Journal "Gyroscopy and Navigation" /  Books  
   "Gyroscopy and Navigation" №1 (40), 2003


A.A.Galaktionov Indirect heat setting of gyroscopes and gyrostabilized platforms (methods
for accuracy increase)
The technique of gyro temperature indirect stabilization is considered on the basis of the thermostabilized airing of gyro's outer casing. Merits and demerits of this technique are indicated.
Suggested are the ways for increasing the accuracy of maintaining gyro temperature on the basis of warmed thermode usage and more complicated control law at air temperature stabilization. Effectiveness is estimated for the suggested techniques of gyro thermostabilization accuracy increase.
M.I.Evstifeev Estimation of micromechanical gyro sensitivity threshold 13
The analytic expressions for estimation of a micromechanical gyroscope (MMG) sensitivity threshold due to thermal fluctuations were derived on the basis of information-energetic theory. Formulas describe the sensitivity threshold of an ideal device, mechanical and electrical noises of which were reduced to naught. Numerical estimations obtained from formulas are important for assessment of the different variants practicability and for determination of main factors limiting MMG accuracy.
In order to reduce MMG sensitivity threshold it is recommended to increase secondary oscillation quality factor and primary oscillation amplitude. For increasing primary oscillation amplitude it is necessary to increase its quality factor and excitation driver torque taking into account the nascent mechanical strains.
Predictable MMG accuracy improvement up to tenth or hundredth degree per hour is connected with development of the high quality factor, large amplitude oscillators and reduction of mechanical and electrical noises almost to naught.
L.N.Belyanin A borehole gyro system for orientation of the three-component
seismic probe
The system is designed for multi wave seismoprospect. Three components seismic probe is placed into hole device that is pressed to hole side at the registration moment and has arbitrary orientation. It's necessary to orient probe in horizontal coordinate system so as sensitive axes of two seismic receivers will place in vertical plane that contains excite point. One of the sensitive axes is vertical.
At first moment it is proposed to determine seismic receivers orientation by analytical gyro compassing system relatively to horizontal geographical oriented coordinate system. Then virtual turn of seismic receivers' sensitive axes is made by their signal transformation into horizontal coordinate system. The last one is connected with direction on excite point. Complex functional scheme is shown on fig.1.
Orientation angles calculations and coordinate transformation algorithms are given. Results of gyro orientation module experimental samples' tests that have verified efficiency of system construction principle and calculation algorithms are presented.
S.K.Volovodov, M.G.Chernyaev,
A.Yu.Kaverinsky, S.S.Volovodov
Allocation of control resources in attitude stabilization of moving vehicles 30
The paper considers a new method for synthesis of a control system for stabilization of moving plants. The method consists of two stages. At the first stage consist of a synthesis of controlling forces and force moments for steady-state stabilization of moving plants using, for example, equation (3). At the second stage the problem of distribution of controlling forces and force moments between power drives of moving plant is solved. For solving of this problem the criterion (5) is used, for scalar form - (7). The method has been verified by computer simulation of an example of dynamic positioning of a boring platform.

Materials of the 9th Saint Petersburg International Conference
on Integrated Navigation Systems

O.Shiele, A.Kleusberg, R.Horn A comparison of two integrated airborne positioning and orientation systems 43
Airborne remote sensing systems like Laser Scanners, Digital Line Cameras, Synthetic Aperture Radar (SAR) are systems of choice for fast acquisition of mass topographic data. For georeferencing purposes, these sensor systems rely on external positioning and orientation support of extremely demanding accuracy. Sensor position and orientation is typically provided by an integrated measurement and processing unit including a (differential) Global Positioning System (GPS) receiver and an Inertial Measurement Unit (IMU). Conventional analogue airborne photogrammetry and Digital Frame Cameras also benefit greatly from such external positioning/orientation provision.
Two such integrated sensor positioning and orientation systems are commercially available: the CCNS/AEROcontrol-IIb of IGI of Kreuztal/Germany and the POS/AV510 of Applanix of Richmond/Canada. These two systems were flown side-by-side in the DLR (German Aerospace Centre) fixed-wing aircraft during a SAR data acquisition mission. Post mission data processing of the GPS and IMU data yielded separate sensor trajectories (position, velocity, orientation) for the two systems at a data rate of 200 Hz for the POS/AVTM510 and 50 Hz for the CCNS/AEROcontrol-IIb, for a total flight duration of about two hours and 40 min. The two trajectories are analysed and compared in order to identify any shortcomings in either system, and in order to cross-check if the two systems meet their advertised performance specifications.
R.Giroux, R.Jr.Landry, R.Gourdeau Simulation software and handware implementation for a low cost
electronic inertial navigation system test-banch
This paper addresses the first step of a design sequence for inertial navigation systems: to design a generic and flexible simulator that will allow the simulation of different system's architecture scenarios. In order to realize fast prototyping systems, to take advantage of modular design and to allow rapid real-time testing, a Simulinkc Navigation System Simulator (SNSS) has been developed. The SNSS is designed in several modules allowing point-wise improvements or modifications that do not affect the other modules. The aim of this first version of the simulator is to analyse the propagation of round-off errors in an ideal context. Major results have shown no significative effects of the simulator finite arithmetics on the accuracy of the solution. The SNSS will be a precious tool in the design of the innovative algorithm expected to be suitable for the use of MEMS inertial sensors in low cost navigation systems. Upon completion, this software will permit rapid prototyping and easy-to-use design for low cost GPS-aided electronic inertial navigation systems.
A.E.Sinelnikov, V.N.Kudryavtsev, P.A.Pavlov A new Russian standard in the field of low-frequency motion quantities measurements 63
The paper deals with the directions of work and the results obtained in establishing a new measurement standard in the field of mechanical motion quantities. The task to reproduce a group of constant and variable physical quantities with the help of a limited number of setups has been solved. The author outlines principals of creating three standard setups as well as results of their experimental investigations. A brief consideration is given for the approach accepted and used in Russia for the analysis of metrological characteristics of the standards intended for measuring mechanical motion quantities. Some perspective directions of further investigations are quoted.

Materials of the 23th Conference in memory of N.N.Ostryakov


L.A.Severov, V.K.Ponomarev,
.I.Panferov, L.P.Nesenyuk,
S.G.Kucherkov, Yu.V.Shadrin
Informative characteristics of a micromechanical vibrating gyro 76
Research results are presented for the static sensibility of a micromechanical vibrating disk-(rotor)-type gyro to the external angular rate and for its dynamic behaviour as an open-loop rate sensor operating without the Coriolis torque correction. The presented information characteristics are defined separately for in-phase and quadrature components of the output signal. The output waveform envelope transfer function is analysed depending on oscillator Q-factor level and on extent of resonance frequency detuning along the axes of primary and output oscillations. At coincidence of resonance frequencies along the axes the in-phase component transfer function of the device approaches the integrating factor.

Brief notes

B.V.Dudnitsyn, O.L.Mumin,
L.P.Ryabova, V.V.Sumarokov, A.I.Topchiy
A magnetic spherical three-component accelerometer with digital output 82
Issues of the digital output provision for a three-component accelerometer with electromagnetically suspended measuring mass by including the analog-to-digital converter in the device. Also considered are the minimization technique for hysteresis effects influence on the accelerometer accuracy through reversing the sense of currents in the electromagnetic suspension windings. Peculiarities of circuit design and algorithms of the accelerometer operation are studied. The results of the accelerometer testing and its main specifications are presented.

International Public Association
Academy of Navigation and Motion Control
Official Information

To the 80th anniversary from V.N.Koshlyakov's birth                   89    
V.N.Koneshov State of the art and trends in development of gravimetry
when studying the gravity field of the World Ocean
The Earth gravity field together with the other geophysic fields is used for solving different scientific and applied problems. Possibilities of using any field as a source of information are defined by the accuracy of survey and expand with the accuracy increase. Considered are aspects of such various present-day methods for World Ocean research, as marine gravimetry, altimetry method and aero-gravimetry.
None of these three methods can be singled out at present. Exploration geology for shelf gravimetry survey has no alternative, as these problems can be solved only by marine gravimetry. Taking into account merits and demerits of each of the three methods it is advisable to develop a technique integrating the results obtained by each of them.
G.B.Volfson New technologies in gravity gradiometry 99
The manufacturing field for traditional geological models of gravity gradiometers and variometers with the beam torsion suspension has been in depression during the last ten years, though different branches of economy and scientific research are interested in the devices measuring the second derivatives of the gravity field.
Modern production technologies for gravy-inertial devices together with the scientific-and-technical backlog formed at gravity variometers development by the CSRI Elektropribor make possible the gravity gradiometry revival for solving tasks of exploration and industrial geological survey and research activities with the performance specifications highly exceeding the level of those of the former manufactured devices. The element base of the modern gyroscopy uses a working medium non-contactly suspended in electromagnet and electrostatic fields in vacuum with the help of electronics and automatics. These technologies create the prerequisites for qualitative evolution of technical means for gravity gradiometry.
The base module in complete sets of different-purpose devices is the sensor of gravity variometer with the beam axisymmetric magnet suspension. Its prototype is developed for use as a part of geophysical equipment. Besides the solution of traditional problems for the geological survey these devices can ensure the development of new trends for gravity gradiometry application such as drill hole monitoring and executive prediction of hard earthquakes in distant areas.
Ya.I.Binder, I.E.Gutner,
A.P.Mezentsev, A.A.Molchanov
Present-day information-measuring systems for subsurface navigation
and orientation
Considered are the problems of information and measuring systems called MWD-systems and of inertial navigation systems for the directional survey. Highlighted are both the problems solved using MWD-systems, and ratio between the geotechnical and inertial methods of navigation. Considered are the principles of construction for the above mentioned systems, as well as factors determining them and ways of azimuth determination. The table is presented containing data on particular foreign MWD-systems and domestic INS, the comparative analysis of foreign systems is also presented. Information is presented on the home-developed gMWD-system - -90 as well as on means of modern MWD-system implementation.
Materials of the workshop "State and prospects of developing navigation gyroscopic systems for aviation"


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Last updated March 20, 2003