7th Saint Petersburg International Conference on Integrated Navigation Systems

Abstracts of Poster Papers

Y.V.Chebotarevsky, P.K.Plotnikov (Saratov State Technical University, Saratov, Russia)
RISING THE FUNCTIONING EFFICIENCY OF A VERSION OF STRAPDOWN INERTIAL-PHOTOGRAMMETRIC SYSTEM FOR POSITIONING AND GEODETIC SURVEYING BY MEANS OF COPROCESSING THE INFORMATION FR OM ITS ELEMENTS

Keywords: photogrammetry, inertial systems, GPS/GLONASS

    The algorithms of information results pocessing fr om aerophotos pairs of the ground objects, received with two position by mobile object board photocamera are derived. Their peculiarity is, that it the algorithms of board strapdown systm functioning are supplied. Because of this in ground or board computers the photogrammetry and inertial information with GPS information are simultaneously processed. Shown, that presence of the various information of mobile object allow raise points geodetic coordinates and the inertial system accuracy.

P. Kaniewski, S. Konatowski (Faculty of Electronics, Military University of Technology, Warsaw, Poland)
INTEGRATION OF DEAD RECKONING MODULE WITH GPS RECEIVER

Keywords: integrated navigation systems, ITS, Kalman filtering

    Latest developments in Intelligent Transportation Systems (ITS) and prospective benefits from their implementation encourage conducting a research in the area of integrated positioning and navigation systems. The paper focuses on such a system, composed of a dead reckoning module (DR) and a GPS receiver. Firstly, a choice of navigation devices (i.e. GPS receivers, gyros, magnetic sensors, odometers, difference odometers and accelerometers) for the navigation system is discussed. Secondly, a concept of integration of a DR module with a GPS receiver and a physical model of the DR/GPS system are described. The adopted methodology of simulative testing of DR/GPS is outlined. At last, based on the obtained simulation results and model testing results, several conclusions are drawn. The paper indicates planned directions of future works on the improvement and augmentation of the DR/GPS system. The presented integrated navigation system may find its application as an in-car navigation system or, after several alterations, also as an onboard system of other types of land vehicles.

A.V. Nebylov (State University of Aerospace Instrumentation, Saint-Petersburg, Russia)
INTEGRATED MEASURERS OF RELATIVE MOTION ABOVE SEA WAVES

Keywords: motion control, sea waves, sensors, algorithms

    The concept of marine vehicles motion control using the full accessible information on motion parameters and wave disturbances is analyzed *). It is shown that the non-contact measurement of sea wave disturbance characteristics may be produced on the base of processing indications of several sensors of sea waves profile. Such sensors include high-precise positioning altimeter and inertial means. The radioaltimeter with the error under 5 cm in the range 0-5 m is described. The algorithms of sensors integration for sea waves profile measurement are proposed.

S. Koteswara Rao, member IEEE, Scientist 'F', NSTL (Visakhapatnam-27, A.P, India)
TARGET MANEUVER DETECTION ALGORITHM

Keywords: Maximum Likelihood Estimator, F-Test, Algorithm.

    Using bearings only information, passive target tracking in under water scenario can be carried out for a target moving at a constant velocity. If the target changes its course or speed or both, the estimated parameters differ with those of actuals. Hence it is usual to find out target maneuver, before the solution diverges completely and appropriately the covariance matrix of target state vector is corrected. In general, the target maneuver is found out using normalized squared innovation process.

Dr. Vladimir N. Pilishkin (Bauman Moscow State Technical University, Department of Automatic Control, Moscow, Russia)
INTELLIGENT TARGETING ALGORITHMS FOR THE OBJECTS OF COMPLEX DYNAMICS

Keywords: intelligent system, intelligent feedback, intelligent environment

    One of the new tendencies developing recently in theoretical and practical control is the developing of construction's methods of the intelligent systems (IS). It contains the forming of structure and algorithm of IS functioning, the developing of IS structural elements, algorithms of its functioning, the mechanism of its interconnection and connection with the environment, the construction of information processing and control in IS algorithms etc. It is especially important for the targeting tasks of different dynamic objects. The systems with intelligent properties (SIP) belong to the IS class. According to [1] they are the systems able to get the information about their behavior in the conditions space (or in the space wh ere the model of this system is formed) and according to this they can form required control law. Unfortunately, the questions of SIP models' construction were considered only partly. These questions are very important for the solving different targeting tasks This paper is devoted to some questions connected to this problem solving. Besides there is a method of using constructed model for the solving targeting tasks.

О.N.Anuchin, G.I.Yemeliantsev, L.P.Staroseltsev, A.A.Velikoseltsev (State Institute of Precise Mechanics and Optics, State Scientific Center of Russia - SCRI "Elektropribor", St.Petersburg, Russia)
HEADING DETERMINATION IN A MARINE LOW COST STRAPDOWN INERTIAL/GPS INTEGRATED SYSTEM

Keywords: marine navigation, integrated systems, heading, accuracy

    The paper studies a capability to update the heading of integrated systems of orientation and navigation (ISON) based on low cost strapdown inertial measurement units (SIMU) on a marine vehicle. The SIMU is installed at a considerable distance from the vehicle s center of mass and rotates in the deck plane by a certain law. The GPS Doppler channel data on the vehicle Cartesian coordinate increments projected on the geographical axes are used as external information. The results of the theoretical research of the ISON errors and off-line processing of sea trial data are discussed.

A.P. Panov, N.N. Aksenov, V.V. Tsisarzh (Space Research Institute NAS and NSA, NTU, Kiev, Ukraine)
ABOUT A NEW QUATERNION METHODS OF SOLVING OF ORIENTATION, NAVIGATION AND CONTROL PROBLEMS FOR STRAPDOWN INERTIAL SYSTEMS

Keywords: nonnormalized rotation quaternions, strapdown inertial systems, orientation, navigation, control, Lyapunov functions

    The proposed methods are based on use of a new nonnormalized rotation quaternions. Moduli of nonnormalized quaternions are functions of finite rotation Euler angle. The kinematic differential equations for a generalized nonnormalized quaternion and equations for concrete nonnormalized quaternions with its solutions are obtained. The high-accuracy algorithms for computation of new nonnormalized quaternions in strapdown inertial navigation systems are considered. It is noted a possibility of construction of nonnormalized biquaternions and its application in problems of nonnormalized biquaternions parallel computation and coordinates of apparent velocity vector. The effective application of nonnormalized quaternions on the base of new quaternion Lyapunov functions for solving of rigid body orientation control problem.

Yu.S. Alexandrov (Federal State Unitary Enterprise "SRI of Command Devices", St. Petersburg, Russia)
ANALYTICAL DETERMINATION OF ORIENTATION IN CIRCUMTERRESTRIAL SPACE

Keywords: determination of orientation, azimuth and horizon alignment, algorithms

    The problem of determination of orientation one frame comparatively another on results of measurement of projections of certain variable vector, given in the second frame, on the unite tight coupled with first frame vectors is considered. The results of solution of this problem are used for determination of position comparatively terrestrial frame of trihedron, with which accelerometers measuring the projections of the gravity acceleration vector are coupled. The solution of the problem is got by finding by means of method of least squares the matrix of transition from the first frame to the second one. It is demonstrated that using the indicated method reduces the problem to solving the nonlinear matrix equation. In special cases which are interesting for practice the equation transforms to linear one. The solution of this equation is given. The special method of successive approximations is offered to get the solution of the nonlinear equation. The advantage of analytical method of determination of orientation is noted in comparison with the known ways of determination of orientation on acceleration of gravity vector measurement as well as possible generalization of the problem.

B.N.Gavrilin, M.S.Slaschinin (Research Institute of Instrument Engineering, Moscow, Russia), Yu.D.Golyaev, V.G.Dmitriev, M.M.Drozdov, A.A.Kazakov, A.V.Melnikov, T.I.Solovieva (Research & Development Institute "POLYUS", Moscow, Russia)
CURRENT AND PERSPECTIVE APPLICATIONS OF THE INERTIAL SYSTEMS ON ZEEMAN LASER GYROS WITH NONPLANAR RESONATOR

Keywords: inertial system, laser gyro, magnetooptical biasing, Zeeman effect

    Example of application of Zeeman laser gyro with nonplanar resonator (ZLGN) in Strapdown Inertial Navigation and Control System (BINSU) is described in this paper. BINSU is inexpensive system combines navigation and control functions owing to ZLGN usage. 
    Besides other available versions of inertial systems on ZLGN are considered for application on easily controlled vehicles including commercial airplanes and helicopters, and also on sport yachts, fishing ships, for railway and highway quality testing, for optimization of car driving dependently on weather and road conditions.

L. Belsky, L. Vodicheva (Science & Production Association of Automatics, Ekaterinburg, Russia)
ACCURACY IMPROVEMENT OF GYROCOMPASSING FOR AZIMUTH DETERMINATION

Keywords: gyrocompassing, optimization, accuracy

    Optimization technique for two-position scheme of gyrocompassing is suggested. The criterion of optimization is the minimum of an azimuth determination error. The parameter of optimization is an angle of the turn of sensor input axes around the vertical axis. It is shown that widely used rotation angles about p or p/2 under specific sets of errors in some cases may result in extremely large errors of azimuth determination. Suggested technique does not lim it methods of measuring the level component of the Earth rotation velocity.

V.S. Ermakov, M.G. Kagan, E.V. Kiselev, V.P. Merkulov (Perm Science & Production Instrument Engineering Company, Russia)
DEVELOPMENT AND TESTS OF THE MODEL SAMPLES OF ROTATION RATE SENSORS BASED ON FIBER-OPTIC GYROSCOPE

Keywords: scale factor, zero drift, rotation rate sensor.

    In this work the tests results of the model samples of rotation rate sensors based on fiber-optic gyroscope (FOG), one-component DUS-500 and three-component DUS-700, are presented.

Zhang Xi, Zhang Chunxi, Wang Yan (The 5th institute of Beijing University of Aeronautics and Astronautics, 100083, Beijing, China)
AUTO ADJUSTING OF PHASE MODULATOR RESET VOLTAGE IN CLOSED-LOOP FOG

Keywords: FOG, auto adjusting, linearity

    Integrated optic phase modulator used in FOG has a characteristic of temperature sensitivity. This will bring that output of FOG changes as temperature changes. To solve this problem an auto adjusting method include static control and dynamic control has been put forward. Result of the test indicates that the output of FOG is more steady as the method used.

V.S. Ermakov, V.P.Merkulov, A.G.Maximov, V.F.Krupnov, A.Yu.Chudinov, D.V.Yaborov (Perm Science & Production Instrument Engineering Company, Russia)
PROBLEMS AND WAYS OF IMPROVEMENTS OF MODULATION GYRO WITH SPHERICAL GAS-LUBRICATED SPIN-AXIS BEARING SYSTEM

Keywords: modulation gyro, trend, spherical gas-lubricated spin-axis bearing system

    This paper deals for the first time with the results of batch production and tests of the gyro with the electromagnetic torquer. 
    In all previous types of gyros a position principle of energyaccumulation of quick rotating wheel and stability of its positioning in inertial space is used. First it has been made an attempt to build the gyro based on a new principle, the essence of which is not positioning in inertial space, but oscillations of angular momentum carrier relative to inertial space. It is considered principle of operation of a new modulation gyro, shown its advantages over all at present existing gyros and its drawbacks. It is shown that in the first-order approximation the modulation gyro accuracy does not depend on angular momentum magnitude, it is determined only by internal friction in the torsion bar material structure and external resistance to air-flow. It is has been considered a block diagram, balancing and adjusting procedures, and the gyro main errors have been calculated. It is shown, that electromagnetic torquer is a hindering factor in development of a rate gyro for strapdown inertial navigational systems based on modulation gyros. Also, it is shown an embodiment of a torquer design. Calculations of a torquer counteracted the angular rate at the level of 300 deg/s were performed with accuracy of the rate gyro at the level of 0.005 deg/hr (3s).

Yu.A. Yatsenko , S.F.Petrenko, V.V. Chikovani (Lileya Ltd., Kiev, Ukraine), V.V.Vovk (Optics-Arsenal Plant, Kiev, Ukraine)
THE COMPOUND HEMISPHERICAL RESONATOR FOR SMALL-SIZED GYROS OF COMMERCIAL NAVIGATION SYSTEMS

Keywords: resonator, sensitive element, gyroscope

    Test results of a several series of compound hemispherical resonators with an internal stem, designed by "Lileya" Ltd. and "Optics-Arsenal" plant together with the corporation Litton Guidance and Control Systems (USA) are resulted within the framework of the STCU project № 558.

S.F. Petrenko (Ukrainian National Technical University , Lileya Ltd, Kiev, Ukraine)
ULTRASONIC CONTACTLESS SUPPORT IN DEVICES OF ORIENTATION AND NAVIGATION

Keywords: ultrasonic contactless support, gyroscope.

    The results of development ultrasonic contactless support with piezoelectric excitation and research of an opportunity of their use in devices of orientation and navigation (gyroscope, accelerometer, gyrocompass etc.) are represented.

E. Oborine (Air Navigation Service Training Centre, Riga, Latvia)
INTEGRATED RADIO ALTIMETER: IDEA AND TRIAL RESULTS

Keywords: integration of height sensors, radio altimeter, algorithms, accuracy

    The problems which involve the methods of enhancing of airborne height sensor integrity and accuracy are analyzed. As possible solution, integration of radio altimeters based on the different meters is proposed. Operational principles and architecture of the Integrated Radio Altimeter prototype developed by the author are described. Algorithms of height information processing in the prototype are given. Benefits of usage of a common single transmitter emitting frequency modulated continuous radio wave for both meters are described. 
    Preliminary analysis of error budget of the integrated sensor which includes two different measuring channels is performed and proved by trial results.

Ch.Hajiyev, G.Piskin (Istanbul Technical University, Faculty of Aeronautics and Astronautics, Istanbul, Turkey)
IMPROVE SATELLITE RADIO NAVIGATION SYSTEM PERFORMANCES USING KALMAN FILTERING

Keywords: satellite radio navigation, Kalman filter, linear regression

    A recursive Kalman filter which estimates the user coordinates has been designed, when satellite radio navigation system is used. This filter also makes finding the distance measuring errors (clock bias) resulted from the time differences between user and satellite, possible. Results of performed simulation revealed that the designed filter has worked with high accuracy and has considered both user coordinates and clock bias in real time.

V.E. Hertzman, A.V. Ekalo (Science Engineering Center of St.Petersburg's State ElectroTechnical University, Russia)
SOFTWARE FOR SPACE VEHICLE TRAJECTORY DETERMINATION BASED ON GPS/GLONASS MEASUREMENTS

Keywords: GPS/GLONASS software, data processing, navigation solution, orbit parameters.

    GPS/GLONASS receivers are placed on board of vehicles in order to determine the trajectory parameters of space booster and orbital elements of space-craft. During the launch and insertion into final orbit, measurement data are transferred from on-board equipment and from ground reference stations to the control center for on-line and/or post-mission processing. The special software designed to solve processing task was installed in the computing center. This software provides for end-users the forecast of navigations conditions and the analysis of vehicles movement during the flight. There are considered following aspects of software implementation: execute functions, platforms and software environments, data structures, specific differences in the fly and post fly processing, methods of navigation solution.

S.P. Dmitriev, A.V. Osipov (State Research Center of Russia - Central Scientific & Research Institute Elektropribor, Saint Petersburg, Russia)
AUTONOMOUS INTEGRITY MONITORING OF SATELLITE NAVIGATION SYSTEMS USING MULTI-ALTERNATIVE FILTERING

Keywords: integrity monitoring, failure detection, a posteriory probabilities of hypotheses

    A new approach is proposed for solving the problem of GNSS integrity monitoring. For this purpose a priori information about the models for change of coordinate errors and for occurrence of failure are used. The problem is solved by the method of multi-alternative filtering, with a posteriori probabilities of hypotheses used as test statistics. The efficiency of the offered algorithm was verified by mathematical modeling.

A.V. Chernodarov (Zhukovsky Air Force Technical University, Moscow, Russia), G.I. Djandjgava, A.P. Rogalev(Ramenskoye Design Company, Ramenskoye, Moscow Region, Russia)
MULTILEVEL NEUROPROTECTION OF THE INTEGRITY OF REDUNDANT NAVIGATION SYSTEMS FOR MANEUVERABLE AIRCRAFT

Keywords: redundant navigation systems, monitoring and protection of integrity, adaptive robust filtering, neural-network tuning

    This paper is devoted to the problem of maintaining the integrity of navigation systems of maneuverable aircraft under real noise environment. The proposed solution of this problem relies on the potentialities of hardware and algorithmic redundancy when the loops for primary and secondary signal processing are tuned using neural-net technology.

А.А. Zhalilo (Scientific-Industrial Enterprise "Hartron-Alpha", Kharkov, Ukraine)
METHODICAL APPROACH AND ALGORITHMS OF SATELLITE NAVIGATION DIFFERENTIAL METHOD REALIZATION FROM OBSERVATIONS OF REFERENCE STATION NETWORKS

Keywords: satellite differential navigation, network of reference stations, errors of navigation parameters, criterion of optimization, algorithms

    There is proposed the methodology of creation and processing of satellite differential navigation reference station networks' measurements form GPS and GLONASS signals. On the basis of the geometrical approach there are obtained the optimum algorithms of processing the observations of the network of reference stations and there are worked out the recommendations of information processing and creation of regional and local GPS and GLONASS differential subsystems.

L. Botchkovski, N.V. Mikhailov, S.S. Pospelov (Soft Nav Ltd., St.Petersburg, Russia)
GNSS SOFTWARE RECEIVERS: RECENT DEVELOPMENTS

Keywords: Satellite navigation, GPS, GLONASS, Galileo, digital signal processing.

    The paper is a review of software (SW) receivers of Global Navigation Satellite Systems (GNSS). SW receivers are those that implement signal correlation processing not in hardware, but in their software. The emphasis is made on the description of the industrial developments of real-time SW GNSS receivers. These developments include a space-borne GPS receiver, a Universal Navigation Signal Receiver for experimenting with the future Galileo signal options, and a PC extension board GPS/GLONASS receiver.