Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9133811
E. Barinova, I. Belokonov, I. Timbai
This paper considers the space motion relative to the center of mass of a CubeSat nanosatellite on a low circular orbit under the aerodynamic moment. The possibility of resonant modes of motion due to their inherent form factor of a rectangular parallelepiped and the presence of a small mass asymmetry (a transverse displacement of the center of mass from the axis of symmetry) is analyzed. We obtained the formulas for determining the critical value of the longitudinal angular velocity of a nanosatellite, at which the conditions for the appearance of resonances are satisfied. It is also shown the possibility of a roll resonance when the nanosatellite faces the incoming stream with one side edge and the average angular velocity of its own rotation is close to zero.
{"title":"Study of Resonant Modes of Cubesat Nanosatellite Motion under the Influence of the Aerodynamic Moment","authors":"E. Barinova, I. Belokonov, I. Timbai","doi":"10.23919/icins43215.2020.9133811","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133811","url":null,"abstract":"This paper considers the space motion relative to the center of mass of a CubeSat nanosatellite on a low circular orbit under the aerodynamic moment. The possibility of resonant modes of motion due to their inherent form factor of a rectangular parallelepiped and the presence of a small mass asymmetry (a transverse displacement of the center of mass from the axis of symmetry) is analyzed. We obtained the formulas for determining the critical value of the longitudinal angular velocity of a nanosatellite, at which the conditions for the appearance of resonances are satisfied. It is also shown the possibility of a roll resonance when the nanosatellite faces the incoming stream with one side edge and the average angular velocity of its own rotation is close to zero.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"21 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":"134234769","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/icins43215.2020.9133844
Y. Somov, S. Butyrin, S. Somov
A new method of autonomous angular guidance and attitude control of satellite in the tracking mode using reference model of changes in the vector of modified Rodrigues parameters is presented.
{"title":"Autonomous Angular Guidance and Attitude Control of an Information Satellite in the Tracking Mode","authors":"Y. Somov, S. Butyrin, S. Somov","doi":"10.23919/icins43215.2020.9133844","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133844","url":null,"abstract":"A new method of autonomous angular guidance and attitude control of satellite in the tracking mode using reference model of changes in the vector of modified Rodrigues parameters is presented.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"33 5","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141207503","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/icins43215.2020.9134019
A. Kramlikh, I. Lomaka, S. Shafran
This work suggests and investigates method that allows to estimate orbital parameters of the nanosatellite in case of abnormal operation of the on-board navigation equipment. Abnormal operation means the possibility to receive signals from not more than two navigation spacecraft. Abnormal operation of the on-board navigation equipment may be due to the performance degradation of the antenna-feeder system and amplifiers, damage of the navigation equipment during launch, and other reasons leading to the change of the antenna pattern, which prevents from receiving of all accessible signals from the navigation spacecraft.
{"title":"Estimation Method for Nanosatellite Orbital Parameters in Case of Abnormal Operation of Navigation Equipment","authors":"A. Kramlikh, I. Lomaka, S. Shafran","doi":"10.23919/icins43215.2020.9134019","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9134019","url":null,"abstract":"This work suggests and investigates method that allows to estimate orbital parameters of the nanosatellite in case of abnormal operation of the on-board navigation equipment. Abnormal operation means the possibility to receive signals from not more than two navigation spacecraft. Abnormal operation of the on-board navigation equipment may be due to the performance degradation of the antenna-feeder system and amplifiers, damage of the navigation equipment during launch, and other reasons leading to the change of the antenna pattern, which prevents from receiving of all accessible signals from the navigation spacecraft.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"246 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":"122931352","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/icins43215.2020.9133871
H. Benzerrouk, R. Landry, Vladimir Nebylov, A. Nebylov
This paper addresses the results showing the expanded use or improvement of the accuracy, availability, and/or integrity performance of multisensory navigation systems. In addition, Processing algorithms and methods for multisensory systems are significantly improved when noises are non-Gaussian. In the literature, different modified linear and nonlinear Kalman filters (KFs) were derived under the Gaussian assumption and the well-known minimum mean square error (MMSE) criterion. In order to improve their robustness with respect to impulsive non-Gaussian noises, different algorithms and techniques based on Gaussian sum filtering, Huber based estimators and recently introduced maximum Correntropy criterion (MCC) have recently been used to counter the weakness of the MMSE criterion in developing different versions of robust Kalman filters.
{"title":"Robust INS/GPS Coupled Navigation Based on Minimum Error Entropy Kalman Filtering","authors":"H. Benzerrouk, R. Landry, Vladimir Nebylov, A. Nebylov","doi":"10.23919/icins43215.2020.9133871","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133871","url":null,"abstract":"This paper addresses the results showing the expanded use or improvement of the accuracy, availability, and/or integrity performance of multisensory navigation systems. In addition, Processing algorithms and methods for multisensory systems are significantly improved when noises are non-Gaussian. In the literature, different modified linear and nonlinear Kalman filters (KFs) were derived under the Gaussian assumption and the well-known minimum mean square error (MMSE) criterion. In order to improve their robustness with respect to impulsive non-Gaussian noises, different algorithms and techniques based on Gaussian sum filtering, Huber based estimators and recently introduced maximum Correntropy criterion (MCC) have recently been used to counter the weakness of the MMSE criterion in developing different versions of robust Kalman filters.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"60 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":"131947295","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/icins43215.2020.9133990
V. Pudlovsky
The advantages of navigation solution based on the signals from three GNSS satellites and using the frequency standard in receiving equipment are discussed. The possibility of obtaining navigation solution when using the extended Kalman filter algorithm without predicting the receiver clock and receiving only three GNSS signals for several tens of minutes is shown as possible only for a highly stable reference oscillator.
{"title":"The Advantages of Using Highly Stable Reference Oscillators in the Receiving Equipment of GNSS Signals","authors":"V. Pudlovsky","doi":"10.23919/icins43215.2020.9133990","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133990","url":null,"abstract":"The advantages of navigation solution based on the signals from three GNSS satellites and using the frequency standard in receiving equipment are discussed. The possibility of obtaining navigation solution when using the extended Kalman filter algorithm without predicting the receiver clock and receiving only three GNSS signals for several tens of minutes is shown as possible only for a highly stable reference oscillator.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"65 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":"133415442","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/icins43215.2020.9133902
Y. Deng, G. Yan, X. K. Yang
Multiple sensors in distributed attitude systems can be installed in different parts of the carrier, providing more information and introducing errors. Compared with the traditional attitude system, the common error sources of distributed attitude system sensors are installation error and inner lever arm error. In order to improve this problem, the installation error and inertial lever errors of distributed attitude system are analyzed and modeled. Simulation results are given. The results show that the installation error and the inner lever arm error have a great influence on the accuracy, which must be paid attention to in the practical application.
{"title":"Research on Distributed Attitude System Based on MEMS Inertial Sensor Network","authors":"Y. Deng, G. Yan, X. K. Yang","doi":"10.23919/icins43215.2020.9133902","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133902","url":null,"abstract":"Multiple sensors in distributed attitude systems can be installed in different parts of the carrier, providing more information and introducing errors. Compared with the traditional attitude system, the common error sources of distributed attitude system sensors are installation error and inner lever arm error. In order to improve this problem, the installation error and inertial lever errors of distributed attitude system are analyzed and modeled. Simulation results are given. The results show that the installation error and the inner lever arm error have a great influence on the accuracy, which must be paid attention to in the practical application.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"35 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":"133125956","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}
The features of the carrier-based aircraft operation under conditions of high sea state were researched. A highly efficient relay algorithm for predicting the pitching parameters of an aircraft carrier's deck has been developed. The algorithm switches the models of various accuracy in a relay manner depending on the forecast horizon. To accomplish prediction, the relay algorithm uses both linear trends and non-linear models constructed by the self-organization algorithm. Linear trends help to complete the prediction as soon as possible. The results of mathematical modeling have showed the effectiveness of the developed relay algorithm in predicting the pitching parameters of an aircraft carrier's deck.
{"title":"Pitching Prediction Algorithm for Landing on Aircraft Carrier Deck","authors":"Zhou Ruiyang, Neysipin Konstantin, Selezneva Maria, Proletarsky Andrey","doi":"10.23919/icins43215.2020.9134026","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9134026","url":null,"abstract":"The features of the carrier-based aircraft operation under conditions of high sea state were researched. A highly efficient relay algorithm for predicting the pitching parameters of an aircraft carrier's deck has been developed. The algorithm switches the models of various accuracy in a relay manner depending on the forecast horizon. To accomplish prediction, the relay algorithm uses both linear trends and non-linear models constructed by the self-organization algorithm. Linear trends help to complete the prediction as soon as possible. The results of mathematical modeling have showed the effectiveness of the developed relay algorithm in predicting the pitching parameters of an aircraft carrier's deck.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"228 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":"123296240","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/icins43215.2020.9133941
Pham Xuan Truong, N. Konstantin, Selezneva Mariya
The research object of this article is a route correction system of an unmanned aerial vehicle. In order to correct the flight path of the UAV under study, an airborne radar system is used. In the case of active jamming, the radar image cannot be used for route correction. Therefore, the onboard navigation system with algorithm correction is proposed. The error compensation scheme of navigation system is used in the output signal, and the prediction model of system error is constructed by the algorithm. The predictive model is constructed using the genetic algorithm and group method of data handling. The quality of algorithms for constructing predictive model is compared by mathematical model. Algorithmic support that functions with the radar system and in conditions of active interference (these signals are unavailable) for the UAV navigation system has been formed. Correction algorithms for autonomous UAV navigation systems including genetic algorithms and prediction algorithms have been developed. The simulation results prove the performance and efficiency of the developed correction algorithm, which shows that the accuracy of navigation system can be improved and the UAV problems can be solved by using this algorithm.
{"title":"Study of the System of Route Correction of the UAV Navigation System","authors":"Pham Xuan Truong, N. Konstantin, Selezneva Mariya","doi":"10.23919/icins43215.2020.9133941","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133941","url":null,"abstract":"The research object of this article is a route correction system of an unmanned aerial vehicle. In order to correct the flight path of the UAV under study, an airborne radar system is used. In the case of active jamming, the radar image cannot be used for route correction. Therefore, the onboard navigation system with algorithm correction is proposed. The error compensation scheme of navigation system is used in the output signal, and the prediction model of system error is constructed by the algorithm. The predictive model is constructed using the genetic algorithm and group method of data handling. The quality of algorithms for constructing predictive model is compared by mathematical model. Algorithmic support that functions with the radar system and in conditions of active interference (these signals are unavailable) for the UAV navigation system has been formed. Correction algorithms for autonomous UAV navigation systems including genetic algorithms and prediction algorithms have been developed. The simulation results prove the performance and efficiency of the developed correction algorithm, which shows that the accuracy of navigation system can be improved and the UAV problems can be solved by using this algorithm.","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":"124191147","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/icins43215.2020.9133905
A. Krylov
The report studies the effect of linear acceleration up to 100g on the readings of a MEMS gyroscope (as a part of IMU). A method for zero offset finding is described, when it is used in the conditions of skews in the places of IMU installation on the rotational stand. The calibration method that takes into account the occurring zero offsets from the acceleration, measured along three axes is proposed. The main results of the developed method application are presented.
{"title":"Technology For Elimination of MEMS Gyroscope Zero Offset under the Influence of Linear Acceleration and the Occurrence of Skewnesses in the Locations of Sensor Block Installation","authors":"A. Krylov","doi":"10.23919/icins43215.2020.9133905","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133905","url":null,"abstract":"The report studies the effect of linear acceleration up to 100g on the readings of a MEMS gyroscope (as a part of IMU). A method for zero offset finding is described, when it is used in the conditions of skews in the places of IMU installation on the rotational stand. The calibration method that takes into account the occurring zero offsets from the acceleration, measured along three axes is proposed. The main results of the developed method application are presented.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"1 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":"129825415","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/icins43215.2020.9134006
Xin Lin, Zhan-Qing Wang, Xudong Chen
Path planning is one of the key research directions in the field of mobile robots. It ensures that moving objects can reach the target point safely and without collision in a complex obstacle environment. The path planning is to search an optimal path from the starting point to the target point for the mobile robot in an environment with obstacles, according to certain evaluation criteria (such as the time, the best path, the minimum energy consumption, etc.). The path planning based on artificial potential field method has been paid more and more attention because of its advantages such as convenient calculation, simple implementation of hardware and outstanding real-time performance. However, the artificial potential field method has some limitations, such as the local minimum, the oscillation of moving objects among obstacles and so on. To solve these problems, we can introduce the idea of decision tree into the artificial potential field method for improvement. In machine learning, decision tree is usually used for classification. It is a prediction model, which represents a mapping relationship between object attributes and object values. By utilizing the advantages of decision tree in rule expression and extraction, an improved artificial potential field path planning model based on decision tree is constructed, which can realize real-time and accurate identification of current behavior and fast decision-making of next time behavior in path planning. Aiming at the dynamic path planning problem of mobile robots in indoor complex environment, based on the traditional artificial potential field method, this paper introduces the distance term into the potential field function, and proposes an improved artificial potential field method based on the idea of decision tree, to solve the local minimum, the oscillation between obstacles and concave obstacle problems. According to repulsion coefficient, deflection angle of resultant force and velocity, a reasonable classification decision is made to meet the needs of different obstacle distribution scenarios, and the effectiveness of the proposed method is verified by simulation experiments. Simulation results show that, compared with the traditional artificial potential field method, the planning time of improved algorithm is reduced by 50%, and the smoothness of path planning by the improved algorithm is increased by 43.3%.
{"title":"Path Planning with Improved Artificial Potential Field Method Based on Decision Tree","authors":"Xin Lin, Zhan-Qing Wang, Xudong Chen","doi":"10.23919/icins43215.2020.9134006","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9134006","url":null,"abstract":"Path planning is one of the key research directions in the field of mobile robots. It ensures that moving objects can reach the target point safely and without collision in a complex obstacle environment. The path planning is to search an optimal path from the starting point to the target point for the mobile robot in an environment with obstacles, according to certain evaluation criteria (such as the time, the best path, the minimum energy consumption, etc.). The path planning based on artificial potential field method has been paid more and more attention because of its advantages such as convenient calculation, simple implementation of hardware and outstanding real-time performance. However, the artificial potential field method has some limitations, such as the local minimum, the oscillation of moving objects among obstacles and so on. To solve these problems, we can introduce the idea of decision tree into the artificial potential field method for improvement. In machine learning, decision tree is usually used for classification. It is a prediction model, which represents a mapping relationship between object attributes and object values. By utilizing the advantages of decision tree in rule expression and extraction, an improved artificial potential field path planning model based on decision tree is constructed, which can realize real-time and accurate identification of current behavior and fast decision-making of next time behavior in path planning. Aiming at the dynamic path planning problem of mobile robots in indoor complex environment, based on the traditional artificial potential field method, this paper introduces the distance term into the potential field function, and proposes an improved artificial potential field method based on the idea of decision tree, to solve the local minimum, the oscillation between obstacles and concave obstacle problems. According to repulsion coefficient, deflection angle of resultant force and velocity, a reasonable classification decision is made to meet the needs of different obstacle distribution scenarios, and the effectiveness of the proposed method is verified by simulation experiments. Simulation results show that, compared with the traditional artificial potential field method, the planning time of improved algorithm is reduced by 50%, and the smoothness of path planning by the improved algorithm is increased by 43.3%.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"5 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":"129232936","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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