Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9133858
A. Kumarin, I. Kudryavtsev, S. Shafran
Software defined radio-based GNSS receivers are getting more and more popular. Signal tracking is the most time-consuming part of signal processing in such receivers. The main purpose was to design FPGA-based signal tracking module of a System-on-Chip-based receiver. Its hardware processor system is used for signal acquisition and position computation, while the FPGA part is used for signal tracking. The design includes data buffers with shared memory, resource-efficient signal multipliers, set of correlators, discriminators and special multichannel memory-based C/A code generator. All the units are implemented using System Verilog hardware description language.
{"title":"Implementation of a GNSS Receiver Signal Tracking Module","authors":"A. Kumarin, I. Kudryavtsev, S. Shafran","doi":"10.23919/icins43215.2020.9133858","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133858","url":null,"abstract":"Software defined radio-based GNSS receivers are getting more and more popular. Signal tracking is the most time-consuming part of signal processing in such receivers. The main purpose was to design FPGA-based signal tracking module of a System-on-Chip-based receiver. Its hardware processor system is used for signal acquisition and position computation, while the FPGA part is used for signal tracking. The design includes data buffers with shared memory, resource-efficient signal multipliers, set of correlators, discriminators and special multichannel memory-based C/A code generator. All the units are implemented using System Verilog hardware description language.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"29 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":"116133648","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/icins43215.2020.9133757
Oleg A. Stepanov, A. Nosov, A. Toropov
A map-aided navigation problem is formulated in the Bayesian framework to provide a basis for algorithms classification. Algorithms involving preprocessing of measurements aimed to improve the accuracy of the field profile used in the comparison with the map are discussed. An algorithm without measurements preprocessing and profile estimation is briefly described. The results are considered to illustrate the operation and advantages of such an algorithm by an example of a gravity-aided navigation in a weakly anomalous region.
{"title":"Classification of Map-Aided Navigation Algorithms","authors":"Oleg A. Stepanov, A. Nosov, A. Toropov","doi":"10.23919/icins43215.2020.9133757","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133757","url":null,"abstract":"A map-aided navigation problem is formulated in the Bayesian framework to provide a basis for algorithms classification. Algorithms involving preprocessing of measurements aimed to improve the accuracy of the field profile used in the comparison with the map are discussed. An algorithm without measurements preprocessing and profile estimation is briefly described. The results are considered to illustrate the operation and advantages of such an algorithm by an example of a gravity-aided navigation in a weakly anomalous region.","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":"121055871","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/icins43215.2020.9133846
V. A. Tupysev, Y. Litvinenko, A. Isaev
The paper discusses the possibility of increasing the efficiency of the Kalman type filters for nonlinearities in the dynamics and measurement equations by using a special finite-difference equation to choose the linearization point. The simulation results of navigation data processing problem illustrate the effectiveness of the proposed approach
{"title":"Application of Kalman Type Filtering for Processing Navigation Data With Nonlinear Dynamics and Measurements","authors":"V. A. Tupysev, Y. Litvinenko, A. Isaev","doi":"10.23919/icins43215.2020.9133846","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133846","url":null,"abstract":"The paper discusses the possibility of increasing the efficiency of the Kalman type filters for nonlinearities in the dynamics and measurement equations by using a special finite-difference equation to choose the linearization point. The simulation results of navigation data processing problem illustrate the effectiveness of the proposed approach","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"9 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":"126415101","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/icins43215.2020.9133864
V. Nikiforov, M. Tchaikovsky, A. Gusev, K. Andreev, A.S. Anokhin, N.P. Stikhareva
This article discusses the synthesis of a static regulator based on LMI-control with varying the correction coefficient. The mathematical modeling of the proposed regulator was carried out. Conclusions about the application of the proposed method are drawn.
{"title":"Improving the Quality of the Transient Process of the Compensation Pendulum Accelerometer with LMI control","authors":"V. Nikiforov, M. Tchaikovsky, A. Gusev, K. Andreev, A.S. Anokhin, N.P. Stikhareva","doi":"10.23919/icins43215.2020.9133864","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133864","url":null,"abstract":"This article discusses the synthesis of a static regulator based on LMI-control with varying the correction coefficient. The mathematical modeling of the proposed regulator was carried out. Conclusions about the application of the proposed method are drawn.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"27 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":"121917354","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/icins43215.2020.9133768
B. Guan, S. Li, Q. Fu
Hybrid inertial navigation system with three rotating axes involves the advantages of platform navigation system, strapdown navigation system and rotatory inertial navigation systems, which can improve navigation and positioning accuracy substantially. A comprehensive study of the error propagation properties and error compensation mechanism of rotatory inertial navigation system is conducted. On the basis of this theory, combined with the analysis of the traditional rotation scheme, a reasonable scheme of system error compensation based on the geographical coordinate system is determined. The rotation scheme relative to the geographic frame cannot eliminate the coupling items between the errors of the gyroscope and the Earth rotation, then a three-axis rotation scheme relative to inertial frame is proposed. The simulation is conducted to verify the rotation scheme, and the results are compared with the rotation scheme relative to the geographical frame. Results show that the inertial frame modulation scheme can reduce the navigation error caused by coupling items between the errors of the gyroscope and the Earth rotation obviously.
{"title":"Research on Rotation Scheme of Hybrid Inertial Navigation System with Three Rotating Axes","authors":"B. Guan, S. Li, Q. Fu","doi":"10.23919/icins43215.2020.9133768","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133768","url":null,"abstract":"Hybrid inertial navigation system with three rotating axes involves the advantages of platform navigation system, strapdown navigation system and rotatory inertial navigation systems, which can improve navigation and positioning accuracy substantially. A comprehensive study of the error propagation properties and error compensation mechanism of rotatory inertial navigation system is conducted. On the basis of this theory, combined with the analysis of the traditional rotation scheme, a reasonable scheme of system error compensation based on the geographical coordinate system is determined. The rotation scheme relative to the geographic frame cannot eliminate the coupling items between the errors of the gyroscope and the Earth rotation, then a three-axis rotation scheme relative to inertial frame is proposed. The simulation is conducted to verify the rotation scheme, and the results are compared with the rotation scheme relative to the geographical frame. Results show that the inertial frame modulation scheme can reduce the navigation error caused by coupling items between the errors of the gyroscope and the Earth rotation obviously.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"66 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":"127035103","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/icins43215.2020.9133730
Yusheng Wang, A. Shkel
We present a review of studies that were conducted by the MicroSystems Laboratory at UC Irvine on ZUPT-aided pedestrian inertial navigation. Our most recent results include: adaptive ZUPT detection, IMU mounting position optimization, residual velocity characterization, IMU error calibration, and navigation error prediction. With all the efforts above, a robust and accurate ZUPT-aided pedestrian inertial navigation implementation was demonstrated. The navigation bias was reduced by 10×, and a position error of less than 1% of the total length of trajectory was demonstrated with an industrial-grade IMU.
{"title":"A Review on ZUPT-Aided Pedestrian Inertial Navigation","authors":"Yusheng Wang, A. Shkel","doi":"10.23919/icins43215.2020.9133730","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133730","url":null,"abstract":"We present a review of studies that were conducted by the MicroSystems Laboratory at UC Irvine on ZUPT-aided pedestrian inertial navigation. Our most recent results include: adaptive ZUPT detection, IMU mounting position optimization, residual velocity characterization, IMU error calibration, and navigation error prediction. With all the efforts above, a robust and accurate ZUPT-aided pedestrian inertial navigation implementation was demonstrated. The navigation bias was reduced by 10×, and a position error of less than 1% of the total length of trajectory was demonstrated with an industrial-grade IMU.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"6 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":"131927862","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/icins43215.2020.9133797
P. Bogdanov, A. Druzhin, T. Primakina
To provide positioning and timing in multisystem mode by signals from Space Vehicles (SV) of different Global Navigation Satellite Systems (GNSS) it is necessary to provide users with the values of the offsets between GNSS time scales. The paper is aimed at comparing different methods of calculating GNSS-GNSS Time offsets by the users for multisystem mode.
{"title":"Using Broadcast Corrections for Calculating GNSS-GNSS Time Offset","authors":"P. Bogdanov, A. Druzhin, T. Primakina","doi":"10.23919/icins43215.2020.9133797","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133797","url":null,"abstract":"To provide positioning and timing in multisystem mode by signals from Space Vehicles (SV) of different Global Navigation Satellite Systems (GNSS) it is necessary to provide users with the values of the offsets between GNSS time scales. The paper is aimed at comparing different methods of calculating GNSS-GNSS Time offsets by the users for multisystem mode.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"45 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":"128273036","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/icins43215.2020.9133967
A. Maslov, D. A. Maslov, I. Merkuryev, V. V. Podalkov
Identification of parameters of a solid-state wave gyroscope in the forced and free-run modes under nonlinear resonator oscillation is considered. By using the Krylov-Bogolyubov averaging method, calibration equations are deduced for determining the mathematical model coefficients. These coefficients contain an oscillation nonlinearity coefficient and parameters characterizing resonator defects including frequency difference and damping anisotropy, orientation of main axes of stiffness and dissipation. Suggested identification methods allow us to perform testing at large oscillation amplitudes. Numerical simulation of parameters identification is carried out. It is shown that accounting for nonlinearities in case of large oscillation amplitudes significantly increases the accuracy of parameters identification.
{"title":"Development of Methods for Identification of Nonlinear Mathematical Model Parameters of Solid-State Wave Gyroscope","authors":"A. Maslov, D. A. Maslov, I. Merkuryev, V. V. Podalkov","doi":"10.23919/icins43215.2020.9133967","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133967","url":null,"abstract":"Identification of parameters of a solid-state wave gyroscope in the forced and free-run modes under nonlinear resonator oscillation is considered. By using the Krylov-Bogolyubov averaging method, calibration equations are deduced for determining the mathematical model coefficients. These coefficients contain an oscillation nonlinearity coefficient and parameters characterizing resonator defects including frequency difference and damping anisotropy, orientation of main axes of stiffness and dissipation. Suggested identification methods allow us to perform testing at large oscillation amplitudes. Numerical simulation of parameters identification is carried out. It is shown that accounting for nonlinearities in case of large oscillation amplitudes significantly increases the accuracy of parameters identification.","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":"121259585","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/icins43215.2020.9133854
E. Karshakov, B. Pavlov, I. Papusha, M. Tkhorenko
The report presents the analysis of opportunities of aircraft navigation systems development with regard to the aid of onboard geophysical fields measurements. We consider some prospective systems which today are not widely used: magnetic gradiometers that measure stationary magnetic field gradient, gravity gradiometers that measure gravity field gradient, electromagnetic systems that measure the alternating part of magnetic field. We discuss the main tasks that have to be solved during airborne measurements of these parameters. We give a review of algorithms and hardware solutions. We present some examples of onboard measurements and estimate the possible navigation accuracy.
{"title":"Promising Aircraft Navigation Systems with Use of Physical Fields: Stationary Magnetic Field Gradient, Gravity Gradient, Alternating Magnetic Field","authors":"E. Karshakov, B. Pavlov, I. Papusha, M. Tkhorenko","doi":"10.23919/icins43215.2020.9133854","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133854","url":null,"abstract":"The report presents the analysis of opportunities of aircraft navigation systems development with regard to the aid of onboard geophysical fields measurements. We consider some prospective systems which today are not widely used: magnetic gradiometers that measure stationary magnetic field gradient, gravity gradiometers that measure gravity field gradient, electromagnetic systems that measure the alternating part of magnetic field. We discuss the main tasks that have to be solved during airborne measurements of these parameters. We give a review of algorithms and hardware solutions. We present some examples of onboard measurements and estimate the possible navigation accuracy.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"148 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":"121389162","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/icins43215.2020.9133812
S. Prophet, G. Trommer
In recent years, Micro Aerial Vehicles (MAVs) have been a desired solution for indoor applications. However, most of today's approaches are restricted to piloted applications for lack of autonomy in unknown scenario. There, the MAV must independently handle both infrastructure and arbitrary obstacles. We present a navigation system for autonomous flight in cluttered indoor environments. First, we transfer the Elliptic Limit Cycle (ELC) approach for target-oriented obstacle avoidance to the dynamics of MAV flights. In terms of automated perceptive functionality, laser data clustering and parameter estimation on the fly are presented. Second, we develop refinements to simultaneously handle both isolated obstacles and connected infrastructure, which is a necessary condition for any indoor application. We evaluate the automated obstacle perception by means of real experimental data acquired in interior space. The guidance system's proof of concept is given based on realistic indoor environment software in the loop tests.
{"title":"Reactive Navigation in Cluttered Indoor Environment for Autonomous MAVs","authors":"S. Prophet, G. Trommer","doi":"10.23919/icins43215.2020.9133812","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133812","url":null,"abstract":"In recent years, Micro Aerial Vehicles (MAVs) have been a desired solution for indoor applications. However, most of today's approaches are restricted to piloted applications for lack of autonomy in unknown scenario. There, the MAV must independently handle both infrastructure and arbitrary obstacles. We present a navigation system for autonomous flight in cluttered indoor environments. First, we transfer the Elliptic Limit Cycle (ELC) approach for target-oriented obstacle avoidance to the dynamics of MAV flights. In terms of automated perceptive functionality, laser data clustering and parameter estimation on the fly are presented. Second, we develop refinements to simultaneously handle both isolated obstacles and connected infrastructure, which is a necessary condition for any indoor application. We evaluate the automated obstacle perception by means of real experimental data acquired in interior space. The guidance system's proof of concept is given based on realistic indoor environment software in the loop tests.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"63 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":"123891883","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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