Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9133803
D. A. Volkov
The report describes the development of a promising method for optimizing the flight profile of a medium-haul airliner. The basic information about the flight profile is given, optimization criteria used in the optimization model are considered. The concept of a multicriteria optimization model is proposed. We consider the implementation of such a model using a variational genetic algorithm as a calculation method. Simulation results are presented that prove the effectiveness of the proposed approach.
{"title":"Multicriteria Model for Optimizing the Vertical Flight Profile of a Medium-Haul Airliner","authors":"D. A. Volkov","doi":"10.23919/icins43215.2020.9133803","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133803","url":null,"abstract":"The report describes the development of a promising method for optimizing the flight profile of a medium-haul airliner. The basic information about the flight profile is given, optimization criteria used in the optimization model are considered. The concept of a multicriteria optimization model is proposed. We consider the implementation of such a model using a variational genetic algorithm as a calculation method. Simulation results are presented that prove the effectiveness of the proposed approach.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115242080","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 : 2020-05-01DOI: 10.23919/icins43215.2020.9133753
Y. Bolotin, A. Bragin, Daniil Gulevskiy
We investigate dead reckoning with foot-mounted inertial measurement unit (IMU). To improve accuracy of navigation the zero velocity update (ZUPT) technic is commonly used, aiding the IMU with information on zero foot velocity during the stance phase of a step. This information is fed to a extended Kalman-type filter. We write the ZUPT condition in two ways and show that the one most commonly used yields inconsistent results. We suggest a consistent ZUPT algorithm based on coordinate transformation in the error equations to the so-called dynamic errors. We proceed with analysis of two feet mounted IMU fusion by using the feet distance upper bound. Here we show again how inconsistency of EKF can arise and can be avoided by employing the dynamic errors. All results are based on purely analytical observability and covariance analysis under certain simplifying assumptions.
{"title":"On Consistency of EKF for Pedestrian Dead Reckoning with Foot Mounted IMU","authors":"Y. Bolotin, A. Bragin, Daniil Gulevskiy","doi":"10.23919/icins43215.2020.9133753","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133753","url":null,"abstract":"We investigate dead reckoning with foot-mounted inertial measurement unit (IMU). To improve accuracy of navigation the zero velocity update (ZUPT) technic is commonly used, aiding the IMU with information on zero foot velocity during the stance phase of a step. This information is fed to a extended Kalman-type filter. We write the ZUPT condition in two ways and show that the one most commonly used yields inconsistent results. We suggest a consistent ZUPT algorithm based on coordinate transformation in the error equations to the so-called dynamic errors. We proceed with analysis of two feet mounted IMU fusion by using the feet distance upper bound. Here we show again how inconsistency of EKF can arise and can be avoided by employing the dynamic errors. All results are based on purely analytical observability and covariance analysis under certain simplifying assumptions.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126066969","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 : 2020-05-01DOI: 10.23919/icins43215.2020.9133762
D. Tsaregorodtsev, Nikita Petuhov, A. Chugunov, R. Kulikov, Vladimir N. Zamolodchikov
Current paper describes a method for loosely coupled complexing algorithm of GNSS receiver outputs with non-radio sensors: an accelerometer, a gyroscope, a speedometer and a steering angle measurement unit. The proposed method is simpler than the classical approach for synthesizing the complexing algorithm in the form of a single vector locked loop by dividing the state vector into separate binded locked loops.
{"title":"Integration of GNSS with Non-Radio Sensors with Separation of the State Vector for Transport Navigation Tasks","authors":"D. Tsaregorodtsev, Nikita Petuhov, A. Chugunov, R. Kulikov, Vladimir N. Zamolodchikov","doi":"10.23919/icins43215.2020.9133762","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133762","url":null,"abstract":"Current paper describes a method for loosely coupled complexing algorithm of GNSS receiver outputs with non-radio sensors: an accelerometer, a gyroscope, a speedometer and a steering angle measurement unit. The proposed method is simpler than the classical approach for synthesizing the complexing algorithm in the form of a single vector locked loop by dividing the state vector into separate binded locked loops.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123014984","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 : 2020-05-01DOI: 10.23919/icins43215.2020.9133821
A. Rodionov, S. Kulik, F. Dubrovin, P. Unru
The paper presents the project aimed at increasing the quality and accuracy of the underwater acoustic navigation and communication systems of autonomous underwater vehicles (AUV) and considers the issue of estimating the ranging accuracy of modems operating in the frequency band of 12 kHz on distances up to 10 km. The accuracy estimation was performed using underwater acoustic modems designed by the authors. The paper describes conducted sea trials as well as its main results, demonstrating the ranging accuracy of utilized underwater acoustic means and the nature of corresponding error distribution.
{"title":"Experimental Estimation of the Ranging Accuracy Using Underwater Acoustic Modems in the Frequency Band of 12 kHz","authors":"A. Rodionov, S. Kulik, F. Dubrovin, P. Unru","doi":"10.23919/icins43215.2020.9133821","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133821","url":null,"abstract":"The paper presents the project aimed at increasing the quality and accuracy of the underwater acoustic navigation and communication systems of autonomous underwater vehicles (AUV) and considers the issue of estimating the ranging accuracy of modems operating in the frequency band of 12 kHz on distances up to 10 km. The accuracy estimation was performed using underwater acoustic modems designed by the authors. The paper describes conducted sea trials as well as its main results, demonstrating the ranging accuracy of utilized underwater acoustic means and the nature of corresponding error distribution.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129646379","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 : 2020-05-01DOI: 10.23919/icins43215.2020.9133989
A. Chugunov, Elena Zakharova, Ana Mitić, V. Semenov, A. Boldyrev, D. Tsaregorodtsev, N. Petukhov
This paper is devoted to a synthesis of an algorithm of integrating radio measurements from an ultrawideband (UWB) ToA/AoA local navigation system with measurements from an inertial system that implements a pedestrian dead reckoning algorithm (PDR). The main formulas of the algorithm are given in the second section of this work (Algorithm Synthesis). The introduction section provides an overview of existing approaches to local navigation and proves the relevance and feasibility of studies described below in the paper. In the fourth section (Experiment) of this work a metric characterizing the accuracy of the synthesized complex algorithm is proposed and quantified by the experiment results. The Experimental stand section shows the equipment on which the experiment confirming the correct operation of the synthesized algorithm was conducted.
{"title":"Integration of Local Ultrawideband ToA/AOA Phase Difference of Arrival System and Inertial Navigation Systems","authors":"A. Chugunov, Elena Zakharova, Ana Mitić, V. Semenov, A. Boldyrev, D. Tsaregorodtsev, N. Petukhov","doi":"10.23919/icins43215.2020.9133989","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133989","url":null,"abstract":"This paper is devoted to a synthesis of an algorithm of integrating radio measurements from an ultrawideband (UWB) ToA/AoA local navigation system with measurements from an inertial system that implements a pedestrian dead reckoning algorithm (PDR). The main formulas of the algorithm are given in the second section of this work (Algorithm Synthesis). The introduction section provides an overview of existing approaches to local navigation and proves the relevance and feasibility of studies described below in the paper. In the fourth section (Experiment) of this work a metric characterizing the accuracy of the synthesized complex algorithm is proposed and quantified by the experiment results. The Experimental stand section shows the equipment on which the experiment confirming the correct operation of the synthesized algorithm was conducted.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130561523","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 : 2020-05-01DOI: 10.23919/icins43215.2020.9133835
V. Minligareev, E. N. Khotenko, V. V. Tregubov, T. V. Sazonova, V. L. Kravchenok
The relevance of geophysical support for magnetometric autonomous navigation systems is discussed. Theoretical data on the components of the Earth's magnetic field, the displacement of the magnetic poles, and international models of The earth's main magnetic field are presented. The analysis of maps of the earth's anomalous magnetic field (AEMF) was carried out in order to apply them in Autonomous navigation systems. The prospects of cartographic and software for magnetic navigation systems (MNS) are shown. The scope of research results is the creation and management of databases for the MNS, as well as the centralization and use of digital cartographic products for geological exploration, various studies in the field of Earth Sciences
{"title":"Geophysical Support of Magnetometer Autonomous Navigation Systems","authors":"V. Minligareev, E. N. Khotenko, V. V. Tregubov, T. V. Sazonova, V. L. Kravchenok","doi":"10.23919/icins43215.2020.9133835","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133835","url":null,"abstract":"The relevance of geophysical support for magnetometric autonomous navigation systems is discussed. Theoretical data on the components of the Earth's magnetic field, the displacement of the magnetic poles, and international models of The earth's main magnetic field are presented. The analysis of maps of the earth's anomalous magnetic field (AEMF) was carried out in order to apply them in Autonomous navigation systems. The prospects of cartographic and software for magnetic navigation systems (MNS) are shown. The scope of research results is the creation and management of databases for the MNS, as well as the centralization and use of digital cartographic products for geological exploration, various studies in the field of Earth Sciences","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123835814","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 : 2020-05-01DOI: 10.23919/icins43215.2020.9133921
Y. Chelnokov, S. Perelyaev
This paper gives an overview and elaboration of the latest results obtained by the authors of this paper in the field of quaternion and biquaternion models and algorithms of strapdown and platform inertial navigation systems. The previous accomplishments were presented at the 20th–23rd, 25th and 26th Saint Petersburg International Conferences on Integrated Navigation Systems. The proposed models and algorithms increase the efficiency of the analytical study of the properties of inertial navigation and the accuracy of the autonomous calculation of the orientation and navigation parameters of moving objects.
{"title":"New Quaternion and Biquaternion Models and Algorithms of Inertial Navigation","authors":"Y. Chelnokov, S. Perelyaev","doi":"10.23919/icins43215.2020.9133921","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133921","url":null,"abstract":"This paper gives an overview and elaboration of the latest results obtained by the authors of this paper in the field of quaternion and biquaternion models and algorithms of strapdown and platform inertial navigation systems. The previous accomplishments were presented at the 20th–23rd, 25th and 26th Saint Petersburg International Conferences on Integrated Navigation Systems. The proposed models and algorithms increase the efficiency of the analytical study of the properties of inertial navigation and the accuracy of the autonomous calculation of the orientation and navigation parameters of moving objects.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127760018","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 : 2020-05-01DOI: 10.23919/icins43215.2020.9133806
N. Vavilova, A. Golovan, A. Kozlov, I. Papusha, O. Zorina, S. Kukhtevich, E. Izmaylov, A. Fomichev
We describe aspects specific to complex data fusion algorithms in integrated strapdown inertial navigation systems: the impact of the timing skew between satellite and inertial measurements, as well as of their spatial separation.
{"title":"Impact of Antenna displacement and Time Delays of GNSS solutions on the INS-GNSS Complex Data Fusion Algorithm","authors":"N. Vavilova, A. Golovan, A. Kozlov, I. Papusha, O. Zorina, S. Kukhtevich, E. Izmaylov, A. Fomichev","doi":"10.23919/icins43215.2020.9133806","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133806","url":null,"abstract":"We describe aspects specific to complex data fusion algorithms in integrated strapdown inertial navigation systems: the impact of the timing skew between satellite and inertial measurements, as well as of their spatial separation.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121754064","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 : 2020-05-01DOI: 10.23919/icins43215.2020.9133951
D. Borodulin, Y. Broslavets, P. V. Larionov, E.A. Milikov, V. Semenov, A.B. Tarasenko, V. Uspensky, A. A. Fomichev
A technique has been developed for optimizing the triple uniaxial angular velocity meters configuration for object's permissible angular velocities asymmetric conditions. In general case, the technique leads to the problem of a conditional extremum finding. With its application the use of FFLG with a small operating measurement range can be expanded to the fast one-axis rotation case. A solution to the formulated optimization problem is proposed. The requirements for the FFLG measurements range are reduced by 2.5 times.
{"title":"Highly Dynamic Object's Four Frequency Laser Gyros Based SINS Measuring System Optimization","authors":"D. Borodulin, Y. Broslavets, P. V. Larionov, E.A. Milikov, V. Semenov, A.B. Tarasenko, V. Uspensky, A. A. Fomichev","doi":"10.23919/icins43215.2020.9133951","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133951","url":null,"abstract":"A technique has been developed for optimizing the triple uniaxial angular velocity meters configuration for object's permissible angular velocities asymmetric conditions. In general case, the technique leads to the problem of a conditional extremum finding. With its application the use of FFLG with a small operating measurement range can be expanded to the fast one-axis rotation case. A solution to the formulated optimization problem is proposed. The requirements for the FFLG measurements range are reduced by 2.5 times.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"255 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115781359","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 : 2020-05-01DOI: 10.23919/icins43215.2020.9133903
N. Vasilyuk, D. Tokarev
Identification of geometric displacements of an odometer is understood to be the real-time determination of a lever-arm vector of the odometer relative to an inertial measurement unit, determination of an attitude of the inertial unit relative to the body of a vehicle, and correction of a scale factor of the odometer. A measurement model has been developed for the odometer installed on both controlled front and uncontrolled rear wheels. Observability conditions of the geometric displacements have been considered for trajectories specific for land vehicles. The conditions, when the observability of all three attitude angles of the inertial unit can be achieved, have been discovered. Partial observability of the geometric displacements for the case of the front controlled wheels in the absence of information about a steering wheel rotation has been described. A recurrent procedure for the real-time estimation of observable combinations of the geometric displacements has been developed. Observation equations have been obtained for incorporating the odometer measurements in the observation vector of a coupling filter for a loosely coupled integrated navigation system.
{"title":"Identification of Geometric Displacements of Odometers in a GNSS Inertial Navigation System Installed on a Land Vehicle","authors":"N. Vasilyuk, D. Tokarev","doi":"10.23919/icins43215.2020.9133903","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133903","url":null,"abstract":"Identification of geometric displacements of an odometer is understood to be the real-time determination of a lever-arm vector of the odometer relative to an inertial measurement unit, determination of an attitude of the inertial unit relative to the body of a vehicle, and correction of a scale factor of the odometer. A measurement model has been developed for the odometer installed on both controlled front and uncontrolled rear wheels. Observability conditions of the geometric displacements have been considered for trajectories specific for land vehicles. The conditions, when the observability of all three attitude angles of the inertial unit can be achieved, have been discovered. Partial observability of the geometric displacements for the case of the front controlled wheels in the absence of information about a steering wheel rotation has been described. A recurrent procedure for the real-time estimation of observable combinations of the geometric displacements has been developed. Observation equations have been obtained for incorporating the odometer measurements in the observation vector of a coupling filter for a loosely coupled integrated navigation system.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134184650","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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