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  Subjects -> AERONAUTICS AND SPACE FLIGHT (Total: 124 journals)
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Gyroscopy and Navigation
Journal Prestige (SJR): 0.292
Citation Impact (citeScore): 1
Number of Followers: 188  
 
  Hybrid Journal Hybrid journal (It can contain Open Access articles)
ISSN (Print) 2075-1087 - ISSN (Online) 2075-1109
Published by Springer-Verlag Homepage  [2469 journals]
  • Control Moment Gyroscopes for Spacecraft Attitude Control Systems: History
           of Development

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      Abstract: The article is devoted to the development and application of control moment gyroscopes used for active triaxial attitude control of spacecraft. These gyroscopes belong to the class of inertial actuators, which also includes flywheel control motors, gyro dampers, and passive gyrostabilizers. A distinctive feature of control moment gyroscopes (CMG) is the presence of special drives that control the rotation of the gyroscope relative to its suspension axes. By regulating the speed of this rotation, the drive creates the required control moment. The paper describes the main development stages of Russian CMG and systems based on them, the features of their design and architecture, application issues and development trends.
      PubDate: 2022-03-01
       
  • A Novel Constrained Filter Integrated with an Extended Kalman Filter in
           Underground Pipeline Navigation Using MEMS IMU

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      Abstract: — To produce a 3D map of the Tehran’s first gas transfer pipeline (Tehran—Kuhnamak), a methodology has been developed in this research, in which a strapdown inertial navigation system (SINS) based on micro-electro-mechanical system (MEMS) and inertial measurement unit (IMU) is applied on pipeline inspection gauges (PIGs) to sense data every 4 millimeters of 111 kilometers of the whole pipeline. The navigation solution is based on an extended Kalman filter (EKF) using Allan variance (AVAR) to analyze and tune the EKF initial inputs. A new constrained PIG filter (CPF) is proposed in this paper in integration with EKF, in which two Euler angles (pitch and yaw) of the PIG are updated due to non-holonomic state constraints between pipe junctions. Besides, 98 magnetic control points have been used to increase robustness about every kilometer, which is coordinated by GPS. Furthermore, odometer measurements have been employed as measurements in the EKF. The results show that using such a hybrid approach has improved the PIG positioning accuracy by about 81% compared with that of the Basic EKF. In addition, positioning accuracy in comparison with the latest methods like EKF/pipeline junctions (PLJ) has increased by 32%. Furthermore, the proposed method is 55% better than EKF/PLJ in the algorithm runtime.
      PubDate: 2022-03-01
       
  • Motion Control of Autonomous Wheeled Robots in Precision Agriculture

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      Abstract: Abstract—Precision agriculture makes use of high-accuracy navigation, attitude determination, and obstacle detection methods to save resources and to obtain better results. The collected robot position and attitude, and obstacle location data can be effectively employed to synthesize control algorithms for autonomous agricultural machines. These algorithms are applied for coverage path planning, route planning, motion stabilization along the specified paths, obstacle avoidance, and ensuring guaranteed behavior. These tasks are considered in the paper.
      PubDate: 2022-03-01
       
  • Simulating the Effect of Quartz Sensor Thermal Deformation on Q-Flex
           Accelerometer Zero Shift

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      Abstract: Abstract—In the paper, simulation is used to study the thermal deformation of Q-flex accelerometer quartz sensitive element (SE) with technological geometrical deviations of elastic beams with conductors within the operation temperature range. It has been shown that the largest bending moment in the SE appears when conductors from the front and back sides of elastic beam have different thickness and width. A method for static thermal tests simulation has been developed, which allows estimation of accelerometer zero shift with account for the geometrical imperfections of SE elastic beams. It has been revealed that the thermal hysteresis and non-repeatability of accelerometer zero shift are due to the plastic deformation of conductors under near-boundary temperature loads. A SE modification with loose conductors has been developed, which, according to the simulation results, improves the thermal coefficient, hysteresis, and repeatability of zero shift.
      PubDate: 2022-03-01
       
  • Effects of PLL Architecture on MEMS Gyroscope Performance

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      Abstract: Phase-Locked Loops (PLL) may be included into modern MEMS gyroscopes to provide excitation of inertial mass oscillations, as well as to form clock signal for digital signal processing in an integrated circuit. This paper considers the impact of PLL architecture on MEMS gyroscope performance and its estimation. It is shown that the proposed Double Sampling Phase-Locked Loop (DSPLL) architecture makes it possible to improve the accuracy of MEMS gyroscopes due to high synchronization rate, as well as higher frequency stability as compared to the widely used Charge Pump Phase-Locked Loop (CP-PLL) and the Sampling Phase-Locked Loop (SPLL).
      PubDate: 2022-03-01
       
  • High-Precision Navigation Independently of Global Navigation Satellite
           Systems Data

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      Abstract: In recent years, it has become clear that global navigation satellite systems (GNSS) have insufficient immunity to noises. In this regard, the paper discusses possible methods and tools ensuring high-precision navigation measurements without using GNSS, and their current development status.
      PubDate: 2022-03-01
       
  • Study of an Interferometric Fiber-Optic Gyroscope with a Birefringence
           Modulator

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      Abstract: The paper describes an interferometric fiber-optic gyroscope (IFOG) of a new configuration, i.e., with a birefringence modulator (IFOG-BRM) is proposed. According to the proposed scheme, a prototype model of the device has been assembled and tested to estimate its drift on a stationary base. Dependence of the IFOG-BRM drift on the temperature has been determined. According to the test results, the error of angular rate estimation is 0.05 deg/h; however, high sensitivity of the device to the absolute temperature variations has been revealed.
      PubDate: 2021-12-01
      DOI: 10.1134/S2075108721040052
       
  • Estimation of Error Model Parameters for a Rotating FOG-Based Measurement
           Unit of a Strapdown INS on a Vehicle

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      Abstract: The paper studies the possibility of updating the parameters of error model of a rotating inertial measurement unit (IMU) with fiber-optic gyroscopes (FOG) in a strapdown inertial navigation system (SINS) under operating conditions. The IMU is placed in a two-axis gimbal for modulation rotation. The main focus is made on the estimation of scale factor errors of the FOG and accelerometers, non-orthogonality of their sensitive axes, and relative time delays (group delays) of inertial sensors during the IMU normal rotation according to the navigation solution of the INS in the observation mode of its operation. Also, the paper presents the description and results of estimation of so-called rhumb drifts of the IMU, which may occur due to the perturbing forces associated with the geographical axes or the axes of the system central device body. The research is based on the results of FOG-based INS simulation.
      PubDate: 2021-12-01
      DOI: 10.1134/S2075108721040040
       
  • Interplanetary Small-Satellite Missions: Ballistic Problems and Their
           Solutions1

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      Abstract: — The past decade has been marked by an explosive growth in the number of missions with the use of small spacecraft weighing only about tens of kilograms, including CubeSats that are currently widely employed in various applications. For a scientific paper, it is no longer feasible to enumerate and properly analyze the accomplished missions as well as those under development and being planned: information changes so quickly that perhaps only websites with inline renovations can keep track of all the changes in this market. Near-Earth missions of CubeSats increasingly become the prerogative of engineers and production managers. Nowadays, even factories are built to mass-produce small spacecraft. However, interplanetary small-spacecraft missions stand apart because the technologies used to develop large spacecraft for interplanetary missions are not fully applicable to small spacecraft. The same is true of the ballistic aspects of such missions. This is primarily due to the low energy capability of small spacecraft for maneuvering and transmitting signals over long distances. The other equally important aspects are their self-sufficiency, navigation support, and radiation resistance in outer space. From the standpoint of the scientific novelty of the problems that spacecraft have to face and the fundamentals of ballistic implementation, it is interplanetary missions that attract attention of researchers. This paper discusses the opportunities for interplanetary transportation of small spacecraft and formulates the problems that need to be solved in the near future.
      PubDate: 2021-12-01
      DOI: 10.1134/S2075108721040064
       
  • Preventing Resonant Motion Modes for Low-Altitude CubeSat Nanosatellites

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      Abstract: Resonant modes of motion, manifested as a significant increase in the oscillation amplitude of the spatial angle of attack, can result in the failure of the CubeSat mission. This paper is concerned with the study of the resonant motion modes of aerodynamically stabilized CubeSat nanosatellites in low circular orbits with small inertia and mass asymmetry. In contrast to axisymmetric bodies of rotation, resonances in CubeSat nanosatellites can be caused not only by small asymmetry, but they also arise due to the form factor of the rectangular parallelepiped. Formulas have been obtained to determine the critical values of the nanosatellite longitudinal angular velocity at which the conditions for the emergence of resonant motion modes are fulfilled. An approach is proposed to prevent possible resonances for CubeSat nanosatellites.
      PubDate: 2021-12-01
      DOI: 10.1134/S2075108721040027
       
  • Thermal Zero Drifts in Magneto-Optical Zeeman Laser Gyroscopes

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      Abstract: The paper is devoted to the current problem of increasing the accuracy of magneto-optical laser gyros while maintaining their stable operation in real operating conditions. The problem is considered and studied by the example of the magneto-optical Zeeman laser gyroscope, which is one of the effective types of laser gyroscopes. The development and improvement of the technology for creating this type of gyroscopes makes it possible to significantly reduce the sources of the gyroscope zero drift and yet, retain the other properties and performance parameters. The study and validation of the possibility of a significant reduction in the gyroscope key control currents, such as the pumping currents of the active medium and the control currents of frequency bias, will increase the measuring accuracy of the gyroscope and, accordingly, the accuracy of navigation systems based on them.
      PubDate: 2021-12-01
      DOI: 10.1134/S2075108721040076
       
  • x-RIO: Radar Inertial Odometry with Multiple Radar Sensors and Yaw Aiding

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      Abstract: Abstract A robust and accurate real-time navigation system is crucial for autonomous robotics. In particular, GNSS denied and poor visual conditions are still very challenging as vision based approaches tend to fail in darkness, direct sunlight, fog, or smoke. Therefore, we are taking advantage of inertial data and FMCW radar sensors as both are not affected by such conditions. In this work, we propose a framework, which uses several 4D mmWave radar sensors simultaneously. The extrinsic calibration of each radar sensor is estimated online. Based on a single radar scan, the 3D ego velocity and optionally yaw measurements based on Manhattan world assumptions are fused. An extensive evaluation with real world datasets is presented. We achieve even better accuracies than state of the art stereo Visual Inertial Odometry (VIO) while being able to cope with degraded visual conditions and requiring only very little computational resources.
      PubDate: 2021-12-01
      DOI: 10.1134/S2075108721040039
       
  • Improved Inertial Navigation With Cold Atom Interferometry

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      Abstract: This article discusses chances and challenges of using cold atom interferometers in inertial navigation. The error characteristics of the novel sensor are presented, as well as one option for an online estimation of the different readout errors. An extended Kalman filter framework is derived and analysed which uses the readout of the atom interferometer as observation in order to correct several systematic errors of a conventional IMU, allowing for an improved strapdown calculation in an arbitrary target system. The performance gain is discussed analytically based on the steady state variances of the filter, as well as on the example of a simulated scenario for Earth orbit satellites. The correction of the conventional IMU errors is further demonstrated in an experiment under laboratory conditions with a higher class sensor emulating an atom interferometer. While the application of the novel technology as a gyroscope is still limited, as pointed out in the paper, the presented framework yields options for a full six degree of freedom operation of the atom interferometer.
      PubDate: 2021-12-01
      DOI: 10.1134/S207510872104009X
       
  • Polynomial Filtering Algorithm Applied to Navigation Data Processing under
           Quadratic Nonlinearities in System and Measurement Equations. Part 2.
           Solution Examples

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      Abstract: In the first part of the paper, a polynomial filter has been proposed for filtering under quadratic nonlinearities both in the system and measurement equations. The second part details its features and advantages over the extended Kalman filter and illustrates them using a methodological example and examples of navigation data processing.
      PubDate: 2021-12-01
      DOI: 10.1134/S2075108721040088
       
  • From the R-7 Missile and the First Manned Mission into Space up to
           Permanently Manned Orbital Station

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      Abstract: Abstract—The paper presents a brief history of preparation for, and execution of, the first manned mission on Vostok spacecraft. The key tasks and challenges met to make this historical event possible are discussed. Further achievements of Russian manned space missions are presented, including the world’s first orbital station Salyut built and launched in orbit 50 years ago. The role of people in space mission is studied. The in-orbit challenges are discussed, as well as their solutions that were found by the crews and improved the spacecraft safety and performance. Examples of crew operations during the missions of the Salyut orbital stations, Mir orbital facility, and the International Space Station are given to illustrate such challenges. The importance of cosmonauts’ participation in the research and experiments on the orbital stations is demonstrated, and positive examples of such participation are provided.
      PubDate: 2021-07-01
      DOI: 10.1134/S2075108721030032
       
  • Adaptive Unscented Kalman Filter for Tracking GPS signals in the Case of
           an Unknown and Time-Varying Noise Covariance

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      Abstract: A new adaptive unscented Kalman filter (AUKF) is proposed to estimate the radio navigation parameters of a GPS signal tracking system in noisy environments and on a highly dynamic object. The experimental results have shown that the proposed AUKF-based method improves the GPS tracking margin by approximately 8 and 3 dB as compared to the conventional algorithm and the KF-based tracking, respectively. At the same time, the accuracy of Doppler frequency measurements increases as well.
      PubDate: 2021-07-01
      DOI: 10.1134/S2075108721030044
       
  • Electrostatic Gyroscope in Spacecraft Attitude Reference Systems

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      Abstract: 25 years ago, the CSRI Elektropribor proposed to use a gimballess electrostatic gyroscope (ESG) in spacecraft attitude reference systems. The system called BIS-EG passed the first flight tests in 2004. By 2013, 20 such systems had been manufactured for spacecraft of three types. The flight tests and regular operation of BIS-EG revealed a number of limitations inherent in them; at the same time, calibration methods were developed and tested and the ways of improving the system accuracy and reliability were identified. As a consequence, BIS-EG was upgraded for the next generation spacecraft, and it is still in operation. The distinctive features of this system are higher reliability, the gyroscope of greater stability, and in-flight calibration of its drift model. The next modification of the BIS-EG, which is under development now, must meet the requirements for higher accuracy characteristics and the need to work in the unpressurized spacecraft compartment. The stages and methods for improving the gimballess ESG and the BIS-EG family systems are described, as well as the results of their operation in accordance with their purposes in spacecraft of different types.
      PubDate: 2021-07-01
      DOI: 10.1134/S2075108721030056
       
  • INS/GNSS Integration with Compensated Data Synchronization Errors and
           Displacement of GNSS Antenna. Experience of Practical Realization

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      Abstract: We examine two aspects specific to data fusion of strapdown inertial navigation systems (SINS) aided by global navigation satellite systems (GNSS), with their inherent spatial separation between the GNSS antenna phase center and the inertial measurement unit, as well as with SINS/GNSS synchronization errors. The first aspect refers to modifying the mathematical models used in INS/GNSS integration. The second one relates to our experience in their application in onboard airborne navigation algorithms developed by the Moscow Institute of Electromechanics and Automatics.
      PubDate: 2021-07-01
      DOI: 10.1134/S207510872103007X
       
  • Polynomial Filtering Algorithm Applied to Navigation Data Processing under
           Quadratic Nonlinearities in System and Measurement Equations. Part 1.
           Description and Comparison with Kalman Type Algorithms

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      Abstract: The paper considers the filtering problems solved in navigation data processing under quadratic nonlinearities both in system and measurement equations. A Kalman type recursive algorithm is proposed, where the predicted estimate and gain at each step are calculated based on the assumption on the Gaussian posterior probability density function of the estimated vector at the previous step and minimization of estimation error covariance matrices using a linear procedure with respect to the current measurement. The similarities between this algorithm and other Kalman type algorithms such as extended and second-order Kalman filters are discussed. The procedure for evaluating the performance and comparing the algorithms is presented.
      PubDate: 2021-07-01
      DOI: 10.1134/S2075108721030068
       
  • A Fast Search-Free Algorithm for Star Sensor Frame Identification by Star
           Configurations. A Version of Onboard Implementation

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      Abstract: Abstract—The paper presents a method for identifying the frame of a star sensor (SS), based on determination of the star local features allowing its unique recognition. The star identifiers are located in a multidimensional integer feature space, and the relevant feature catalog presents a disperse array, which provides search-free star determination. Examples of onboard implementation of feature catalog are presented, containing the stars up to magnitude of six. The required memory is estimated, and a method is proposed for compressing the feature catalog to be recorded in the onboard computer memory. The frame identification algorithm using the reduced feature catalog is described in detail. The algorithm was tested on real sky frames.
      PubDate: 2021-07-01
      DOI: 10.1134/S2075108721030020
       
 
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