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Journal Cover Gyroscopy and Navigation
  [SJR: 0.261]   [H-I: 10]   [201 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  [2354 journals]
  • 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)
  • Frequency line of nuclear magnetic resonance in quantum rotation sensor:
           Negative effect of detection circuit
    • Authors: E. N. Popov; K. A. Barantsev; A. N. Litvinov; A. S. Kuraptsev; S. P. Voskoboinikov; S. M. Ustinov; N. V. Larionov; L. B. Liokumovich; N. A. Ushakov; A. N. Shevchenko
      Pages: 91 - 96
      Abstract: The paper considers the distortion of nuclear magnetic resonance line in a quantum rotation sensor caused by the feedback in the cell while detecting the nuclear magnetization. Detection circuit is based on Faraday effect during longitudinal electronic paramagnetic resonance in alkali metal vapor.
      PubDate: 2017-04-01
      DOI: 10.1134/s2075108717020092
      Issue No: Vol. 8, No. 2 (2017)
  • Influence of nonuniform thickness of hemispherical resonator gyro shell on
           its unbalance parameters
    • Authors: M. A. Basarab; V. A. Matveev; B. S. Lunin; S. V. Fetisov
      Pages: 97 - 103
      Abstract: Formulas for the unbalance components of the hemispherical resonator gyro (HRG) with a shell of variable thickness in meridian direction are obtained. Various laws of thickness reduction from the pole to the edge are considered. It is shown that for the second form of excited oscillations, relative error in unbalance components (with the thickness variation neglected) can reach 10–15%. The obtained formulas for unbalance components, taking into account the variable thickness of the shell, can significantly improve the accuracy of HRG balancing, which is the most important process in the manufacture of medium and high precision devices.
      PubDate: 2017-04-01
      DOI: 10.1134/s207510871702002x
      Issue No: Vol. 8, No. 2 (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)
  • Adaptation of pendulum correction of an aircraft strapdown gyrovertical to
           flight conditions
    • Authors: B. O. Kachanov; D. V. Grishin; S. K. Akhmedova; N. A. Tuktarev; V. S. Kulabukhov
      Pages: 115 - 120
      Abstract: An algorithm for a gyrovertical based on MEMS sensors for detecting pitch and roll angles of aircraft is considered. It is suggested to integrate inertial sensors with an air data system. A flight simulator is used to optimize the algorithm coefficients.
      PubDate: 2017-04-01
      DOI: 10.1134/s2075108717020067
      Issue No: Vol. 8, No. 2 (2017)
  • Studying the static errors of MEMS accelerometer triad in quasiharmonic
           oscillation mode
    • Authors: Yu. V. Filatov; A. M. Boronakhin; V. B. Dao; V. Ch. Le; L. N. Podgornaya
      Pages: 121 - 128
      Abstract: The procedure proposed for studying the errors of MEMS accelerometer triad reduces the test duration as compared with traditional methods and allows estimation of mutual geometrical arrangement of sensors in the triad. The proposed approach consists in studying the static characteristics of sensors in oscillating angular motion mode and estimates error coefficients in mathematical model of accelerometer readings along with location of accelerometer triad in the closed IMU casing. Results of studying the errors of MEMS accelerometer triad are presented.
      PubDate: 2017-04-01
      DOI: 10.1134/s2075108717020055
      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)
  • Comparative evaluation of IRNSS performance with special reference to
           positional accuracy
    • Authors: M. P. Vasudha; G. Raju
      Pages: 136 - 149
      Abstract: The Indian Regional Navigation Satellite System (IRNSS) is a seven-satellite constellation developed by Indian Space Research Organization (ISRO), India. IRNSS provides two services, with the standard positioning service open for civilian use, and for authorized users (including the military) with an assured absolute positional accuracy. IRNSS is designed to cover all the parts of India and also extending beyond the Indian borders. The coverage area of IRNSS with routes of satellites means and includes area covering entire Pakistan, Afghanistan, most of China and Middle East along with Indian Ocean. IRNSS downlink signals have two bands: S1 band and L5 Band. Presently Indian users are dependent on the civil GPS signals with a positional accuracy of 5 m. IRNSS system is intended to provide an absolute position accuracy of (i) better than 10 m throughout Indian landmass (ii) better than 20 m over the Indian Ocean and (iii) approximately in a region of 1500 km around India. There are 15 ground stations across the country responsible for operating and/or monitoring the IRNSS seven satellite constellation. A comparative analysis of IRNSS and GPS navigational satellites shows that the IRNSS consists of sufficient number of satellites for regional navigation system and it can also exhibit better performance. The main parameters selected for our study are orbital characteristics, position accuracy and positional error including Circular Error Probable (CEP), Altitude variation, Geometric Dilution of Precision (GDOP) with respect to Number of Satellites (NSAT), variations in Carrier to Noise (C/N0) ratio and scintillation effect of both GPS and IRNSS satellite systems. Our analysis showed that IRNSS systems shall be used as stand-alone systems.
      PubDate: 2017-04-01
      DOI: 10.1134/s2075108717020109
      Issue No: Vol. 8, No. 2 (2017)
  • Monocular vision-based range estimation supported by proprioceptive motion
    • Authors: P. Davidson; J.-P. Raunio; R. Piché
      Pages: 150 - 158
      Abstract: This paper describes an approach for fusion of monocular vision measurements, camera motion, odometer and inertial rate sensor measurements. The motion of the camera between successive images generates a baseline for range computations by triangulation. The recursive estimation algorithm is based on extended Kalman filtering. The depth estimation accuracy is strongly affected by the mutual observer and feature point geometry, measurement accuracy of observer motion parameters and line of sight to a feature point. The simulation study investigates how the estimation accuracy is affected by the following parameters: linear and angular velocity measurement errors, camera noise, and observer path. These results impose requirements to the instrumentation and observation scenarios. It was found that under favorable conditions the error in distance estimation does not exceed 2% of the distance to a feature point.
      PubDate: 2017-04-01
      DOI: 10.1134/s2075108717020043
      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)
  • Prediction of ship deck inclination angle
    • Authors: A. E. Pelevin
      Pages: 165 - 171
      Abstract: The paper focuses on a ship motion prediction method. Unlike the other approaches, this prediction method with extended prediction duration uses dynamic models of the ship and disturbances. Identification procedure is used to determine the current parameters of ship motion dynamic model, and disturbance model is adjusted for certain motion conditions. Modeling results with the analysis are given, and the prediction of ship roll and pitch angles by the data obtained at the tests of a heavy aircraft carrier.
      PubDate: 2017-04-01
      DOI: 10.1134/s2075108717020080
      Issue No: Vol. 8, No. 2 (2017)
  • Quasioptimal estimation of GNSS signal parameters in coherent reception
           mode using sigma-point Kalman filter
    • Authors: V. V. Shavrin; V. I. Tislenko; V. Yu. Lebedev; A. S. Konakov; V. A. Filimonov; A. P. Kravets
      Pages: 24 - 30
      Abstract: The paper presents a multiloop system for tracking the radionavigation parameters of navigation satellite signals in the user equipment. Comparative analysis of accuracies of traditional tracking system with discriminators and filter in the tracking loop and the proposed system without discriminators is conducted. RMS errors of estimates and the probability of signal acquisition are studied under various SNR values. The proposed scheme is shown to outperform the traditional tracking system with discriminators.
      PubDate: 2017-01-01
      DOI: 10.1134/s2075108717010060
      Issue No: Vol. 8, No. 1 (2017)
  • Generation of a highly-smooth desired path for transverse feedback
    • Authors: G. M. Dovgobrod
      Pages: 63 - 67
      Abstract: A special type of polynomial curves in implicit representation is proposed. They can be applied to form a desired path (DP) that is close to a physically realizable one. The algorithm designed with the use of transverse feedback linearization provides for precision stabilization of a mobile object or a vehicle on such a path.
      PubDate: 2017-01-01
      DOI: 10.1134/s2075108717010023
      Issue No: Vol. 8, No. 1 (2017)
School of Mathematical and Computer Sciences
Heriot-Watt University
Edinburgh, EH14 4AS, UK
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