Pub Date : 2019-05-01DOI: 10.23919/ICINS.2019.8769349
A. Fedotov, S. Perepelkina
An object with rotation limitations about one of its axes is examined. A model of angular motion of an object with regular precession, the axis of which is directed along the axis with rotation limitations, is considered. It is shown that autonomous estimation of the accuracy characteristics of the corresponding angle-measuring channel of the inertial measurement unit of the object's strapdown inertial navigation system (SINS) is possible due to the organization of controlled precessional motion with respect to two axes of the object that are free from limitations. The parameters of the controlled precessional motion are estimated by amplitude and frequency based on the acceptable level of methodical error of the SINS algorithms by the angular position. The influence of the amplitude component of the instrumental error on the accuracy of estimating the characteristics of the angle-measuring channel with rotation limitations is considered.
{"title":"Improvement in Accuracy of Strapdown Inertial Navigation System due to Controlled Precessional Motion","authors":"A. Fedotov, S. Perepelkina","doi":"10.23919/ICINS.2019.8769349","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769349","url":null,"abstract":"An object with rotation limitations about one of its axes is examined. A model of angular motion of an object with regular precession, the axis of which is directed along the axis with rotation limitations, is considered. It is shown that autonomous estimation of the accuracy characteristics of the corresponding angle-measuring channel of the inertial measurement unit of the object's strapdown inertial navigation system (SINS) is possible due to the organization of controlled precessional motion with respect to two axes of the object that are free from limitations. The parameters of the controlled precessional motion are estimated by amplitude and frequency based on the acceptable level of methodical error of the SINS algorithms by the angular position. The influence of the amplitude component of the instrumental error on the accuracy of estimating the characteristics of the angle-measuring channel with rotation limitations is considered.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"26 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":"123950199","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.2019.8769346
D. Koshaev, A. Motorin, O. Stepanov
Efficiency of using global navigation satellite system (GNSS) measurements for determining the gravity anomalies (GA) at sea by solving the filtering and smoothing problems based on satellite and gravimeter data is studied. The GA, ship heaving, errors of satellite and gravimeter measurements are presented as stochastic processes. The analysis is based on the standard deviations of the GA estimation errors, calculated at different heaving and in different modes of GNSS data processing.
{"title":"Efficiency of using Satellite Measurements for Marine Gravimetry","authors":"D. Koshaev, A. Motorin, O. Stepanov","doi":"10.23919/ICINS.2019.8769346","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769346","url":null,"abstract":"Efficiency of using global navigation satellite system (GNSS) measurements for determining the gravity anomalies (GA) at sea by solving the filtering and smoothing problems based on satellite and gravimeter data is studied. The GA, ship heaving, errors of satellite and gravimeter measurements are presented as stochastic processes. The analysis is based on the standard deviations of the GA estimation errors, calculated at different heaving and in different modes of GNSS data processing.","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":"123961592","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.2019.8769400
P. Hecker, U. Bestmann, S. Wolkow, Maik Angermann, Andreas Dekiert
Vision-based navigation has been of interest in aviation for decades. Driven by the demand for optical verification of take-off and landing procedures during all-weather operation many developments have been raised following changes in technology of sensor and processing hardware and aviation requirements. This paper summarizes the developments from the 60s until today and exemplarily discusses aspects of vision-based augmentation of Integrated Navigation Systems (INS).
{"title":"Integrity Enhancement of an Integrated Navigation System with Optical Sensors","authors":"P. Hecker, U. Bestmann, S. Wolkow, Maik Angermann, Andreas Dekiert","doi":"10.23919/ICINS.2019.8769400","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769400","url":null,"abstract":"Vision-based navigation has been of interest in aviation for decades. Driven by the demand for optical verification of take-off and landing procedures during all-weather operation many developments have been raised following changes in technology of sensor and processing hardware and aviation requirements. This paper summarizes the developments from the 60s until today and exemplarily discusses aspects of vision-based augmentation of Integrated Navigation Systems (INS).","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"49 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":"116781814","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.2019.8769434
I. Belokonov, I. Timbai, D. Davydov
This paper studies the dynamics of the angular motion of CubeSat nanosatellites with the passive stabilization systems of different types: aerodynamic, aerodynamic-gravitational, gravitational, gravitational-aerodynamic systems. The research was carried out in a probabilistic formulation. Using the obtained analytical distribution functions of the maximum angle of the nanosatellite longitudinal axis deviation from the required direction (orbital velocity vector, or local vertical), the formulas for selecting design parameters (geometrical dimensions, static stability margin, inertia moments) are derived. In the circular orbit at the required flight altitude, these parameters provide the deviation of the longitudinal axis from the required direction less than the allowable value with a given probability for a specified error of the initial angular velocity formed by the separation system. The nomograms for selecting the main design parameters of a CubeSat nanosatellite have been constructed.
{"title":"Passive Stabilization Systems for CubeSat Nanosatellites: General Principles and Features","authors":"I. Belokonov, I. Timbai, D. Davydov","doi":"10.23919/ICINS.2019.8769434","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769434","url":null,"abstract":"This paper studies the dynamics of the angular motion of CubeSat nanosatellites with the passive stabilization systems of different types: aerodynamic, aerodynamic-gravitational, gravitational, gravitational-aerodynamic systems. The research was carried out in a probabilistic formulation. Using the obtained analytical distribution functions of the maximum angle of the nanosatellite longitudinal axis deviation from the required direction (orbital velocity vector, or local vertical), the formulas for selecting design parameters (geometrical dimensions, static stability margin, inertia moments) are derived. In the circular orbit at the required flight altitude, these parameters provide the deviation of the longitudinal axis from the required direction less than the allowable value with a given probability for a specified error of the initial angular velocity formed by the separation system. The nomograms for selecting the main design parameters of a CubeSat nanosatellite have been constructed.","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":"115859978","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.2019.8769350
Y. Chelnokov
This paper proposes the new quaternion equations of perfect functioning for strapdown inertial navigation systems and for spatial inertial navigation systems with azimuthally stabilized platform and with the gyrostabilized platform which retains its orientation in an inertial reference frame. These equations use the regular four-dimensional variables proposed by the author of this paper. These INS equations are dynamically analogous to the quaternion regular equations of perturbed spatial two-body problem in four-dimensional Kustaanheimo-Stiefel variables, which makes it possible to use the results, obtained in the theory of regular celestial mechanics and astrodynamics, in space inertial navigation. This paper discusses the development of INS algorithms using the proposed quaternion equations of INS perfect functioning. This paper develops the results derived in [1]–[5].
{"title":"Quaternion Regular Equations and Algorithms of Space Inertial Navigation","authors":"Y. Chelnokov","doi":"10.23919/ICINS.2019.8769350","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769350","url":null,"abstract":"This paper proposes the new quaternion equations of perfect functioning for strapdown inertial navigation systems and for spatial inertial navigation systems with azimuthally stabilized platform and with the gyrostabilized platform which retains its orientation in an inertial reference frame. These equations use the regular four-dimensional variables proposed by the author of this paper. These INS equations are dynamically analogous to the quaternion regular equations of perturbed spatial two-body problem in four-dimensional Kustaanheimo-Stiefel variables, which makes it possible to use the results, obtained in the theory of regular celestial mechanics and astrodynamics, in space inertial navigation. This paper discusses the development of INS algorithms using the proposed quaternion equations of INS perfect functioning. This paper develops the results derived in [1]–[5].","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":"129324057","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.2019.8769439
S.E. Beketov, N. I. Khokhlov, E. A. Petrukhin, V. Gorshkov, A. S. Bessonov
The results of scale factor nonlinear distortion measurements related to the light backscattering effect in a laser gyro with a alternating rectangular bias are presented. It is shown that analytical relationships taking into account the conservative and dissipative backscattering components adequately describe a laser gyro frequency response in a wide working range of angular rotation velocities. The use of these relationships should reduce the values of nonlinear distortions down to 1–2 ppm by a proper scale factor correction.
{"title":"Modeling of Scale Factor Nonlinear Distortions of Laser Gyro with Alternating Rectangular Bias","authors":"S.E. Beketov, N. I. Khokhlov, E. A. Petrukhin, V. Gorshkov, A. S. Bessonov","doi":"10.23919/ICINS.2019.8769439","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769439","url":null,"abstract":"The results of scale factor nonlinear distortion measurements related to the light backscattering effect in a laser gyro with a alternating rectangular bias are presented. It is shown that analytical relationships taking into account the conservative and dissipative backscattering components adequately describe a laser gyro frequency response in a wide working range of angular rotation velocities. The use of these relationships should reduce the values of nonlinear distortions down to 1–2 ppm by a proper scale factor correction.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"7 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":"128511583","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.2019.8769406
I. Papkova, A. Krysko, M. Barulina, V. Krysko
A mathematical model of the vibrations of nanoelectromechanical sensors components as a nanobeam connected to an electrode at small distance was built. Nano beam was in a stationary temperature field, under impact Casimir forces, transverse alternating load and additive color noise. Geometric nonlinearity was taken into account according to the theory of Karman. In the particular case of the dependence of the Casimir force - deflection for elastic preheated beams have been studied.
{"title":"Mathematical Modeling of the Nonlinear Dynamics Components of Nanoelectromechanical Sensors taking into Account Thermal, Electrical and Noise Impacts","authors":"I. Papkova, A. Krysko, M. Barulina, V. Krysko","doi":"10.23919/ICINS.2019.8769406","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769406","url":null,"abstract":"A mathematical model of the vibrations of nanoelectromechanical sensors components as a nanobeam connected to an electrode at small distance was built. Nano beam was in a stationary temperature field, under impact Casimir forces, transverse alternating load and additive color noise. Geometric nonlinearity was taken into account according to the theory of Karman. In the particular case of the dependence of the Casimir force - deflection for elastic preheated beams have been studied.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"2 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":"134522260","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.2019.8769427
M. Selezneva, K. Neusypin, I. V. Muratov
Approaches to solving problems of determining the degree of controllability of state variables of linear dynamic systems models are considered. The numerical criteria for calculating the degree of controllability of the state vector components are investigated. A numerical criterion for the degree of controllability of dynamic systems state variables is presented. An example of the practical use of the criterion in the problem of identify the most-effective-for-controlling parts of the flight path of an unmanned aerial vehicle is investigated.
{"title":"Research on Criteria for the Degree of Controllability of the State Variables of Dynamic Systems Models","authors":"M. Selezneva, K. Neusypin, I. V. Muratov","doi":"10.23919/ICINS.2019.8769427","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769427","url":null,"abstract":"Approaches to solving problems of determining the degree of controllability of state variables of linear dynamic systems models are considered. The numerical criteria for calculating the degree of controllability of the state vector components are investigated. A numerical criterion for the degree of controllability of dynamic systems state variables is presented. An example of the practical use of the criterion in the problem of identify the most-effective-for-controlling parts of the flight path of an unmanned aerial vehicle is investigated.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"34 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":"134590435","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.2019.8769358
A. Kramlikh, I. Lomaka, S. Shafran
The paper describes a radio compass based on GNSS technology, an algorithm for processing GNSS information, an algorithm for calculating the coordinates of a unit vector of the longitudinal axis of a nanosatellite, and an approach that allows an estimation of the inertial characteristics of a nanosatellite. The estimation of the influence of the baseline length on the accuracy of determining the orientation angles is given. The results of the statistical study of the error determination of the nanosatellite inertial parameters using a radio compass are presented.
{"title":"Estimating the Inertial Characteristics of a Nanosatellite Using a Radio Compass Based on GNSS Technology","authors":"A. Kramlikh, I. Lomaka, S. Shafran","doi":"10.23919/ICINS.2019.8769358","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769358","url":null,"abstract":"The paper describes a radio compass based on GNSS technology, an algorithm for processing GNSS information, an algorithm for calculating the coordinates of a unit vector of the longitudinal axis of a nanosatellite, and an approach that allows an estimation of the inertial characteristics of a nanosatellite. The estimation of the influence of the baseline length on the accuracy of determining the orientation angles is given. The results of the statistical study of the error determination of the nanosatellite inertial parameters using a radio compass 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":"132687255","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.2019.8769413
D. Bedin, A. Ivanov
In previous studies, we developed a multi-hypothesis algorithm for the aircraft tracking, which shows good performance in the processing of real and model data. The algorithm operation depends on a large number of parameters. It is quite difficult to detect the influence of some parameters on the results. In this situation, it is justified to use a genetic algorithm to adjust the parameters.
{"title":"The Use of a Genetic Algorithm for Parameter Adjustment of the Multi-Hypothesis Aircraft Tracking Algorithm","authors":"D. Bedin, A. Ivanov","doi":"10.23919/ICINS.2019.8769413","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769413","url":null,"abstract":"In previous studies, we developed a multi-hypothesis algorithm for the aircraft tracking, which shows good performance in the processing of real and model data. The algorithm operation depends on a large number of parameters. It is quite difficult to detect the influence of some parameters on the results. In this situation, it is justified to use a genetic algorithm to adjust the parameters.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"148 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":"114220062","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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