Journal Cover
Gyroscopy and Navigation
Journal Prestige (SJR): 0.292
Citation Impact (citeScore): 1
Number of Followers: 242  
  Hybrid Journal Hybrid journal (It can contain Open Access articles)
ISSN (Print) 2075-1087 - ISSN (Online) 2075-1109
Published by Springer-Verlag Homepage  [2570 journals]
  • Refinining the Drift Model of a Strapdown ESG for Orbital Spacecraft
    • Abstract: — Refinement of the electrostatic gyroscope (ESG) drift model aboard an orbital maneuverable satellite for remote sensing of the Earth’s surface is considered. Some changes of the drift model also hold for the ESG ground-based applications. The paper also analyzes the quasi-continuous correction mode of the ESG-based strapdown inertial attitude reference system (SIARS) using raw (unsmoothed) data from the star tracker and the extended Kalman filter (EKF) algorithm. A special feature of solving the problem of SIARS output data correction and the calibration problem in this mode is rejection of incorrect measurements. The algorithm for this problem solution is described. The ESG drift model is given both for the SIARS calibration mode in order to ensure an adequate prediction of ESG drifts over a long time interval and for the quasi-continuous correction mode under spacecraft maneuvering conditions. The results of data processing of the flight tests of the SIARS and the star tracker aboard one of the spacecraft are discussed.
      PubDate: 2019-07-01
  • Automated Angle Measurement System for Directions Transmission
    • Abstract: — The paper presents the results of development of an angle measurement system for measuring the angles between the normals to the mirrors setting the directions in space. The system operates in a dynamical mode with a continuously rotating platform on which an autocollimating null indicator is installed. The angles are measured by means of a holographic angle encoder installed on the rotor of the system. The results of the system testing and calibration are presented. The system is calibrated by comparing it to a reference optical polygon .
      PubDate: 2019-07-01
  • Improving the Accuracy of Marine Gravimeters
    • Abstract: Software- and hardware-based methods of compensation for dynamic errors of the marine gravimeters caused by inertial accelerations are considered. The error due to the fluid damping of the gravimeter sensing element is analyzed and taken into account for the first time. Some results of gravity measurements that confirm the increase in gravimeter accuracy are presented.
      PubDate: 2019-07-01
  • Solutions for Underwater Communication and Positioning Network Development
    • Abstract: The paper addresses the main problems related to the development of underwater communication networks which differ from the traditional underwater acoustic communication in simultaneous data exchange of a large number of spatially separated nodes, as well as their high-precision positioning. While the problems of traditional acoustic communication are generally associated with the complexity and variability of hydro-acoustic medium for signal propagation, the underwater communication network faces a number of additional significant problems such as collisions in the network, occurring during simultaneous transmission of messages from several nodes and requiring special managerial and engineering measures for their resolution; another problem is complex configuration of the alternating zones of mutual connectivity (“audibility”) of nodes, caused by specific features of underwater acoustic environment and requiring the nontrivial routing of data flows from source to recipient. It is demonstrated in the paper that these problems can be solved by developing the techniques of communication signals generation and transmission, which then form the protocols of nodes’ interaction during exchange of messages, and are implemented in digital acoustic modems that have ultimately developed into complex electronic devices.
      PubDate: 2019-07-01
  • Shockproof Precision Strapdown Inertial Navigation System Development for
           Terrestrial Applications
    • Abstract: The paper discusses the structure, algorithms and testing results for a hybrid precision strapdown inertial navigation system (SINS) which is resistant to fast extreme impacts. Impact resistance of the precision SINS is provided by incorporating an auxiliary strapdown inertial attitude control system (SIACS) based on rough sensors that can endure fast extreme shocks without losing the attitude accuracy; and by post-processing of inertial sensors data performed in the onboard computer simultaneously with the main navigation task. The post-processing procedure is designed to identify the moment of shock occurrence and to repeat the attitude problem solving in the onboard computer based on the auxiliary SIACS data within the time interval of exposure to the extreme shock. In the absence of shocks, the auxiliary SIACS is calibrated in accordance with the data of the main precision SINS. The main precision SINS is based on precision fiber-optic gyros (FOG) and the auxiliary SIACS—on micromechanical gyros (MMG). Thus, a hybrid-type precision SINS has been constructed, which has demonstrated required accuracy level during on-ground vehicle tests, including shock tests.
      PubDate: 2019-07-01
  • Depth Estimation with Ego-Motion Assisted Monocular Camera
    • Abstract: — We propose a method to estimate the distance to objects based on the complementary nature of monocular image sequences and camera kinematic parameters. The fusion of camera measurements with the kinematics parameters that are measured by an IMU and an odometer is performed using an extended Kalman filter. Results of field experiments with a wheeled robot corroborated the results of the simulation study in terms of accuracy of depth estimation. The performance of the approach in depth estimation is strongly affected by the mutual observer and feature point geometry, measurement accuracy of the observer’s motion parameters and distance covered by the observer. It was found that under favorable conditions the error in distance estimation can be as small as 1% of the distance to a feature point. This approach can be used to estimate distance to objects located hundreds of meters away from the camera.
      PubDate: 2019-07-01
  • Novel Adaptive Fuzzy Extended Kalman Filter for Attitude Estimation in
           Gps-Denied Environment
    • Abstract: — This paper presents a Novel Adaptive Fuzzy Extended Kalman Filter namely (NAFEKF) which has been developed and applied for attitude estimation using only the outputs of strap-down IMU (Gyroscopes and Accelerometers) and strap-down magnetometer. The NAFEKF, which is based on EKF (Extended Kalman Filter) aided by FIS (Fuzzy Inference System), is validated in Matlab environment on simulated trip data and real data acquired during an UAV’s trip. Accuracy of estimated attitude is increased using NAFEKF compared to typical EKF and in addition the measurement noise covariance matrix is tuned, the proposed filter uses multiplicative error for quaternion. Simulation results show that estimated measurement noise covariance matrix is closed to its true value in cruise phase of flight (stationary phase), while in nonstationary phase it refers to the validity of accelerometer measurement model in the filter in NAFEKF; it neglects measurements from accelerometers in this case.
      PubDate: 2019-07-01
  • Synthesis of Calibration Programs for an Accelerometer Unit of Strapdown
           INS: An Invariant Approach
    • Abstract: Abstract The paper considers the synthesis of the calibration programs for an accelerometer unit of strapdown inertial navigation systems (INS) and estimation of the accuracy characteristics they provide. The study is carried out in the framework of an invariant approach. The synthesis criteria and additional requirements that the calibration programs must meet are formulated. A comparative analysis of accuracy characteristics of different calibration programs has been performed.
      PubDate: 2019-04-01
  • Satellite Navigation of Lunar Orbiting Spacecraft and Objects on the Lunar
    • Abstract: Abstract A concept of a global lunar navigation satellite system (GLNSS) based on the existing navigation infrastructure of the GLONASS is proposed. It is supposed to be implemented through the creation of a constellation of navigation satellites in the Earth orbit to serve the needs of both lunar spacecraft and objects on the lunar surface. Two variants for the deployment of the orbital constellation are considered. The navigation solution in the vicinity of the Moon was simulated using signals from the proposed GLNSS. The accuracy of the GLNSS navigation solutions has been estimated for all types of users.
      PubDate: 2019-04-01
  • Initial Alignment of SINS Measuring Unit and Estimation of Its Errors
           Using Satellite Phase Measurements
    • Abstract: Abstract The paper addresses the problem of initial alignment and periodical estimation of gyro drifts and accelerometer errors in a strapdown inertial navigation system (SINS) on fiber-optic gyros (FOG) of navigation grade onboard a marine vehicle, using satellite phase measurements from multi-antenna equipment. The problem is solved through constructing a tightly-coupled INS/GNSS system which comprises an inertial measuring unit (IMU) of SINS, and a multi-antenna satellite module. The satellite module has two antenna baselines and employs receivers with a common reference oscillator. Based on the SINS data, the ambiguity of phase measurements is excluded, and false measurements are sorted out. The results of joint processing of the bench test data for the navigation grade FOG-based IMU (designed by Concern CSRI Elektropribor, JSC) and a virtual simulated satellite module are presented. The data processing was carried out using the algorithms of integrated system construction in MATLAB (Simulink) package.
      PubDate: 2019-04-01
  • Calibration of Integral Magnetometer Linear Model Coefficients Using
           Simultaneous Measurements of a Three-Axis Gyro
    • Abstract: Abstract The paper considers a problem of calibration of a three-axis magnetometer integrated in a complex electronic device. Known methods of calibration based on the ellipsoid approximation of the geometric locus of magnetometer measurements provide only partial calibration and determine only the symmetrical part of the magnetic permeability matrix. The orthogonal part of the matrix remains undetermined. The proposed algorithm makes it possible to find the full matrix of magnetic permeability with the use of device rotation and additional measurements made by a three-axis gyro.
      PubDate: 2019-04-01
  • Selected Features of Autonomous Underwater Robot Dynamics under
           Near-Bottom Equidistant Motion Control
    • Abstract: Abstract Search and survey missions of an autonomous underwater robot are usually associated with motion along equidistant trajectories near the bottom. The most difficult problem here is to control motion in a vertical plane in presence of obstacles in the bottom relief along the motion route. When the obstacles are detected using a multi-channel front-viewing echolocation system, equidistant motion of the vehicle is provided with tracking of the bottom relief profile. The dynamic model of motion with specific requirements for the structure and control parameters is studied. Comparative analysis of the dynamic properties of control system depending on the design and functional features of the actuating elements and the range-measuring echolocation system is presented.
      PubDate: 2019-04-01
  • Analytical Algorithm for Attitude and Heading Estimation Aided by Maneuver
    • Abstract: Abstract This paper presents a modified adaptive analytical algorithm for attitude and heading estimation. The analytical algorithm is based on the fusion of IMU, magnetometers and the velocity data from GPS. The kinematic Euler angles are first calculated based on the output of the rate gyros, then the calculated angle errors are compensated using the output of each of the accelerometers, magnetometers, and the velocity taken from a GPS receiver, without the need to model the systematic and random errors of the used sensors; Kalman filter is not used. The algorithm will be adaptive based on the maneuver classification, the filters’ parameters will be tuned depending on the maneuver intensity: No, Low, or High maneuver. The main contribution of this paper is to build an attitude and heading estimation algorithm (analytical algorithm) without using Kalman filter; this algorithm will be made adaptive based on the maneuver classification algorithm which was developed using logistic regression technique based on IMU output. Computer simulation with simulated and real flight data showed that the adaptive analytical algorithm has acceptable results compared to EKF.
      PubDate: 2019-04-01
  • GPS Based Navigation Systems in Difficult Environments
    • Abstract: Abstract Position, velocity, and timing (PVT) signals from the Global Positioning System (GPS) are used throughout the world but the availability and reliability of these signals in all environments has become a subject of concern for both civilian and military applications. This presentation summarizes recent advances in navigation sensor technology, including GPS, inertial, and other navigation aids that address these concerns. Also addressed are developments in sensor integration technology with several examples described, including the Bluefin-21 system mechanization.
      PubDate: 2019-04-01
  • Solving the Nonlinear Problems of Estimation for Navigation Data
           Processing Using Continuous-Time Particle Filter
    • Abstract: Abstract A new continuous-time particle filter algorithm is proposed for solving the problems of nonlinear estimation of signal when describing the mathematical models of an observed object and a measuring system by means of stochastic differential equations. This algorithm can be used in the estimation problems related to navigation data processing. The algorithm verification is presented by example of a navigation system error estimation using geophysical field map data.
      PubDate: 2019-01-01
  • Calculation of Navigation Corrections for a Single-Frequency GNSS Receiver
           Based on Satellite Radio Occultation Data
    • Abstract: Abstract A methodology has been developed to construct SBAS ionospheric grid based on the data from ionosphere radio occultation monitoring systems such as COSMIC. This methodology facilitates calculation of vertical delay of GNSS signals on frequency L1 for any geographical location. The corrections are used by a single-frequency receiver for improving the accuracy of position estimation in solving the navigation problem. Using the combination of ionosphere model and the data from radio occultation monitoring systems, it is possible to form real-time corrections on a global scale, and to make their short-term forecasts. The proposed method testing results showed good conformance with the data from vertical sounding stations, and the magnitudes of vertical delays of signal on frequency L1, represented by EGNOS system as differential corrections.
      PubDate: 2019-01-01
  • Calibration of a Strapdown INS with an Inertial Measurement Unit Installed
           on Shock Absorbers
    • Abstract: Abstract The influence of mobility of an inertial measurement unit (IMU) installed on shock absorbers on the accuracy of gyroscope calibration in strapdown inertial navigation systems (SINS) is discussed and the problem of its estimation considered. Based on the data obtained in calibration experiments, the IMU angular deviations are estimated using the algebraic form of the least squares method. A mathematical model of the IMU motion is constructed taking into account its relative mobility. The influence of this mobility on the calibration accuracy of gyroscopes is estimated.
      PubDate: 2019-01-01
  • Space Naute ® the HRG Based Inertial Reference System of Ariane 6
           European space launcher
    • Abstract: Abstract Modular, flexible and competitive, Ariane 6 is intended to offer the best space launch solution, by 2020, to commercial and institutional customers. Therefore it can’t anymore rely on legacy inertial reference. Advanced solutions were requested through an open tender conducted by ArianeGroup under European Space Agency (ESA) supervision. SpaceNaute®, the Safran solution based of HRG technology, was then selected against RLG and FOG based solutions proposed by the competitors. This paper describes the trade-off studies conducted to select the proper technology and describe the unique SWaP (Size, Weight and Power) breakthrough of SpaceNaute®, unveils key performance characteristics of the inertial sensors for SpaceNaute® and how HRG benefits are capitalized into the product
      PubDate: 2019-01-01
  • Russia’s First Integrated Navigation Systems for Commercial Vessels
    • Abstract: Abstract The paper is dedicated to the history of Russia’s first integrated navigation systems (INS) Briz-N and Biryuza-NK developed for the vessels of the USSR Ministry of the Maritime Fleet (MMF). Composition of these systems, as well as the list of the main tasks and testing results are presented in the paper.
      PubDate: 2019-01-01
  • Using the Method of S -approximations to Determine Deflections of the
           Vertical and Geoid Heights
    • Abstract: Abstract A modified method for S-approximations of anomalous potential fields is described; its advantages are discussed. Software has been developed to calculate deflections of the vertical (DOV) and geoid heights using the proposed technique. The results of DOV calculations for two regions of the Atlantic Ocean are given.
      PubDate: 2019-01-01
School of Mathematical and Computer Sciences
Heriot-Watt University
Edinburgh, EH14 4AS, UK
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