Pub Date : 2021-04-01DOI: 10.1134/S2075108721020073
A. Sokolov, A. Krasnov, A. B. Konovalov
{"title":"Automation of Mobile Gravimeter Quartz Elastic System Manufacturing Technology","authors":"A. Sokolov, A. Krasnov, A. B. Konovalov","doi":"10.1134/S2075108721020073","DOIUrl":"https://doi.org/10.1134/S2075108721020073","url":null,"abstract":"","PeriodicalId":38999,"journal":{"name":"Gyroscopy and Navigation","volume":"12 1","pages":"138 - 146"},"PeriodicalIF":0.0,"publicationDate":"2021-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44834494","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}
Abstract The problem of a strapdown inertial navigation system (SINS) integration with an odometer as part of an integrated navigation system is considered. The odometer raw measurement is considered as an increment of the distance traveled along the odometer “measuring” axis. Models of the integration solution components for the case of three-dimensional navigation are presented, among which are the models of inertial autonomous and kinematic odometer dead reckoning (DR), models of relevant error equations, the model of SINS position aiding based on the odometer DR data and using GNSS position and velocity, wherever possible. The models comprise objective components, which do not depend on the type of the inertial sensors used and their accuracy grade, and variable components, which take into account the properties of the navigation sensors used. The integration does not require zero velocity updates, known as ZUPT correction, which are commonly used in navigation application.
{"title":"INS/Odometer Integration: Positional Approach","authors":"A. Golovan","doi":"10.17285/0869-7035.0066","DOIUrl":"https://doi.org/10.17285/0869-7035.0066","url":null,"abstract":"Abstract The problem of a strapdown inertial navigation system (SINS) integration with an odometer as part of an integrated navigation system is considered. The odometer raw measurement is considered as an increment of the distance traveled along the odometer “measuring” axis. Models of the integration solution components for the case of three-dimensional navigation are presented, among which are the models of inertial autonomous and kinematic odometer dead reckoning (DR), models of relevant error equations, the model of SINS position aiding based on the odometer DR data and using GNSS position and velocity, wherever possible. The models comprise objective components, which do not depend on the type of the inertial sensors used and their accuracy grade, and variable components, which take into account the properties of the navigation sensors used. The integration does not require zero velocity updates, known as ZUPT correction, which are commonly used in navigation application.","PeriodicalId":38999,"journal":{"name":"Gyroscopy and Navigation","volume":"12 1","pages":"186-194"},"PeriodicalIF":0.0,"publicationDate":"2021-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41536110","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 : 2021-04-01DOI: 10.1134/S207510872102005X
G. Sharma, T. Sundararajan, S. Gautam
{"title":"Design to Operational Parameters Dependency on Quality Factor of Sensor Mechanical Resonators","authors":"G. Sharma, T. Sundararajan, S. Gautam","doi":"10.1134/S207510872102005X","DOIUrl":"https://doi.org/10.1134/S207510872102005X","url":null,"abstract":"","PeriodicalId":38999,"journal":{"name":"Gyroscopy and Navigation","volume":"12 1","pages":"119 - 137"},"PeriodicalIF":0.0,"publicationDate":"2021-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43883505","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 : 2021-01-01DOI: 10.1134/S2075108721010065
V. Kanushin, I. Ganagina, D. Goldobin
{"title":"Modeling of Quasigeoid Heights in the Earth’s Local Surface Areas Based on the Results of the Expansion in a Generalized Fourier Series","authors":"V. Kanushin, I. Ganagina, D. Goldobin","doi":"10.1134/S2075108721010065","DOIUrl":"https://doi.org/10.1134/S2075108721010065","url":null,"abstract":"","PeriodicalId":38999,"journal":{"name":"Gyroscopy and Navigation","volume":"12 1","pages":"61 - 68"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"64306622","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}
Abstract The paper analyzes the development prospects for aircraft navigation systems using onboard geophysical field measurements. Prospective systems that are not widely applied yet are considered: magnetic gradiometers measuring the stationary magnetic field gradient, gravity gradiometers measuring the gravity field gradient, and electromagnetic systems measuring the alternating part of magnetic field. We discuss the main problems to be solved during airborne measurements of these parameters and give an overview of algorithms and hardware solutions. We analyse the results of onboard measurements and estimate the possible navigation accuracy.
{"title":"Promising Map-Aided Aircraft Navigation Systems","authors":"E. Karshakov, B. Pavlov, M. Tkhorenko, I. Papusha","doi":"10.17285/0869-7035.0055","DOIUrl":"https://doi.org/10.17285/0869-7035.0055","url":null,"abstract":"Abstract The paper analyzes the development prospects for aircraft navigation systems using onboard geophysical field measurements. Prospective systems that are not widely applied yet are considered: magnetic gradiometers measuring the stationary magnetic field gradient, gravity gradiometers measuring the gravity field gradient, and electromagnetic systems measuring the alternating part of magnetic field. We discuss the main problems to be solved during airborne measurements of these parameters and give an overview of algorithms and hardware solutions. We analyse the results of onboard measurements and estimate the possible navigation accuracy.","PeriodicalId":38999,"journal":{"name":"Gyroscopy and Navigation","volume":"12 1","pages":"38-49"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42592320","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 : 2021-01-01DOI: 10.1134/S2075108721010028
V. S. Bykova, A. Mashoshin, I. V. Pashkevich
{"title":"Safe Navigation Algorithm for Autonomous Underwater Vehicles","authors":"V. S. Bykova, A. Mashoshin, I. V. Pashkevich","doi":"10.1134/S2075108721010028","DOIUrl":"https://doi.org/10.1134/S2075108721010028","url":null,"abstract":"","PeriodicalId":38999,"journal":{"name":"Gyroscopy and Navigation","volume":"12 1","pages":"86 - 95"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42682261","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}
Abstract The paper studies a previously proposed method for calculating the current accuracy characteristics of a correlation-extreme search algorithm for solving the map-aided navigation problem. The proposed method is based on the analysis of the ratio of the extreme values of the functional used in the search algorithm for comparing the measured field fragment, and the fragments obtained from a reference map, and on determining the diameter of the set of the given level for this functional. The study is carried out using an example of three spatial geophysical fields: the sea depth field, the field of gravity anomalies, and the anomalous magnetic field; it is focused on their application for underwater vehicle navigation. The specific features of the information and measurement systems used in the survey of these fields, done by means of an underwater robot are described, as well as the procedure simulating the mapping process taking these features into account. The results of computer experiments on comparison of the proposed method for calculating the current accuracy and the method used in the Bayesian algorithm for solving the navigation problem are presented.
{"title":"Study of a Method for Calculating the Current Accuracy in Map-Aided Navigation Problem","authors":"K. V. Dunaevskaya, L. Kiselev, V. Kostousov","doi":"10.17285/0869-7035.0056","DOIUrl":"https://doi.org/10.17285/0869-7035.0056","url":null,"abstract":"Abstract The paper studies a previously proposed method for calculating the current accuracy characteristics of a correlation-extreme search algorithm for solving the map-aided navigation problem. The proposed method is based on the analysis of the ratio of the extreme values of the functional used in the search algorithm for comparing the measured field fragment, and the fragments obtained from a reference map, and on determining the diameter of the set of the given level for this functional. The study is carried out using an example of three spatial geophysical fields: the sea depth field, the field of gravity anomalies, and the anomalous magnetic field; it is focused on their application for underwater vehicle navigation. The specific features of the information and measurement systems used in the survey of these fields, done by means of an underwater robot are described, as well as the procedure simulating the mapping process taking these features into account. The results of computer experiments on comparison of the proposed method for calculating the current accuracy and the method used in the Bayesian algorithm for solving the navigation problem are presented.","PeriodicalId":38999,"journal":{"name":"Gyroscopy and Navigation","volume":"12 1","pages":"50-60"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42956532","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}
Abstract Two safe navigation algorithms for autonomous underwater vehicles are described: algorithm for avoidance of point obstacles including all the moving underwater and surface objects, and limited size bottom objects, and algorithm for bypassing extended obstacles such as bottom elevations, rough lower ice edge, garbage patches. These algorithms are developed for a control system of a heavyweight autonomous underwater vehicle.
{"title":"Safe Navigation Algorithm for Autonomous Underwater Vehicles","authors":"V. S. Bykova, A. Mashoshin, I. V. Pashkevich","doi":"10.17285/0869-7035.0058","DOIUrl":"https://doi.org/10.17285/0869-7035.0058","url":null,"abstract":"Abstract Two safe navigation algorithms for autonomous underwater vehicles are described: algorithm for avoidance of point obstacles including all the moving underwater and surface objects, and limited size bottom objects, and algorithm for bypassing extended obstacles such as bottom elevations, rough lower ice edge, garbage patches. These algorithms are developed for a control system of a heavyweight autonomous underwater vehicle.","PeriodicalId":38999,"journal":{"name":"Gyroscopy and Navigation","volume":"12 1","pages":"86-95"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47416758","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 : 2021-01-01DOI: 10.1134/S2075108721010077
E. Karshakov, B. Pavlov, M. Tkhorenko, I. Papusha
{"title":"Promising Map-Aided Aircraft Navigation Systems","authors":"E. Karshakov, B. Pavlov, M. Tkhorenko, I. Papusha","doi":"10.1134/S2075108721010077","DOIUrl":"https://doi.org/10.1134/S2075108721010077","url":null,"abstract":"","PeriodicalId":38999,"journal":{"name":"Gyroscopy and Navigation","volume":"12 1","pages":"38 - 49"},"PeriodicalIF":0.0,"publicationDate":"2021-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42448844","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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