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Gyroscopy and Navigation
Journal Prestige (SJR): 0.292
Citation Impact (citeScore): 1
Number of Followers: 232  
 
  Hybrid Journal Hybrid journal (It can contain Open Access articles)
ISSN (Print) 2075-1087 - ISSN (Online) 2075-1109
Published by Springer-Verlag Homepage  [2351 journals]
  • Synthesis of Calibration Programs for an Accelerometer Unit of Strapdown
           INS: An Invariant Approach
    • 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
           Surface
    • 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: 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: 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: 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
           Classification
    • 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: 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: 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: 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: 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: 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: 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: 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
       
  • Method of Processing the Measurements from Two Units of Micromechanical
           Gyroscopes for Solving the Orientation Problem
    • Authors: Q. Liang; Yu. A. Litvinenko; O. A. Stepanov
      Pages: 233 - 242
      Abstract: The data processing problem in attitude and heading reference system based on two units of micromechanical gyroscopes is considered as a special class of information processing problems from two measurement sources. A novel algorithm used for processing the measurements data from two units of micromechanical gyroscopes is proposed, which can improve orientation system performance while reducing the requirements for external sensors. A mathematical error model of micromechanical gyroscopes and orientation system is given, considering the rotation of the measurement units, and the advantages of the proposed method is analyzed in comparison with other algorithms.
      PubDate: 2018-10-01
      DOI: 10.1134/s2075108718040041
      Issue No: Vol. 9, No. 4 (2018)
       
  • Research on Measurement Error Model of GNSS/INS Integration Based on
           Consistency Analysis
    • Authors: Xiaoji Niu; Jiahao Wu; Quan Zhang
      Pages: 243 - 254
      Abstract: Kalman filter is widely taken as an optimal fusion algorithm in GNSS/INS integration, and GNSS positioning error is often simply modeled as white noise in a loosely-coupled system. But many research results have shown that GNSS positioning error has the characteristic of temporal correlation. Correct error model of Kalman filter can ensure that the level of estimated accuracy is equal to that of actual accuracy. Inaccurate model will influence the consistency between estimated accuracy and actual integrated accuracy. Moreover, quality control method based on variance-covariance with inconsistency is not reliable and not utilized to detect gross errors. So, this paper mainly researches on GNSS positioning and velocity error model and its impact on quality control in GNSS/INS integration. In this paper, state-augmentation method is applied to solve the problems of GNSS colored noise to ensure the navigation accuracy consistency, and the rationality of the improved model is verified by the effect of quality control. Simulation and field test results show that state-augmentation method can improve the consistency between actual error and estimation standard deviation, and satisfy the requirement of quality control based on variance-covariance to improve the integration reliability.
      PubDate: 2018-10-01
      DOI: 10.1134/s2075108718040053
      Issue No: Vol. 9, No. 4 (2018)
       
  • Attitude Determination Using Ambiguous GNSS Phase Measurements and
           Absolute Angular Rate Measurements
    • Authors: M. V. Zharkov; K. K. Veremeenko; D. A. Antonov; I. M. Kuznetsov
      Pages: 277 - 286
      Abstract: Integration of a multiantenna GNSS receiver and inertial sensors (gyroscopes) is proposed to determine attitude parameters using GNSS phase measurements, containing integer ambiguity, and measurements of the absolute rotation rate of a moving vehicle. The potential accuracy of the proposed technology is estimated based on the simulation and full-scale tests. The implementation of the proposed approach is considered.
      PubDate: 2018-10-01
      DOI: 10.1134/s2075108718040090
      Issue No: Vol. 9, No. 4 (2018)
       
  • Method of Experimental Verification of Accuracy of UAV Antenna Phase
           Center Motion Parameters Determined by Navigation System
    • Authors: V. I. Kulakova
      Pages: 334 - 343
      Abstract: The paper addresses the problem of verification of a micronavigation system appropriateness for determining the parameters of antenna phase center (APC) motion in order to synthesize its aperture onboard an unmanned aerial vehicle (UAV). A method is proposed for the analysis of the accuracy of APC positioning in real flight conditions. Trajectory signal from a monochromatic stationary source of radio-frequency (RF) emission is used as reference measurements. The accuracy of the range to the source measured by the micronavigation system is estimated, with an emphasis on the analysis of high-frequency component of measurement error. Hardware for the proposed method implementation is described, and the results of inflight tests are presented. It is demonstrated that the accuracy of APC positioning towards the RF emission source is determined at the level of measurement errors caused by the phase instability of reference oscillators within the receiver modules.
      PubDate: 2018-10-01
      DOI: 10.1134/s2075108718040120
      Issue No: Vol. 9, No. 4 (2018)
       
  • An Expanded Two-Dimensional Proportional–Derivative Command to
           Line-of-Sight Guidance Law
    • Authors: Borislav G. Penev
      Pages: 344 - 351
      Abstract: This paper deals with an expanded two-dimensional (2D) proportional-derivative (PD) command to line-of-sight (CLOS) guidance law which fights the spiral type trajectory of an anti-tank guided missile (ATGM) in the plane perpendicular to the line-of-sight (LOS) or the so called picture plane, in order to improve the transition process performance while putting the missile onto the LOS. The guidance law acts as a classical PD control law within a small predetermined area around the LOS while at missile deviations pointing a position outside this area the control law includes additional nonlinear components connected with the derivatives of the missile position vector in the plane perpendicular to the LOS. The global asymptotic stability of the guidance loop is established by a specific positive definite Lyapunov function. The effectiveness of the proposed approach is illustrated by simulation results. The guidance law enables to decrease the near-field boundary of the missile operational range.
      PubDate: 2018-10-01
      DOI: 10.1134/s2075108718040132
      Issue No: Vol. 9, No. 4 (2018)
       
  • Marine Gyrocompasses: Development and Prospects
    • Authors: M. V. Chichinadze
      Pages: 358 - 361
      Abstract: The paper addresses the history of marine gyrocompasses development in the USSR and Russia. It is noted that despite the development and implementation of attitude and heading reference systems (AHRS), strapdown inertial navigation systems, and satellite compasses (SNS-compasses), the classical gyrocompass of both pendulum and adjustable types is and will be still in demand due to its simple operation and low cost along with the accuracy sufficient for safe navigation; therefore, it will require further development and improvement.
      PubDate: 2018-10-01
      DOI: 10.1134/s207510871804003x
      Issue No: Vol. 9, No. 4 (2018)
       
  • A Review of 36 Years of GLONASS Service from India
    • Abstract: Since its initial operation in 1982, GLONASS has completed 35 years of service and has passed through eventful journey. Being the first global alternative to GPS, it generated interest among users worldwide. After initiation, the system declined to a period of unstable constellation status; the system has been revitalized and modernized since the end of 2012. This paper presents a concise discussion on initiation, development, decline and revitalization phases of the system and a review on the available research reports which presented the development and advantages of GLONASS as a stand-alone system and as a multi-GNSS component. The paper reviews the experiences of using the advantages of GLONASS from India during its complete service period based on real-time, long-term systematic analysis of data collected over the Indian region both for the initial and the revitalized and modernized phases. Finally, considering the longterm experience of using GLONASS, the paper presents a few issues towards popularization and quality enhancement of GLONASS services from India. This review may be useful in understanding the need, advantages and challenges of using GLONASS from the region.
      PubDate: 2018-10-01
       
 
 
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