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Journal Cover Gyroscopy and Navigation
  Journal Prestige (SJR): 0.261
  Citation Impact (citeScore): 10
  Number of Followers: 206  
   Hybrid Journal Hybrid journal (It can contain Open Access articles)
   ISSN (Print) 2075-1087 - ISSN (Online) 2075-1109
   Published by Springer-Verlag Homepage  [2350 journals]
  • About Motion Measurement in Sports Based on Gyroscopes and
           Accelerometers—an Engineering Point of View
    • Authors: J. F. Wagner
      Pages: 1 - 18
      Abstract: Inertial sensors are powerful motion measurement devices. They are well-known in vehicle guidance and enable a detailed capture of position, attitude, velocity, and acceleration. Due to modern technology, navigation systems based on these sensors became increasingly small, light, and inexpensive. So, they suggest themselves for motion analysis in sports as an arising application area. Considering the last decades, this paper outlines and discusses the introduction and typical usage of inertial and integrated navigation systems in sports and biomechanics respectively.
      PubDate: 2018-01-01
      DOI: 10.1134/s2075108718010091
      Issue No: Vol. 9, No. 1 (2018)
  • Possible Technologies of Progress Transport Cargo Vehicle Control during
           Experiments in Free Flight
    • Authors: M. Yu. Belyaev; T. V. Matveeva; D. N. Rulev
      Pages: 19 - 28
      Abstract: The International Space Station (ISS) project involves Russian Progress transport cargo vehicles (TCV) which often retain residual resources of their basic systems after they have completed their main tasks in the ISS program. Utilization of these resources for research purposes during free flight of the TCV after undocking from the station increases the efficiency of both the TCV operation and the ISS research program as a whole. Transport cargo vehicles can be used for research in various fields: in-flight tests, trials, validation and certification of various equipment, materials, and systems to the benefit of other spacecraft programs; conducting experiments within the framework of the Earth study using additional equipment; microgravity experiments taking into account specific capabilities of TCV; launch of small satellites and explorers after TCV undocking from the station and settling into specified orbit, etc. To perform research using the Progress transport cargo vehicles, new efficient technologies are proposed. These technologies required some specific methods of control to be developed. This paper addresses these technologies, as well as some of the developed control methods.
      PubDate: 2018-01-01
      DOI: 10.1134/s2075108718010030
      Issue No: Vol. 9, No. 1 (2018)
  • A Gyrocompass based on a Rotating Laser Gyroscope: Experience in the
           Development and Experimental Results
    • Authors: G. V. Cheremisenov
      Pages: 29 - 34
      Abstract: The experience in the development of a gyrocompass based on a laser gyroscope rotating about its horizontal axis of sensitivity is discussed. Levels of errors caused by various sources are estimated. The gyrocompass mockup is described, and the experimental results are presented.
      PubDate: 2018-01-01
      DOI: 10.1134/s2075108718010054
      Issue No: Vol. 9, No. 1 (2018)
  • RLG SINS Dynamic Error Compensation under Vibration Environments
    • Authors: L. Wang; W. Wu; X. Pan
      Pages: 35 - 44
      Abstract: The dither axis bending occurs in the presence of input acceleration acting on the laser block of the ring laser gyro (RLG) due to the limited transverse stiffness of the dither motor, which will cause g-sensitive misalignments under vibration environments. A novel RLG SINS dynamic error compensation method is proposed under vibration environments in this paper. G-sensitive misalignment model of the RLG unit is developed. The equivalent gyro drift model under rotation and acceleration environments is deduced to describe the dynamic error. Optimized vibration experiments are conducted to estimate the unknown parameters. Vibration experiment results prove the validity of this method.
      PubDate: 2018-01-01
      DOI: 10.1134/s2075108718010108
      Issue No: Vol. 9, No. 1 (2018)
  • Results of Fiber-Optic Gyro Testing
    • Authors: A. A. Untilov; D. A. Egorov; A. V. Rupasov; R. L. Novikov; S. T. Neforosnyi; M. P. Azbeleva; E. V. Dranitsyna
      Pages: 45 - 49
      Abstract: The paper presents the information on specific design, accuracy characteristics, and results of testing of a prototype fiber-optic gyro of accuracy grade 0.01°/h, with sensing element spool diameter of 150 mm, designed by Concern RCSI Elektropribor, JSC. The device is compared to a number of sensors of similar accuracy grade, designed by various Russian and international companies.
      PubDate: 2018-01-01
      DOI: 10.1134/s207510871801008x
      Issue No: Vol. 9, No. 1 (2018)
  • Simulation of Translational Vibrations Effect on Torque-to-Balance RR-Type
           MEMS Gyroscope
    • Authors: E. A. Baranova; M. I. Evstifeev; D. P. Eliseev
      Pages: 50 - 56
      Abstract: A mathematical model of torque-to-balance MEMS gyroscope with a drive mode in plane is developed. The model considers compensational control loop, proof-mass dynamics, electromechanical nonlinear effects in capacitive transducers and the inequality of their parameters. The response of the resulting system to translational vibrations is investigated. Qualitative coincidence of simulation results with experimental data is obtained. A way of increasing vibration reliability is highlighted.
      PubDate: 2018-01-01
      DOI: 10.1134/s2075108718010029
      Issue No: Vol. 9, No. 1 (2018)
  • Testing the INS Heading Channel by Comparing it to the Reference Channel
           with a Zero Systematic Error
    • Authors: V. A. Granovskii; M. D. Kudryavtsev; A. A. Untilov
      Pages: 57 - 66
      Abstract: Testing of an inertial navigation system (INS) aimed to verify its compliance with the requirements for the accuracy of its heading channel by comparing it with a reference INS with known accuracy parameters is discussed. It is shown that the main conditions for successful testing are the following two factors: the proportion (ratio) of the errors of the heading channel being tested and those of the reference channel, and the estimation accuracy of the reference channel errors. Formulas are obtained for the case of a zero systematic error of the reference heading channel, which provide reliable estimation of the comparison results.
      PubDate: 2018-01-01
      DOI: 10.1134/s2075108718010066
      Issue No: Vol. 9, No. 1 (2018)
  • Autonomous Underwater Navigation with 3D Environment Modeling Using Stereo
    • Authors: V. A. Bobkov; A. P. Kudryashov; S. V. Mel’man; A. F. Shcherbatyuk
      Pages: 67 - 75
      Abstract: A method for navigation of an autonomous underwater vehicle (AUV) based on visual odometry is described. Modifications of the method aimed at enhancing the accuracy of AUV localization and reducing computational costs are proposed. An algorithm that provides for a long tracking of image features and increases the accuracy in the calculation of AUV local motion is considered. An adaptive methodology for calculating the trajectory is proposed, as well as a method for AUV visual navigation in local maneuvering conditions, based on the use of a virtual coordinate network. A method for solving the problem of 3D reconstruction of objects from images, intended for underwater inspection operations, is described.
      PubDate: 2018-01-01
      DOI: 10.1134/s2075108718010042
      Issue No: Vol. 9, No. 1 (2018)
  • Stochastic Error Modeling of Smartphone Inertial Sensors for Navigation in
           Varying Dynamic Conditions
    • Authors: Ahmed Radi; Sameh Nassar; Naser El-Sheimy
      Pages: 76 - 95
      Abstract: This paper aims at investigating and analyzing the behavior of Micro-Electromechanical Systems (MEMS) inertial sensors stochastic errors in both static and varying dynamic conditions using two MEMSbased Inertial Measurement Units (IMUs) of two different smartphones. The corresponding stochastic error processes were estimated using two different methods, the Allan Variance (AV) and the Generalized Method of Wavelets Moments (GMWM). The developed model parameters related to laboratory dynamic environment are compared to those obtained under static conditions. A contamination test was applied to all data sets to distinguish between clean and corrupted ones using a Confidence Interval (CI) investigation approach. A detailed analysis is presented to define the link between the error model parameters and the augmented dynamics of the tested smartphone platform. The paper proposes a new dynamically dependent integrated navigation algorithm which is capable of switching between different stochastic error parameters values according to the platform dynamics to eliminate dynamics-dependent effects. Finally, the performance of different stochastic models based on AV and GMWM were analyzed using simulated Inertial Navigation System (INS)/Global Positioning System (GPS) data with induced GPS signal outages through the new proposed dynamically dependent algorithm. The results showed that the obtained position accuracy is improved when using dynamic-dependent stochastic error models, through the adaptive integrated algorithm, instead of the commonly used static one, through the non-adaptive integrated one. The results also show that the stochastic error models from GMWM-based model structure offer better performance than those estimated from the AV-based model.
      PubDate: 2018-01-01
      DOI: 10.1134/s2075108718010078
      Issue No: Vol. 9, No. 1 (2018)
  • 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)
  • 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)
  • 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)
School of Mathematical and Computer Sciences
Heriot-Watt University
Edinburgh, EH14 4AS, UK
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Fax: +00 44 (0)131 4513327
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