an overview of existing solutions, describes the architecture and implementation features of the proposed framework, and gives practical examples of the system's work with multi-agent navigation and control.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"113 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":"132397701","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.2019.8769344
V. Zhuravlev, S. E. Perelvaev, B. P. Bodunov, S. B. Bodunov
The tasks set for unmanned aerial vehicles (UAV) can only be solved provided that the latter are equipped with modern airborne navigation and control systems. Nowadays orientation, navigation and control systems for multipurpose pilotless aircraft are based on small-size dynamically-tuned gyros (DTG), ring laser gyros (RLG), fiber optic gyros (FOG) as well as modern microelectromechanical gyros (MEMS gyroscopes). The flight test results have clearly shown that it is impossible to create modern commercial UAV systems capable of providing effective and reliable online monitoring in all-weather conditions without an onboard control complex with an accurate high-precision strapdown inertial navigation system (SINS).
{"title":"New-Generation Small-Size Solid-State Wave Gyroscope for Strapdown Inertial Navigation Systems of Unmanned Aerial Vehicle","authors":"V. Zhuravlev, S. E. Perelvaev, B. P. Bodunov, S. B. Bodunov","doi":"10.23919/ICINS.2019.8769344","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769344","url":null,"abstract":"The tasks set for unmanned aerial vehicles (UAV) can only be solved provided that the latter are equipped with modern airborne navigation and control systems. Nowadays orientation, navigation and control systems for multipurpose pilotless aircraft are based on small-size dynamically-tuned gyros (DTG), ring laser gyros (RLG), fiber optic gyros (FOG) as well as modern microelectromechanical gyros (MEMS gyroscopes). The flight test results have clearly shown that it is impossible to create modern commercial UAV systems capable of providing effective and reliable online monitoring in all-weather conditions without an onboard control complex with an accurate high-precision strapdown inertial navigation system (SINS).","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"164 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":"132470570","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.2019.8769360
R. Bikmaev, M.D. Zolotov, A. Popov, R. N. Sadekov
This work presents a mobile spatial tracking system which uses two measuring instruments: a monocamera and a lidar. The algorithm for integrated processing of navigation information using the Kalman nonlinear filtering implemented in this system improves the accuracy of spatial coordinates of a moving object in spatial tracking systems used in robotics, unmanned vehicles and measurement systems. The algorithm was evaluated in the results of a full-scale experiment and showed a root-mean-square error of x=0.0017 m and y= 0,0064 m.
这项工作提出了一个移动空间跟踪系统，它使用两种测量仪器:单相机和激光雷达。该系统实现了利用卡尔曼非线性滤波对导航信息进行综合处理的算法，提高了机器人、无人驾驶车辆和测量系统中空间跟踪系统中运动目标空间坐标的精度。该算法在全面实验结果中进行了评估，结果显示均方根误差为x=0.0017 m, y= 0.0064 m。
{"title":"Improving the Accuracy of Supporting Mobile Objects with the Use of the Algorithm of Complex Processing of Signals with a Monocular Camera and LiDAR","authors":"R. Bikmaev, M.D. Zolotov, A. Popov, R. N. Sadekov","doi":"10.23919/ICINS.2019.8769360","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769360","url":null,"abstract":"This work presents a mobile spatial tracking system which uses two measuring instruments: a monocamera and a lidar. The algorithm for integrated processing of navigation information using the Kalman nonlinear filtering implemented in this system improves the accuracy of spatial coordinates of a moving object in spatial tracking systems used in robotics, unmanned vehicles and measurement systems. The algorithm was evaluated in the results of a full-scale experiment and showed a root-mean-square error of x=0.0017 m and y= 0,0064 m.","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":"130108616","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}
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