Pub Date : 2020-05-01DOI: 10.23919/icins43215.2020.9133787
Nhan Nguyen, P. Müller
This paper proposes two methods for calibrating triaxial magnetometers. Both of them calibrate these sensors with more general assumption of noise on three axes than previous state-of-the-art methods. The first method estimates bias and rotation parameters more accurately and the second method yields a better estimate for the scaling parameter than the state-of-the-art method subMLE. The computational time of the latter is also 43 times faster than subMLE, which allows this method to be applied in devices with low-computational resources (e.g. smartphones). Furthermore, the second method yields more robust heading angle estimates compared to subMLE. This result implies that the second method can be applied in light-weight inertial measurement systems, for which the orientation of the device is vital information for pedestrian dead reckoning system.
{"title":"A Novel Magnetometer Calibration Approach with Artificial Data","authors":"Nhan Nguyen, P. Müller","doi":"10.23919/icins43215.2020.9133787","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133787","url":null,"abstract":"This paper proposes two methods for calibrating triaxial magnetometers. Both of them calibrate these sensors with more general assumption of noise on three axes than previous state-of-the-art methods. The first method estimates bias and rotation parameters more accurately and the second method yields a better estimate for the scaling parameter than the state-of-the-art method subMLE. The computational time of the latter is also 43 times faster than subMLE, which allows this method to be applied in devices with low-computational resources (e.g. smartphones). Furthermore, the second method yields more robust heading angle estimates compared to subMLE. This result implies that the second method can be applied in light-weight inertial measurement systems, for which the orientation of the device is vital information for pedestrian dead reckoning system.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"16 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":"124911662","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/icins43215.2020.9133996
Yangwei Ou, Yuanxin Wu, HongYue Chen
Land vehicle navigation based on inertial navigation system (INS) and odometers is a classical autonomous navigation application and has been extensively studied over the past several decades. In this work, we seriously analyze the error characteristics of the odometer (OD) pulses and investigate three types of odometer measurement models in the INS/OD integrated system. Specifically, in the pulse velocity model, a preliminary Kalman filter is designed to obtain accurate vehicle velocity from the accumulated pulses; the pulse increment model is accordingly obtained by integrating the pulse velocity; a new pulse accumulation model is proposed by augmenting the travelled distance into the system state. The three types of measurements, along with the nonhonolomic constraint (NHC), are implemented in the standard extended Kalman filter. In view of the motion-related pulse error characteristics, the multiple model adaptive estimation (MMAE) approach is exploited to further enhance the performance. Simulations and long-distance experiments are conducted to verify the feasibility and effectiveness of the proposed methods. It is shown that the standard pulse velocity measurement achieves the superior performance, whereas the accumulated pulse measurement is most favorable with the MMAE enhancement.
{"title":"INS/Odometer Land Navigation by Accurate Measurement Modeling","authors":"Yangwei Ou, Yuanxin Wu, HongYue Chen","doi":"10.23919/icins43215.2020.9133996","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133996","url":null,"abstract":"Land vehicle navigation based on inertial navigation system (INS) and odometers is a classical autonomous navigation application and has been extensively studied over the past several decades. In this work, we seriously analyze the error characteristics of the odometer (OD) pulses and investigate three types of odometer measurement models in the INS/OD integrated system. Specifically, in the pulse velocity model, a preliminary Kalman filter is designed to obtain accurate vehicle velocity from the accumulated pulses; the pulse increment model is accordingly obtained by integrating the pulse velocity; a new pulse accumulation model is proposed by augmenting the travelled distance into the system state. The three types of measurements, along with the nonhonolomic constraint (NHC), are implemented in the standard extended Kalman filter. In view of the motion-related pulse error characteristics, the multiple model adaptive estimation (MMAE) approach is exploited to further enhance the performance. Simulations and long-distance experiments are conducted to verify the feasibility and effectiveness of the proposed methods. It is shown that the standard pulse velocity measurement achieves the superior performance, whereas the accumulated pulse measurement is most favorable with the MMAE enhancement.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"69 11","pages":"1-9"},"PeriodicalIF":0.0,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141208413","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/icins43215.2020.9133859
P. S. Gorshkov, A. Patrikeev, V. P. Kharkov, A. Chernodarov
This paper is devoted to the problem of increasing the accuracy of measuring of flight paths of aircraft using optoelectronic systems (OES) in sea conditions. In such conditions, it is necessary to determine and compensate for the trajectory instabilities caused by the swinging base of the OES. It is proposed to determine and compensate for these instabilities using an inertial-satellite navigation system. The problems arising from this and their solutions are considered. The results of seminatural studies are presented.
{"title":"Inertial Satellite Compensation of Trajectory Instabilities of Optoelectronic Positioning Systems on a Swinging Base","authors":"P. S. Gorshkov, A. Patrikeev, V. P. Kharkov, A. Chernodarov","doi":"10.23919/icins43215.2020.9133859","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133859","url":null,"abstract":"This paper is devoted to the problem of increasing the accuracy of measuring of flight paths of aircraft using optoelectronic systems (OES) in sea conditions. In such conditions, it is necessary to determine and compensate for the trajectory instabilities caused by the swinging base of the OES. It is proposed to determine and compensate for these instabilities using an inertial-satellite navigation system. The problems arising from this and their solutions are considered. The results of seminatural studies are presented.","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":"125013068","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/icins43215.2020.9133804
Aleksandr Mikov, S. Reginya, A. Moschevikin
The paper presents a novel calibration method for gyroscopes and accelerometers. Contrary to existing methods the proposed one does not require a rotating table or other special equipment. To perform the calibration a user needs to make a series of sequential rotations of inertial measurement unit (IMU) separated by standstills. To find the sensor errors the cost function is defined in terms of orientation differences between accelerometer and gyroscope reported orientations. Then this function is minimized with respect to calibration parameters, that include scale factors, axis non-orthogonalities, biases and misalignment between gyroscope and accelerometer triads. The proposed method has been verified through Monte-Carlo simulations using synthesized IMU data. Besides the method was tested on real data from MPU-9250 sensors. In both cases, the method was proved to properly find calibration parameters. The simulations revealed that the differences between true and estimated sensor error parameters were less than 0.1% of their true value. The experiments using real and simulated data showed the significant elimination of orientation error after calibration. Moreover, the contribution of gyroscope scale and non-orthogonality errors to the total orientation error was estimated. The method implementation in Python together with the inertial data simulator and real sensor data are provided publicly**Reproducible research: all files and software for data processing used in experiments and simulations are available under an open-source license at https://github.com/mikoff/imu-calib..
{"title":"In-situ Gyroscope Calibration Based on Accelerometer Data","authors":"Aleksandr Mikov, S. Reginya, A. Moschevikin","doi":"10.23919/icins43215.2020.9133804","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133804","url":null,"abstract":"The paper presents a novel calibration method for gyroscopes and accelerometers. Contrary to existing methods the proposed one does not require a rotating table or other special equipment. To perform the calibration a user needs to make a series of sequential rotations of inertial measurement unit (IMU) separated by standstills. To find the sensor errors the cost function is defined in terms of orientation differences between accelerometer and gyroscope reported orientations. Then this function is minimized with respect to calibration parameters, that include scale factors, axis non-orthogonalities, biases and misalignment between gyroscope and accelerometer triads. The proposed method has been verified through Monte-Carlo simulations using synthesized IMU data. Besides the method was tested on real data from MPU-9250 sensors. In both cases, the method was proved to properly find calibration parameters. The simulations revealed that the differences between true and estimated sensor error parameters were less than 0.1% of their true value. The experiments using real and simulated data showed the significant elimination of orientation error after calibration. Moreover, the contribution of gyroscope scale and non-orthogonality errors to the total orientation error was estimated. The method implementation in Python together with the inertial data simulator and real sensor data are provided publicly**Reproducible research: all files and software for data processing used in experiments and simulations are available under an open-source license at https://github.com/mikoff/imu-calib..","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"42 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":"134389085","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/icins43215.2020.9133777
E. A. Petrukhin, A. S. Bessonov
A setup for measuring complex coupling parameters in a ring optical cavity of the laser gyro is described. Using the results of measurements, it is possible to predict the lock-in threshold and nonlinear scale factor distortions associated with the influence of the ring cavity mirrors backscattering at the stage of laser gyro assembly.
{"title":"Setup for Measuring Complex Coupling Parameters in Laser Gyro Ring Cavity","authors":"E. A. Petrukhin, A. S. Bessonov","doi":"10.23919/icins43215.2020.9133777","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133777","url":null,"abstract":"A setup for measuring complex coupling parameters in a ring optical cavity of the laser gyro is described. Using the results of measurements, it is possible to predict the lock-in threshold and nonlinear scale factor distortions associated with the influence of the ring cavity mirrors backscattering at the stage of laser gyro assembly.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"58 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":"114461260","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/icins43215.2020.9133950
S. Shafran, I. Kudryavtsev, V. Grechishnikov
This work suggests phase measurements processing technique in a system, including two navigation receivers with antennas placed on the fixed distance one from another. Synchronization of receivers and the algorithm of phase ambiguity resolution are considered. The experimental test of the algorithm is performed. The concept of the radio compass with three antennas is proposed.
{"title":"Processing Phase Measurements in a GNSS-based Radio Compass","authors":"S. Shafran, I. Kudryavtsev, V. Grechishnikov","doi":"10.23919/icins43215.2020.9133950","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133950","url":null,"abstract":"This work suggests phase measurements processing technique in a system, including two navigation receivers with antennas placed on the fixed distance one from another. Synchronization of receivers and the algorithm of phase ambiguity resolution are considered. The experimental test of the algorithm is performed. The concept of the radio compass with three antennas is proposed.","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":"115274672","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/icins43215.2020.9134015
Yuri Vaulin, F. Dubrovin, A. Scherbatyuk, Darya Scherbatyuk
The problem of navigation for groups of autonomous underwater vehicles using a long-base line differential-ranging positioning system is discussed. Two developed navigation algorithms are presented that implement enumeration search and analytical methods for solving the difference-ranging problem. A description of the performed experiments with operation of the described algorithms in natural marine conditions and some results of their work are supplemented.
{"title":"Some Results of Preliminary Natural Experiments for Algorithms of Differential-Ranging Acoustic Positioning System Intended for AUV Group Navigation","authors":"Yuri Vaulin, F. Dubrovin, A. Scherbatyuk, Darya Scherbatyuk","doi":"10.23919/icins43215.2020.9134015","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9134015","url":null,"abstract":"The problem of navigation for groups of autonomous underwater vehicles using a long-base line differential-ranging positioning system is discussed. Two developed navigation algorithms are presented that implement enumeration search and analytical methods for solving the difference-ranging problem. A description of the performed experiments with operation of the described algorithms in natural marine conditions and some results of their work are supplemented.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"25 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":"125363723","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/icins43215.2020.9133928
Y. Somov, S. Butyrin, S. Somov
The methods for navigation, guidance and control of a space robot at approaching a geostationary information satellite under conditions of uncertainty and incompleteness of measurement are considered.
研究了在测量不确定和测量不完全条件下空间机器人接近地球静止信息卫星的导航、制导和控制方法。
{"title":"Navigation, Guidance and Control of a Space Robot During Approach to a Geostationary Information Satellite","authors":"Y. Somov, S. Butyrin, S. Somov","doi":"10.23919/icins43215.2020.9133928","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133928","url":null,"abstract":"The methods for navigation, guidance and control of a space robot at approaching a geostationary information satellite under conditions of uncertainty and incompleteness of measurement are considered.","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":"129309192","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/icins43215.2020.9134028
L. Vodicheva, L. Belsky, Yu. V. Parysheva, E. Koksharov
An inertial measurement system (IMS) for space launch vehicles including a gimballed IMU (GIMU) and a strapdown IMU (SIMU) is considered. A technique for SIMU initial azimuth alignment with the help of GIMU data is proposed. Two variants of the technique are analyzed. For both variants, the basic equations and the results of error analysis obtained by mathematical simulation are discussed.
{"title":"Improving the Accuracy of Initial Alignment of Strapdown INS with the Help of Gimballed INS","authors":"L. Vodicheva, L. Belsky, Yu. V. Parysheva, E. Koksharov","doi":"10.23919/icins43215.2020.9134028","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9134028","url":null,"abstract":"An inertial measurement system (IMS) for space launch vehicles including a gimballed IMU (GIMU) and a strapdown IMU (SIMU) is considered. A technique for SIMU initial azimuth alignment with the help of GIMU data is proposed. Two variants of the technique are analyzed. For both variants, the basic equations and the results of error analysis obtained by mathematical simulation are discussed.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"353 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":"115230910","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/icins43215.2020.9133883
M. Belyaev, O. Volkov, O. Solomina, J. Weppler, U. Mueller, G. Tertitski, M. Wikelski, W. Pitz
One of the important problems in studying processes on the Earth has to do with monitoring animal migrations. ICARUS equipment installed in ISS RS supports global animal migrations monitoring from space. The ICARUS equipment was developed under the Cooperation Agreement between the German Aerospace Center (DLR) and the state corporation Roscosmos (hereinafter referred to as the Agreement). Under this agreement the Russian space experiment Uragan is combined with the German project ICARUS (International Cooperation for Animal Research Using Space). The ICARUS equipment is a system consisting of the onboard and ground segments. The onboard segment includes the control computer OBC-I (OnBoard Computer ICARUS), intended for data storage and processing, and the antenna unity which provides transmission of trajectory data on the ISS spatial position to miniature transceiving sensors (tags) attached to the animals that are being monitored, as well as reception of data from the tags about coordinates of the movement of birds and animals during their seasonal migration. The ground segment includes multiple small (with the mass of up to 5 g) transceivers (tags) which are attached on the ground to migrating animals and birds. These tags may also record additional sensor information such as 3D-body acceleration, 3D-magnetometer data, temperature, pressure and humidity. Some data from the tags will be transmitted on a daily basis to the Mission Control Center in Moscow (MCC-M) via high-rate data link of the radio data transmission system to be further passed on to user centers in Germany and Russia. Most recorded sensor data will be stored on the tag memory for terrestrial readout using handheld receivers on the ground.
{"title":"Development of Technology for Monitoring Animal Migration on Earth Using Scientific Equipment on the ISS RS","authors":"M. Belyaev, O. Volkov, O. Solomina, J. Weppler, U. Mueller, G. Tertitski, M. Wikelski, W. Pitz","doi":"10.23919/icins43215.2020.9133883","DOIUrl":"https://doi.org/10.23919/icins43215.2020.9133883","url":null,"abstract":"One of the important problems in studying processes on the Earth has to do with monitoring animal migrations. ICARUS equipment installed in ISS RS supports global animal migrations monitoring from space. The ICARUS equipment was developed under the Cooperation Agreement between the German Aerospace Center (DLR) and the state corporation Roscosmos (hereinafter referred to as the Agreement). Under this agreement the Russian space experiment Uragan is combined with the German project ICARUS (International Cooperation for Animal Research Using Space). The ICARUS equipment is a system consisting of the onboard and ground segments. The onboard segment includes the control computer OBC-I (OnBoard Computer ICARUS), intended for data storage and processing, and the antenna unity which provides transmission of trajectory data on the ISS spatial position to miniature transceiving sensors (tags) attached to the animals that are being monitored, as well as reception of data from the tags about coordinates of the movement of birds and animals during their seasonal migration. The ground segment includes multiple small (with the mass of up to 5 g) transceivers (tags) which are attached on the ground to migrating animals and birds. These tags may also record additional sensor information such as 3D-body acceleration, 3D-magnetometer data, temperature, pressure and humidity. Some data from the tags will be transmitted on a daily basis to the Mission Control Center in Moscow (MCC-M) via high-rate data link of the radio data transmission system to be further passed on to user centers in Germany and Russia. Most recorded sensor data will be stored on the tag memory for terrestrial readout using handheld receivers on the ground.","PeriodicalId":127936,"journal":{"name":"2020 27th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)","volume":"220 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":"128616503","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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