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Journal Cover Gyroscopy and Navigation
  [SJR: 0.261]   [H-I: 10]   [207 followers]  Follow
   Hybrid Journal Hybrid journal (It can contain Open Access articles)
   ISSN (Print) 2075-1087 - ISSN (Online) 2075-1109
   Published by Springer-Verlag Homepage  [2355 journals]
  • Calibration of in-run drifts of strapdown inertial navigation system with
           uniaxial modulation rotation of measurement unit
    • Authors: G. I. Emel’yantsev; A. P. Stepanov; B. A. Blazhnov
      Pages: 241 - 247
      Abstract: Errors of a strapdown inertial navigation system (INS) based on navigation grade fiber-optic gyros (FOG) are studied, with the INS measurement unit performing modulation rotation about the axis orthogonal to the vehicle deck. The main focus is made on the problem of reducing the time of gyro in-run drifts calibration, using the GNSS data when the INS is turned on. In addition to velocity and position measurements taken by the GNSS, phase measurements from antennas spaced on a certain baseline are included.
      PubDate: 2017-10-01
      DOI: 10.1134/s2075108717040034
      Issue No: Vol. 8, No. 4 (2017)
  • Enhancement of INS/GNSS integration capabilities for aviation-related
    • Authors: O. A. Zorina; E. A. Izmailov; S. E. Kukhtevich; B. I. Portnov; A. V. Fomichev; N. B. Vavilova; A. A. Golovan; I. A. Papusha; N. A. Parusnikov
      Pages: 248 - 258
      Abstract: Two methods for construction and use of integrated inertial and satellite systems are considered, taking into account the specific features of aviation-related applications, namely, alignment correction, and autocalibration. Alignment correction is performed during aircraft maneuvering on the airfield. Autocalibration of strapdown inertial navigation systems (SINS) is based on using the estimations of instrumental errors of inertial sensors, which had been obtained by the complex information processing (CIP) algorithm in a number of previous flights of the aircraft. The results of numerous flight tests of laser SINS designed by PAO MIEA for civil and military applications are provided as an evidence of high efficiency of the information integration methods proposed herein.
      PubDate: 2017-10-01
      DOI: 10.1134/s2075108717040101
      Issue No: Vol. 8, No. 4 (2017)
  • Novel adaptive UKF for tightly-coupled INS/GPS integration with
           experimental validation on an UAV
    • Authors: Wassim Khalaf; Ibrahim Chouaib; Mohiedin Wainakh
      Pages: 259 - 269
      Abstract: A Novel Adaptive Unscented Kalman Filter (NAUKF) has been developed and applied to fuse the outputs of strap-down IMU, the measurements of GPS satellites (pseudo-range and Doppler), strap-down magnetometer and a barometric altimeter, using tight coupling architecture. The proposed filter NAUKF considers the residual unmodeled noises of process and measurement as non-zero mean Gaussian white noises, estimates and compensates for the mean (bias) and covariance of the noise online, based on the principles of adaptive filtering, even if they are time-varying quantities. Employing the adaptive filtering principle into UKF, the nonlinearity of system can be restrained and the NAUKF is obtained. The noise statistic estimators designed in the proposed algorithm are built on the basis of forgetting factors which are usually calculated empirically. In this research a new calculation concept based on “Genetic Algorithm” as an optimization tool is utilized to determine the optimal values of forgetting factors. The performance and convergence of noise statistic estimators used in NAUKF are checked by Monte-Carlo simulation. The utilization of NAUKF for Tightly-Coupled INS/GPS Integration (TCI) has shown a superiority against the UKF for TCI especially during the GPS outages. The comparison is done experimentally by means of real flight trip of an UAV.
      PubDate: 2017-10-01
      DOI: 10.1134/s2075108717040083
      Issue No: Vol. 8, No. 4 (2017)
  • Effect of the gyroplatform control error on the accuracy of the initial
           azimuth alignment of the gyro inclinometer
    • Authors: A. A. Gus’kov; I. V. Norinskaya
      Pages: 270 - 278
      Abstract: The effect of the gyroplatform control error on the accuracy of the initial azimuth alignment of the inclinometer is analyzed. A mathematical model of the gyroinertial module of the inclinometer has been constructed and studied. A method to compensate for the initial azimuth alignment error caused by the gyroplatform control error is proposed.
      PubDate: 2017-10-01
      DOI: 10.1134/s2075108717040058
      Issue No: Vol. 8, No. 4 (2017)
  • Improving the design of moving electrode in MEMS RR-type gyro
    • Authors: M. I. Evstifeev; D. P. Eliseev
      Pages: 279 - 286
      Abstract: It has been demonstrated that variation in the flat shape of a MEMS gyro inertial body under inertial loads results in gap variation in capacitance transducer of sense oscillations. An algorithm for improving the design parameters of moving electrodes is proposed to keep the conversion factor of the gyro insensitive to translational vibrations directed normally to the disc plane of the inertial body, taking into account the flat shape loss.
      PubDate: 2017-10-01
      DOI: 10.1134/s2075108717040046
      Issue No: Vol. 8, No. 4 (2017)
  • Measuring absolute gravity aboard moving vehicles
    • Authors: A. V. Sokolov; A. A. Krasnov; A. S. Alekseenko; Yu. F. Stus; E. O. Nazarov; I. S. Sizikov
      Pages: 287 - 294
      Abstract: The design concept of an integrated gravimetric system intended to measure absolute gravity aboard moving vehicles is considered. The mock-up of the system, comprising commercially produced gravimeters GABL-PM and Chekan-AM, is described along with its operating procedures. The results of the bench tests and sea trials of the mock-up are discussed.
      PubDate: 2017-10-01
      DOI: 10.1134/s2075108717040095
      Issue No: Vol. 8, No. 4 (2017)
  • Comparing models of total electron content in the ionosphere for GLONASS
    • Authors: V. B. Ivanov; D. A. Zatolokin; O. A. Gorbachev
      Pages: 295 - 299
      Abstract: Comparative analysis of quality has been performed for the models of total electron content which could be applied in single-frequency navigation receivers of GPS/GLONASS. The analysis is based on the evaluation of total electron content modeling errors versus its experimentally measured values represented by global ionosphere maps (GIM). The GEMTEC model jointly developed by Irkutsk State University (IGU) and Irkutsk Branch of Moscow State Technical University of Civil Aviation (MGTU GA) has proven to show the least averaged errors.
      PubDate: 2017-10-01
      DOI: 10.1134/s2075108717040071
      Issue No: Vol. 8, No. 4 (2017)
  • Using the picard method to calculate covariance matrices in the discrete
           Kalman filters
    • Authors: O. A. Babich
      Pages: 300 - 303
      Abstract: A new method of calculating covariance matrices for transition from a system of continuous linear stochastic differential equations to its discrete multidimensional stochastic analog has been developed. The proposed method is based on the use of the Picard iterative process. The comparison of the proposed method with more widespread analogs has shown a significant computational advantage of the new method when applied to the Kalman algorithms.
      PubDate: 2017-10-01
      DOI: 10.1134/s2075108717040022
      Issue No: Vol. 8, No. 4 (2017)
  • Development of a small telescope like PZT and effects of vibrations of
           mercury surface and ground noise
    • Authors: H. Hanada; S. Tsuruta; K. Asari; H. Araki; H. Noda; S. Tazawa; S. Kashima; K. Funazaki; A. Satoh; H. Taniguchi; H. Kato; M. Kikuchi; H. Sasaki; T. Hasegawa; T. Yano; N. Gouda; Y. Kobayashi; Y. Yamada; T. Iwata; A. Gusev
      Pages: 304 - 319
      Abstract: A PZT type telescope for observations of gravity gradient and lunar rotation was developed, and a Bread Board Model (BBM) for ground experiments was completed. Some developments were made for the BBM such as a tripod with attitude control system, a stable mercury pool and a method for collecting the effects of vibrations. Laboratory experiments and field observations were performed from August to September of 2014, in order to check the entire system of the telescope and the software, and the results were compared to the centroid experiments which pursue the best accuracy of determination of the center of star images with a simple optical system. It was also investigated how the vibrations of mercury surface affect the centroid position on Charge Coupled Device (CCD). The results of the experiments showed that the effects of vibrations are almost common to stars in the same view, and they can be corrected by removing mean variation of the stars; and that the vibration of mercury surface can cause errors in centroid as large as 0.2 arcsec; and that there is a strong correlation between the Standard Deviation (SD) of variation of the centroid position and signal to noise ratio (SNR) of star images. It is likely that the accuracy of one (1) milli arcsecond is possible if SNR is high enough and the effects of vibrations are corrected.
      PubDate: 2017-10-01
      DOI: 10.1134/s207510871704006x
      Issue No: Vol. 8, No. 4 (2017)
  • Aircraft navigation using MEMS IMU and ground radio beacons
    • Authors: G. I. Emel’yantsev; A. P. Stepanov; B. A. Blazhnov
      Pages: 173 - 180
      Abstract: Navigation of a small-sized aircraft is discussed using integrated data from MEMS-based IMU and receiver of ground radio beacon signals within an integrated tightly-coupled orientation and navigation system (IONS). IONS algorithms and errors in orientation and navigation parameters are considered both during prestart IMU error calibration with external aiding over a limited time interval and during simulation of aircraft flight along a preset path. Data in IONS are integrated using the extended Kalman filter (EKF). In simulation modeling of IONS functioning algorithms in Matlab (Simulink) we used data of bench tests of MEMS sensors developed by Elektropribor.
      PubDate: 2017-07-01
      DOI: 10.1134/s207510871703004x
      Issue No: Vol. 8, No. 3 (2017)
  • Indoor laser-based SLAM for micro aerial vehicles
    • Authors: C. Doer; G. Scholz; G. F. Trommer
      Pages: 181 - 189
      Abstract: This article presents a laser-based 2D simultaneous localization and mapping (SLAM) algorithm for indoor environments. An adaption and optimization of a ground vehicle SLAM solution (TinySLAM) for the use with Micro Aerial Vehicles is proposed. Optimizations of the map update strategy and a motion model improves the accuracy strongly. An extension to 3D mapping is introduced. The presented algorithm is tested with simulated and real world data. The optimized SLAM solution maps a whole floor of an office building very accurately and achieves embedded real-time capability.
      PubDate: 2017-07-01
      DOI: 10.1134/s2075108717030038
      Issue No: Vol. 8, No. 3 (2017)
  • Motion monitoring based on a finite state machine for precise indoor
    • Authors: N. Kronenwett; J. Ruppelt; G. F. Trommer
      Pages: 190 - 199
      Abstract: This paper presents a precise stance detection method for accurate personal localization using a foot-mounted inertial measurement unit. The exact classification of the stance phases of the foot is realized with a finite state machine (FSM), which separates the human gait circle in different sub-states. The FSM-based approach provides high accurate and robust detections of Zero Velocity Updates (ZUPTs) which can be applied to the navigation filter. We use a constraint stochastic cloning (SC) Kalman filter to show the performance of the high precise ZUPT intervals with real world sensor data including forward, backward and staircase motion. Even for the movement type running and the signals of an ultra-low cost inertial measurement unit we achieve with our motion monitoring system a position estimation with an average error of less than 1.5% of the travelled distance.
      PubDate: 2017-07-01
      DOI: 10.1134/s2075108717030063
      Issue No: Vol. 8, No. 3 (2017)
  • Vision system as an aid to car navigation
    • Authors: S. B. Berkovich; N. I. Kotov; A. S. Lychagov; N. V. Panokin; R. N. Sadekov; A. V. Sholokhov
      Pages: 200 - 208
      Abstract: We focus on car navigation method using vision system and digital road map. Vision system installed onboard the car serves as an additional source of navigation information. It is used to determine the car lateral deviation relative to the road axial line, range and bearing to the intersection center. Algorithm generating these parameters is described with account for the topology and parameters of roads presented in the digital map. Accuracy of lateral deviation and range measurements is estimated using real data.
      PubDate: 2017-07-01
      DOI: 10.1134/s2075108717030026
      Issue No: Vol. 8, No. 3 (2017)
  • Some algorithms for determining an unknown initial position of AUV using
           information from a single beacon navigation system
    • Authors: Yu. V. Vaulin; F. S. Dubrovin; A. F. Scherbatyuk
      Pages: 209 - 216
      Abstract: Determination of the unknown initial position of an autonomous underwater vehicle (AUV) using information on the distance to a single mobile hydro-acoustic beacon (MHB) transported by an autonomous surface vehicle (ASV) is discussed. Three algorithms used to solve the problem are described. Some results of the algorithms performance obtained during the sea trials with the use of a marine autonomous robotic complex (MARC), including an AUV and ASV, are considered.
      PubDate: 2017-07-01
      DOI: 10.1134/s2075108717030099
      Issue No: Vol. 8, No. 3 (2017)
  • Identification of AUV hydrodynamic characteristics using model and
           experimental data
    • Authors: L. V. Kiselev; A. V. Bagnitckii; A. V. Medvedev
      Pages: 217 - 225
      Abstract: The identification method of AUV hydrodynamic characteristics is presented in the paper. It uses virtual hydrodynamics software and trajectory measurements of the state vector in various motion modes. Quantitative estimates of hydrodynamic characteristics are given for one of the AUVs recently created in IMTP FEB RAS.
      PubDate: 2017-07-01
      DOI: 10.1134/s2075108717030051
      Issue No: Vol. 8, No. 3 (2017)
  • Complex technology of navigation and geodetic support of airborne
           electromagnetic surveys
    • Authors: G. M. Trigubovich; S. O. Shevchuk; N. S. Kosarev; V. N. Nikitin
      Pages: 226 - 234
      Abstract: The paper considers a complex technology of navigation and geodetic support for airborne geophysical surveys by the example of an airborne electromagnetic survey that makes use of an outboard platform connected to the helicopter with a cable. The technology is based on satellite and photogrammetric methods. The innovation methods used to determine navigation and geodetic parameters are protected by the Russian patents and have been tested in practice. The paper presents the results of the authors’ long-term experience in this field of research.
      PubDate: 2017-07-01
      DOI: 10.1134/s2075108717030087
      Issue No: Vol. 8, No. 3 (2017)
  • Adjustment of PID controller in fiber-optic gyro feedback loop
    • Authors: D. A. Pogorelaya; M. A. Smolovik; S. A. Volkovskiy; M. A. Mikheev; A. S. Aleynik; V. E. Strigalev
      Pages: 235 - 239
      Abstract: Functioning of closed-loop FOG is presented. Block diagram of FOG control system is given, and sources of nonlinear distortions of its components are described. A method to analyze the closed-loop FOG control system is proposed for adjustment of PID controller that does not require complex and high precision test equipment. Control target function is set, and coefficients of PID controller are selected optimal for this target function and certain FOG sample.
      PubDate: 2017-07-01
      DOI: 10.1134/s2075108717030075
      Issue No: Vol. 8, No. 3 (2017)
  • Dead reckoning using an attitude and heading reference system based on a
           free gyro with equatorial orientation
    • Authors: Ya. I. Binder
      Pages: 104 - 114
      Abstract: The paper develops an earlier proposed approach to the construction of a geographically oriented horizon trihedron nonperturbed by inertial accelerations to aid navigation dead reckoning. The method developed by the author is called gyroscopic orientation with correctable pendulum. The proposed scheme is implemented using a trihedron of accelerometers and a free (uncontrolled) gyro with equatorial orientation. Special attention is given to the Schuler filter, which not only provides “absolute” nonperturbility of navigation dead reckoning but also makes it possible to formulate the problem of its autonomous error estimation to the accuracy determined by the gyro drifts in the steady state. The problem of occasional correction of “azimuth” heading during in situ observation is also considered.
      PubDate: 2017-04-01
      DOI: 10.1134/s2075108717020031
      Issue No: Vol. 8, No. 2 (2017)
  • Analysis of accuracy requirements for an inertial navigation system in
           synthetic aperture radars
    • Authors: E. P. Velikanova; A. A. Geltser; Zh. T. Erdyneev; N. V. Panokin
      Pages: 129 - 135
      Abstract: This paper describes the effect of trajectory signal phase distortion on the image received by a millimeter-wave automobile synthetic aperture radar (SAR). Calculations of the requirements for the errors of the sensors included in a strapdown inertial system that provide the resultant image with acceptable quality are given. Parameters of different grade inertial sensors are analyzed; recommendations for choosing inertial sensors depending on SAR operating conditions and required resolution are analyzed.
      PubDate: 2017-04-01
      DOI: 10.1134/s2075108717020110
      Issue No: Vol. 8, No. 2 (2017)
  • piNAV L1—GPS receiver for small satellites
    • Authors: P. Kovář
      Pages: 159 - 164
      Abstract: piNAV L1 is a GPS L1 receiver for position determination of the small satellites at LEO orbits. The receiver was tested by the ReGen software GPS simulator for static and dynamic scenarios. The typical horizontal position error for static scenario is 2.5 m (95%). The position errors for dynamic scenarios are affected by the dynamic stress errors.
      PubDate: 2017-04-01
      DOI: 10.1134/s2075108717020079
      Issue No: Vol. 8, No. 2 (2017)
School of Mathematical and Computer Sciences
Heriot-Watt University
Edinburgh, EH14 4AS, UK
Tel: +00 44 (0)131 4513762
Fax: +00 44 (0)131 4513327
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