Pub Date : 2019-05-01DOI: 10.23919/ICINS.2019.8769385
M. Selezneva, A. Proletarsky, K. Neusypin, Zhang Lifei
The implementation schemes of the federated Kalman filter are considered. It is proposed to increase the accuracy of the federated Kalman filter using a numerical criterion for the observability degree of state variables of the process assessed. The observability degree criterion is used to determine the correction factors of the federated Kalman filter. The effectiveness of the developed modifications of the federated Kalman filter is demonstrated by the example of estimating the errors of the aircraft inertial navigation system.
{"title":"Modification of the Federated Kalman Filter Using the Observability Degree Criterion of State Variables","authors":"M. Selezneva, A. Proletarsky, K. Neusypin, Zhang Lifei","doi":"10.23919/ICINS.2019.8769385","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769385","url":null,"abstract":"The implementation schemes of the federated Kalman filter are considered. It is proposed to increase the accuracy of the federated Kalman filter using a numerical criterion for the observability degree of state variables of the process assessed. The observability degree criterion is used to determine the correction factors of the federated Kalman filter. The effectiveness of the developed modifications of the federated Kalman filter is demonstrated by the example of estimating the errors of the aircraft inertial navigation system.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"99 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":"117179928","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.2019.8769368
V. Raspopov, V. V. Likhosherst, I. A. Volchikhin, V. V. Matveev, A. Ladonkin, S. I. Shepilov
The dynamics of a coriolis vibratory gyroscope with a metal resonator in the free wave mode is considered in the paper. The envelopes of damping oscillations are given for excitation with a different amplitude at the resonant frequency. It is shown that with an increase in the amplitude of excitation, the interval of time to reach the boundary band, at which the signal can be separated from the noise, expands. The nonlinear character of the excitation transfer coefficient of the resonator is established.
{"title":"Coriolis Vibratory Gyroscope with a Metal Resonator for Free Wave Mode","authors":"V. Raspopov, V. V. Likhosherst, I. A. Volchikhin, V. V. Matveev, A. Ladonkin, S. I. Shepilov","doi":"10.23919/ICINS.2019.8769368","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769368","url":null,"abstract":"The dynamics of a coriolis vibratory gyroscope with a metal resonator in the free wave mode is considered in the paper. The envelopes of damping oscillations are given for excitation with a different amplitude at the resonant frequency. It is shown that with an increase in the amplitude of excitation, the interval of time to reach the boundary band, at which the signal can be separated from the noise, expands. The nonlinear character of the excitation transfer coefficient of the resonator is established.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"236 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":"123892228","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.2019.8769337
I. Kornilov
In this study, we assessed the error of determining the position of the aerologic sonde by signals of GPS/GLONASS. This error depends on the error of determining the pseudorange and on the geometric factor value. The altitude of the sonde is the most important of all the measured coordinates. In this study, we analyzed the accuracy of measuring the aerologic sonde altitude by means of GLONASS inbuilt tools within the territory of the Russian Federation. We also analyzed how to implement the measurement differential mode in the system of aerological observation of atmosphere and showed the efficiency of the use of a pseudo-satellite in order to improve the accuracy of measuring the sonde position. The use of the differential mode decreases the pseudorange measurement error by several times, which fact results in the decrease of the error of the aerologic sonde altitude measurement. The use of pseudo-satellites allows decreasing the geometric factor value and improving the accuracy of the sonde position measurement. The most obvious solution is to install the pseudo-satellite on the position of the aerological station. In this study, we analyzed the efficiency of this solution.
{"title":"Improvement of Positioning Accuracy of Aerologic Sonde by Means of GPS/GLONASS","authors":"I. Kornilov","doi":"10.23919/ICINS.2019.8769337","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769337","url":null,"abstract":"In this study, we assessed the error of determining the position of the aerologic sonde by signals of GPS/GLONASS. This error depends on the error of determining the pseudorange and on the geometric factor value. The altitude of the sonde is the most important of all the measured coordinates. In this study, we analyzed the accuracy of measuring the aerologic sonde altitude by means of GLONASS inbuilt tools within the territory of the Russian Federation. We also analyzed how to implement the measurement differential mode in the system of aerological observation of atmosphere and showed the efficiency of the use of a pseudo-satellite in order to improve the accuracy of measuring the sonde position. The use of the differential mode decreases the pseudorange measurement error by several times, which fact results in the decrease of the error of the aerologic sonde altitude measurement. The use of pseudo-satellites allows decreasing the geometric factor value and improving the accuracy of the sonde position measurement. The most obvious solution is to install the pseudo-satellite on the position of the aerological station. In this study, we analyzed the efficiency of this solution.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"45 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":"123933024","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.2019.8769343
N. Vavilova, V. Vyazmin, A. Golovan
Navigation equipment of a road surface testing vehicle (car) includes a strapdown inertial navigation system (INS), a global navigations satellite system (GNSS) receiver and an odometer. In this work we analyse a low-cost INS for using in the vehicle navigation equipment. An INS/GNSS/odometer integration algorithm was developed and applied to postprocessing data collected from a typical testing survey. The computed integrated navigation solution was compared with a reference solution provided by a NovAtel navigation system. The reference navigation system consisted of a tactic-grade strapdown INS, an odometer and two high precision GNSS receivers operating in the differential mode. Numerical results presented in the paper show that the low-cost INS/GNSS/odometer integration allows to determine the vehicle position in an urban area with an accuracy of 1 m and the roll and pitch angles with an accuracy of 0.1° that satisfy accuracy requirements.
{"title":"Development of a Low-Cost INS/GNSS/Odometer Integration Algorithm for a Road Surface Testing Laboratory Software","authors":"N. Vavilova, V. Vyazmin, A. Golovan","doi":"10.23919/ICINS.2019.8769343","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769343","url":null,"abstract":"Navigation equipment of a road surface testing vehicle (car) includes a strapdown inertial navigation system (INS), a global navigations satellite system (GNSS) receiver and an odometer. In this work we analyse a low-cost INS for using in the vehicle navigation equipment. An INS/GNSS/odometer integration algorithm was developed and applied to postprocessing data collected from a typical testing survey. The computed integrated navigation solution was compared with a reference solution provided by a NovAtel navigation system. The reference navigation system consisted of a tactic-grade strapdown INS, an odometer and two high precision GNSS receivers operating in the differential mode. Numerical results presented in the paper show that the low-cost INS/GNSS/odometer integration allows to determine the vehicle position in an urban area with an accuracy of 1 m and the roll and pitch angles with an accuracy of 0.1° that satisfy accuracy requirements.","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":"122371528","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.2019.8769363
{"title":"Copyright","authors":"","doi":"10.23919/icins.2019.8769363","DOIUrl":"https://doi.org/10.23919/icins.2019.8769363","url":null,"abstract":"","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"13 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131829806","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.2019.8769402
D. S. Gnusarev
The report presents the results of computer modeling of motion of inertial masses of the sensitive element of quartz pendulum accelerometer performed using KU-1 quartz glass. Particular attention is given to the design of a closed feedback loop and the results of modeling in the time domain under various input influences. Comparison of the results of modeling in different software complexes is provided.
{"title":"Development of Combined Model of Quartz Pendulum Accelerometer with Closed Loop Control and Optimization of Parameters","authors":"D. S. Gnusarev","doi":"10.23919/ICINS.2019.8769402","DOIUrl":"https://doi.org/10.23919/ICINS.2019.8769402","url":null,"abstract":"The report presents the results of computer modeling of motion of inertial masses of the sensitive element of quartz pendulum accelerometer performed using KU-1 quartz glass. Particular attention is given to the design of a closed feedback loop and the results of modeling in the time domain under various input influences. Comparison of the results of modeling in different software complexes is provided.","PeriodicalId":108493,"journal":{"name":"2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"50 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":"120842666","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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