Pub Date : 2019-05-01DOI: 10.23919/ICINS.2019.8769376
D. Kalikhman, E. A. Deputatova, D. S. Gnusarev, V. Skorobogatov, V. M. Nikoforov, A. Yankovsky, E. Krivtsov
The report considers the development of digital regulators for modern dynamic systems, depending on the operating conditions and the effects of external disturbing factors with the development of control algorithms using full scale computer modeling with subsequent prototype implementation.
{"title":"Development of Digital Regulators for Control Systems of Gyroscopic Devices and Associated Metrological Installations Using Modern Methods of Synthesis to Improve Accuracy and Dynamic Characteristics","authors":"D. Kalikhman, E. A. Deputatova, D. S. Gnusarev, V. Skorobogatov, V. M. Nikoforov, A. Yankovsky, E. Krivtsov","doi":"10.23919/ICINS.2019.8769376","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769376","url":null,"abstract":"The report considers the development of digital regulators for modern dynamic systems, depending on the operating conditions and the effects of external disturbing factors with the development of control algorithms using full scale computer modeling with subsequent prototype implementation.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"194 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":"123363761","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.2019.8769398
S. Bekbauova, Y. Filatov, N. Nikolaeva, E. Shalymov, V. Venediktov
The impact of external effects, which the resonator may experience as part of a miniature optical resonator gyroscope, on the characteristics of one of the possible ring confocal resonator configurations is analyzed. The multiphysical simulation package OOFELIE:: Multiphysics is used to study the ring confocal resonator.
{"title":"Evaluation of the Impact of External Influences on the Characteristics of the Ring Confocal Resonator","authors":"S. Bekbauova, Y. Filatov, N. Nikolaeva, E. Shalymov, V. Venediktov","doi":"10.23919/ICINS.2019.8769398","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769398","url":null,"abstract":"The impact of external effects, which the resonator may experience as part of a miniature optical resonator gyroscope, on the characteristics of one of the possible ring confocal resonator configurations is analyzed. The multiphysical simulation package OOFELIE:: Multiphysics is used to study the ring confocal resonator.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"12 13","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120866823","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.2019.8769389
M. S. Selezneva, A. Babichenko, K. Neusypin, A. Proletarsky, I. V. Muratov
The structure of the aircraft flight-navigation complex, capable of changing its architecture depending on the interference level and flight conditions, is developed. The algorithmic support of the complex additionally includes an intelligent component, consisting of self-organization algorithm, a dynamic database and a criterion for comparing the forecast and the current state of the complex. A integration algorithm is developed. The integration algorithm includes the original criterion for the degree of observability of state variables, which allows forming the optimal complex structure.
{"title":"A Promising Flight-Navigation Complex with an Intelligent Component","authors":"M. S. Selezneva, A. Babichenko, K. Neusypin, A. Proletarsky, I. V. Muratov","doi":"10.23919/ICINS.2019.8769389","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769389","url":null,"abstract":"The structure of the aircraft flight-navigation complex, capable of changing its architecture depending on the interference level and flight conditions, is developed. The algorithmic support of the complex additionally includes an intelligent component, consisting of self-organization algorithm, a dynamic database and a criterion for comparing the forecast and the current state of the complex. A integration algorithm is developed. The integration algorithm includes the original criterion for the degree of observability of state variables, which allows forming the optimal complex structure.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"19 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":"114342469","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.2019.8769401
A. Chernodarov, A. Patrikeev, S. A. Ivanov
Special features of the functioning of navigation systems (NS) under urban conditions are considered. The object of studies was an NS built on the basis of inertial and odometer systems. The technology of integration of such systems is proposed. As a kernel, the inertial navigation system SINS-500NS based on fiber-optic gyros is included in this NS. The results of natural development of inertial-odometric NS presented in this paper are given and analyzed.
{"title":"An Integrated Inertial-Odometric Navigation System with Satellite Calibration","authors":"A. Chernodarov, A. Patrikeev, S. A. Ivanov","doi":"10.23919/ICINS.2019.8769401","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769401","url":null,"abstract":"Special features of the functioning of navigation systems (NS) under urban conditions are considered. The object of studies was an NS built on the basis of inertial and odometer systems. The technology of integration of such systems is proposed. As a kernel, the inertial navigation system SINS-500NS based on fiber-optic gyros is included in this NS. The results of natural development of inertial-odometric NS presented in this paper are given and analyzed.","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":"131060544","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.2019.8769361
L. Vodicheva, Yu. V. Parysheva
Possible versions of the indirect method of calibration of a strapdown inertial measurement unit are briefly analyzed. The version of the indirect method with simple measurement equations that can be decomposed and solved just algebraically is considered. The technique for obtaining analytical expressions connecting calibration errors with their sourced and expressions themselves are described. The influence of the calibrated parameters, uncalibrated parameters, and errors of calibration equipment on the calibration accuracy is analyzed.
{"title":"Error Analysis Technique for Indirect Method of Calibration of a Strapdown Inertial Measurement Unit","authors":"L. Vodicheva, Yu. V. Parysheva","doi":"10.23919/ICINS.2019.8769361","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769361","url":null,"abstract":"Possible versions of the indirect method of calibration of a strapdown inertial measurement unit are briefly analyzed. The version of the indirect method with simple measurement equations that can be decomposed and solved just algebraically is considered. The technique for obtaining analytical expressions connecting calibration errors with their sourced and expressions themselves are described. The influence of the calibrated parameters, uncalibrated parameters, and errors of calibration equipment on the calibration accuracy is analyzed.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"207 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":"133975260","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.2019.8769418
N. Vavilova, A. Golovan, A. Kozlov, I. Papusha, N. Parusnikov, O. Zorina, E. Izmaylov, S. Kukhtevich, A. Fomichev
Auto-calibration is a technique generally used to improve the long-term performance of the pure inertial mode of an inertial navigation system equipped with a GPS receiver. Techniques of this sort use weighted estimates for instrumental error parameters, which were obtained in previous flight series, to compensate navigation errors in the current flight. Weights of the estimates should reflect their accuracy, and the way they are derived does highly affect the performance of the auto-calibration algorithm. One may define the weights either empirically based on the properties of the flight in which the estimates were obtained, or take the actual covariance estimates from the estimation procedure. We consider a stochastic observability measure derived from Kalman filtering to be used for calculating weights in the auto-calibration algorithm.
{"title":"Using Observability Measures in a Strapdown INS Auto-Calibration","authors":"N. Vavilova, A. Golovan, A. Kozlov, I. Papusha, N. Parusnikov, O. Zorina, E. Izmaylov, S. Kukhtevich, A. Fomichev","doi":"10.23919/ICINS.2019.8769418","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769418","url":null,"abstract":"Auto-calibration is a technique generally used to improve the long-term performance of the pure inertial mode of an inertial navigation system equipped with a GPS receiver. Techniques of this sort use weighted estimates for instrumental error parameters, which were obtained in previous flight series, to compensate navigation errors in the current flight. Weights of the estimates should reflect their accuracy, and the way they are derived does highly affect the performance of the auto-calibration algorithm. One may define the weights either empirically based on the properties of the flight in which the estimates were obtained, or take the actual covariance estimates from the estimation procedure. We consider a stochastic observability measure derived from Kalman filtering to be used for calculating weights in the auto-calibration algorithm.","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":"131951225","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}
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.2019.8769400
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.2019.8769439
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}
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