Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9133957
I. Belokonov, M. S. Shcherbakov
This paper studies passive relative motion of two spacecraft (SC) in one orbital plane taking into account the second zonal harmonic J2 of the Earth gravitational field. Inspector spacecraft moves in the area of the inspection ellipse, in the center of which the target spacecraft is placed. Inspection motion for different orbits is analyzed. Method for selecting the initial conditions of both spacecraft motion that ensure the permissible variation of the inspector SC relative trajectory from nominal one at the given time interval is proposed. Results of the numerical study support the computed stability conditions, which make it possible to reduce the fuel costs for inspection motion.
{"title":"Choosing the Motion Initial Conditions, Ensuring the Technical Sustainability of Spacecraft Formation Flight","authors":"I. Belokonov, M. S. Shcherbakov","doi":"10.23919/icins43215.2020.9133957","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133957","url":null,"abstract":"This paper studies passive relative motion of two spacecraft (SC) in one orbital plane taking into account the second zonal harmonic J2 of the Earth gravitational field. Inspector spacecraft moves in the area of the inspection ellipse, in the center of which the target spacecraft is placed. Inspection motion for different orbits is analyzed. Method for selecting the initial conditions of both spacecraft motion that ensure the permissible variation of the inspector SC relative trajectory from nominal one at the given time interval is proposed. Results of the numerical study support the computed stability conditions, which make it possible to reduce the fuel costs for inspection motion.","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":"130271228","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/icins43215.2020.9133923
E. Mikrin, I. V. Orlovskii, I. A. Krasnopol’skii, M. Mikhailov, S. Rozhkov
The paper reviews a possible lunar mission architecture, where lunar modules are integrated on the lunar Orbital Station (OS), placed in a high lunar orbit (HLO). It discusses the concept of transfers from HLO to an intermediate low lunar orbit (LLO), transfer to a descent orbit, landing at a designated point on the Moon, and return to the OS. An approach was defined, and algorithms were determined and run in simulations for rough and fine control during various phases of the flight. An approach was defined for implementing propellant consumption-optimized descent from LLO to the designated landing target, the lowest possible value for the braking burn required for the descent was defined. Algorithms were developed for quasi-optimal descent during braking phase using measurements from lunar navigation satellites, with the braking burn value which is close to the optimal landing. Relationship between the braking burn and the ratio of the engine thrust to the mass of the Lunar Ascent/Descent Vehicle (LADV) was studied. Relationship between the braking burn of the quasi-optimal landing and the ratio of the engine thrust to the mass of LADV was studied. An approach to and control algorithms for providing operator support for lunar landing were developed, which provide the capability to visually asses the suitability of the landing target from the standpoint of landing safety and, if need be, the ability for the operator to intervene into the control process in order to move the landing target to a safer site.
{"title":"Propellant Consumption-Optimized Lunar Landing Using Signals from Circumlunar Satellite Navigation","authors":"E. Mikrin, I. V. Orlovskii, I. A. Krasnopol’skii, M. Mikhailov, S. Rozhkov","doi":"10.23919/icins43215.2020.9133923","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133923","url":null,"abstract":"The paper reviews a possible lunar mission architecture, where lunar modules are integrated on the lunar Orbital Station (OS), placed in a high lunar orbit (HLO). It discusses the concept of transfers from HLO to an intermediate low lunar orbit (LLO), transfer to a descent orbit, landing at a designated point on the Moon, and return to the OS. An approach was defined, and algorithms were determined and run in simulations for rough and fine control during various phases of the flight. An approach was defined for implementing propellant consumption-optimized descent from LLO to the designated landing target, the lowest possible value for the braking burn required for the descent was defined. Algorithms were developed for quasi-optimal descent during braking phase using measurements from lunar navigation satellites, with the braking burn value which is close to the optimal landing. Relationship between the braking burn and the ratio of the engine thrust to the mass of the Lunar Ascent/Descent Vehicle (LADV) was studied. Relationship between the braking burn of the quasi-optimal landing and the ratio of the engine thrust to the mass of LADV was studied. An approach to and control algorithms for providing operator support for lunar landing were developed, which provide the capability to visually asses the suitability of the landing target from the standpoint of landing safety and, if need be, the ability for the operator to intervene into the control process in order to move the landing target to a safer site.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"31 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":"127225188","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/icins43215.2020.9133897
V. Shiryaev, Darya Klepach, A. Romanova
A dynamic system, in particular a spacecraft, for which the task of combining information from sensors of navigation systems arises, is considered. Inertial navigation system and star sensor are used as the main navigation systems. The algorithm of guaranteed evaluation when combining the information of inertial navigation system and star sensor is proposed. When solving the estimation problem using a minimax filter, constructing an information set that is guaranteed to contain the true state of the system is a computationally difficult task for large-dimensional systems. That's why instead of exact construction of information sets their approximate value is used, i.e. approximation in the form of convex polyhedron obtained by approximation from above of “exact” but set implicitly by the system of linear equations and inequalities of information set. The result of guaranteed estimation is compared with the result of estimation with the Kalman filter.
{"title":"Implementation of the Algorithm for Estimating the State Vector of a Dynamic System in Undefined Conditions","authors":"V. Shiryaev, Darya Klepach, A. Romanova","doi":"10.23919/icins43215.2020.9133897","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133897","url":null,"abstract":"A dynamic system, in particular a spacecraft, for which the task of combining information from sensors of navigation systems arises, is considered. Inertial navigation system and star sensor are used as the main navigation systems. The algorithm of guaranteed evaluation when combining the information of inertial navigation system and star sensor is proposed. When solving the estimation problem using a minimax filter, constructing an information set that is guaranteed to contain the true state of the system is a computationally difficult task for large-dimensional systems. That's why instead of exact construction of information sets their approximate value is used, i.e. approximation in the form of convex polyhedron obtained by approximation from above of “exact” but set implicitly by the system of linear equations and inequalities of information set. The result of guaranteed estimation is compared with the result of estimation with the Kalman filter.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"26 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":"114540367","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/icins43215.2020.9133819
Alexey Prohortsov, A. Soloviev, V. Smirnov
Mathematical model of semi-analytic gyrocompassing is considered. Requirements for the elements of the semianalytic gyrocompassing system are estimated.
建立了半解析陀螺仪罗盘的数学模型。估计了半解析陀螺仪罗盘系统的元件要求。
{"title":"Mathematical Model of Semianalytic Gyrocompassing","authors":"Alexey Prohortsov, A. Soloviev, V. Smirnov","doi":"10.23919/icins43215.2020.9133819","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133819","url":null,"abstract":"Mathematical model of semi-analytic gyrocompassing is considered. Requirements for the elements of the semianalytic gyrocompassing system are estimated.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"3 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":"122678766","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/icins43215.2020.9133802
V. Nikiforov, A. Gusev, K. Andreev, S. Osokin, A. Shiryaev, N.P. Stikhareva
This article presents a method of sequential approximations to solve the nonlinear terminal control problem. The “ideal” model of a uniaxial gyrostabilizer is used for the synthesis of the terminal law of control. Components of moment disturbances are presented as uncertainties. The mathematical modeling of terminal control with disturbances was conducted.
{"title":"Using a Method of Sequential Approximations of Uniaxial Gyrostabilizer Model to Solve the Nonlinear Terminal Control Problem","authors":"V. Nikiforov, A. Gusev, K. Andreev, S. Osokin, A. Shiryaev, N.P. Stikhareva","doi":"10.23919/icins43215.2020.9133802","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133802","url":null,"abstract":"This article presents a method of sequential approximations to solve the nonlinear terminal control problem. The “ideal” model of a uniaxial gyrostabilizer is used for the synthesis of the terminal law of control. Components of moment disturbances are presented as uncertainties. The mathematical modeling of terminal control with disturbances was conducted.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"2021 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":"123023271","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/icins43215.2020.9133743
A. Motorin, O. Stepanov, D. Koshaev, A. Krasnov, A. Sokolov
Paper presents the results of real data gravimetric survey processing, which makes possible to evaluate the efficiency of using high-precision satellite measurements in marine surveys. The results are also compared with predicted ones, which were previously obtained by simulation.
{"title":"Using High-Precision Satellite Measurements to Solve the Problem of Marine Gravimetric Surveys","authors":"A. Motorin, O. Stepanov, D. Koshaev, A. Krasnov, A. Sokolov","doi":"10.23919/icins43215.2020.9133743","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133743","url":null,"abstract":"Paper presents the results of real data gravimetric survey processing, which makes possible to evaluate the efficiency of using high-precision satellite measurements in marine surveys. The results are also compared with predicted ones, which were previously obtained by simulation.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"133 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":"133066142","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/icins43215.2020.9133817
E. Kharin, A. Yakushev, O. Mordvinov, Vladivir Kopelovitch, L. Lovitskiy, I. Kopylov, S. Pushkov
The paper deals with the conditions, methods, and support facilities for aircraft certification tests. Given as an example is determination of aerodynamic errors in altitude and speed measurements taken onboard Il-78M-90A aircraft.
{"title":"Certification Flight Test Methods for Pilot and Navigation Systems Using the Integrated System Based on Satellite Technologies","authors":"E. Kharin, A. Yakushev, O. Mordvinov, Vladivir Kopelovitch, L. Lovitskiy, I. Kopylov, S. Pushkov","doi":"10.23919/icins43215.2020.9133817","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133817","url":null,"abstract":"The paper deals with the conditions, methods, and support facilities for aircraft certification tests. Given as an example is determination of aerodynamic errors in altitude and speed measurements taken onboard Il-78M-90A aircraft.","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":"129218099","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/icins43215.2020.9133976
H. Benzerrouk, R. Landry, Vladimir Nebylov, A. Nebylov
This paper addresses an original problem of integrated navigation system INS/GPS in urban environment when LOS/NLOS measurement could be mixed and sequentially available. To solve this problem, multiple Kalman filtering algorithms were investigated and tested on a real designed platform called: nanoiBB, which is an integrated navigation and recording system developed by LASSENA laboratory in ETS-Montreal. With IMU 9DOF and GPS receiver, Loosely and Tightly coupled approach were implemented and compared for long duration navigation in the city of Montreal, in Obstructed and Unobstructed areas, when experimental data collected from four (04) iBB systems were used to analyze and validate loosely/tightly coupled Information Fusion method for INS/GPS integrated system. To achieve that, different scenarios and observability conditions were assumed and then implemented in different Kalman filtering frameworks in post processing; to achieve the best NLOS detection, Fisheye camera view was selected to detect NLOS regions and select the best adaptive or robust nonlinear filters for loosely/tightly integration. It is important to mention that there is no rejection of satellites, instead, adaptive fading factors and Hinfinity versions of Gauss quadrature Kalman filters was designed and applied. During the tests, micro-iBB integrated navigation systems and recorders have demonstrated good performances using EKF/UKF, then with much higher efficiency when using High degree Cubature Kalman filters. It was found that it is a good candidate for driving assessment and data recording systems, in real time and post processing data analysis for event emergency detection even in dense urban environment.
{"title":"Novel INS/GPS/Fisheye-Camera Loosely/Tightly Coupled Enhancing Robust Navigation in Dense Urban Environment","authors":"H. Benzerrouk, R. Landry, Vladimir Nebylov, A. Nebylov","doi":"10.23919/icins43215.2020.9133976","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133976","url":null,"abstract":"This paper addresses an original problem of integrated navigation system INS/GPS in urban environment when LOS/NLOS measurement could be mixed and sequentially available. To solve this problem, multiple Kalman filtering algorithms were investigated and tested on a real designed platform called: nanoiBB, which is an integrated navigation and recording system developed by LASSENA laboratory in ETS-Montreal. With IMU 9DOF and GPS receiver, Loosely and Tightly coupled approach were implemented and compared for long duration navigation in the city of Montreal, in Obstructed and Unobstructed areas, when experimental data collected from four (04) iBB systems were used to analyze and validate loosely/tightly coupled Information Fusion method for INS/GPS integrated system. To achieve that, different scenarios and observability conditions were assumed and then implemented in different Kalman filtering frameworks in post processing; to achieve the best NLOS detection, Fisheye camera view was selected to detect NLOS regions and select the best adaptive or robust nonlinear filters for loosely/tightly integration. It is important to mention that there is no rejection of satellites, instead, adaptive fading factors and Hinfinity versions of Gauss quadrature Kalman filters was designed and applied. During the tests, micro-iBB integrated navigation systems and recorders have demonstrated good performances using EKF/UKF, then with much higher efficiency when using High degree Cubature Kalman filters. It was found that it is a good candidate for driving assessment and data recording systems, in real time and post processing data analysis for event emergency detection even in dense urban environment.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"94 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":"115667186","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/icins43215.2020.9133890
S. Perelyaev, S. B. Bodunov, V. Zhuravlev, B. P. Bodunov
Some fundamental issues of the Generalized Foucault Pendulum (GFP) theory are shown. The basic physical effect inherent in this gyro family is described and general ways of controlling their phase state are formed. The problems of the operational stability are considered and calibration equations are deduced. The applied aspects of the Generalized Foucault pendulum theory implementation in precision gyro sensors and specified embodiments of modern hemispherical resonator gyros for low-speed and high-speed objects of air-space applications are presented.
{"title":"New Gyroscopes of the “Generalized Foucault Pendulum” Family: Some Fundamental Issues of Theory and Applied Aspects of Its Implementation in the Engineering Practice of Modern Gyroscopy","authors":"S. Perelyaev, S. B. Bodunov, V. Zhuravlev, B. P. Bodunov","doi":"10.23919/icins43215.2020.9133890","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133890","url":null,"abstract":"Some fundamental issues of the Generalized Foucault Pendulum (GFP) theory are shown. The basic physical effect inherent in this gyro family is described and general ways of controlling their phase state are formed. The problems of the operational stability are considered and calibration equations are deduced. The applied aspects of the Generalized Foucault pendulum theory implementation in precision gyro sensors and specified embodiments of modern hemispherical resonator gyros for low-speed and high-speed objects of air-space applications are presented.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"36 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":"126968028","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/icins43215.2020.9133853
J. Ren, J. Zi, H. Y. Guan, J. Li
For the strong nonlinearity of ultra-tightly coupled INS/GPS navigation system, this paper present to use the unscented particle filter (UPF) for integration system. The nonlinear measurement equation can be constructed by including the second-order term in the Taylor series of the pseudorange measurements. At the same time, the UPF algorithm is simplified, which greatly reduces the computational complexity caused by a large number of UT transformations. The experimental results indicated that the UPF-based ultra-tight INS/GPS integration system can effectively overcome the nonlinear error, and has higher signal tracking performance and navigation performance in highly dynamic and strong interference environments.
{"title":"Design of an Ultra-Tightly Coupled Integrated INS/GPS Navigation System Based on UPF","authors":"J. Ren, J. Zi, H. Y. Guan, J. Li","doi":"10.23919/icins43215.2020.9133853","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133853","url":null,"abstract":"For the strong nonlinearity of ultra-tightly coupled INS/GPS navigation system, this paper present to use the unscented particle filter (UPF) for integration system. The nonlinear measurement equation can be constructed by including the second-order term in the Taylor series of the pseudorange measurements. At the same time, the UPF algorithm is simplified, which greatly reduces the computational complexity caused by a large number of UT transformations. The experimental results indicated that the UPF-based ultra-tight INS/GPS integration system can effectively overcome the nonlinear error, and has higher signal tracking performance and navigation performance in highly dynamic and strong interference environments.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"61 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":"126181440","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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