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CONTENTS
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G.I.Emeliantsev, O.N.Anuchin
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On shortening of the readiness time of shipborne inertial navigation systems
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3
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The article draws attention to the possibility of shortening the shipborne INS readiness time at the
INS start out of the cold condition aboard a vehicle. The mode of precise alignment and calibration of
INS is simulated as a filter problem solution. In the feedback a linear algorithm of the Kalman filter is
used along with the installation of a heat mode system in the measuring module. Here non-stationary
drifts of INS gyros are taken into account. Reference information is presented by data from SNS
GLONASS/GPS about vehicle coordinates and linear speed vector components. The data are related to a
point of INS measuring module location on the ship. The efficiency of this problem solution is shown in
conditions of moving vehicle and at essential distance of INS measuring module position relative to the
ship mass center.
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V.M.Ambrosovsky, E.B.Kats, D.A.Skorokhodov
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Algorithm for providing the failproofness of hydrofoil motion control systems
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11
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Analysis of emergency conditions in hydrofoils is made. Possible anti-damage control algorithms
for different types of accidents are considered as well as algorithms for detecting failures of data sen-
sors. Results of algorithm simulation for ensuring the failproofness of automatic motion control systems
are presented.
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V.M.Korchanov, E.I.Veremei, V.V.Eremeev
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Synthesis of algorithms of submarine robust control nearby the rough sea surface
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21
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It is shown that the influence of free sea surface becomes rather essential with a certain diving
depth that can result in loss of stability in a closed system. A method is developed for synthesis of robust
stabilizing control with allowance for ambiguity factor at the submarine rise to the periscope depth. The
corresponding calculation procedure is presented. A problem of synthesis of multipurpose stabilization
algorithms is defined and solved. On the basis of this problem the structure of automatic control law for
rudders is obtained providing the fulfillment of requirements to the dynamics of control processes.
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V.I.Zarudny, M.S.Finkelshtein
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Multiple readiness function
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30
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A problem of multiple readiness factor determination is considered. This factor is a generalization
of usual readiness coefficient. Exact and simple approximate expressions are derived which make it pos-
sible to find a multiple readiness factor for different situations being of practical importance.
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Papers from the VI Saint Petersburg International Conference
on Integrated Navigation Systems
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O.S.Salychev, V.V.Voronov, V.V.Lukyanov
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Inertial navigation systems in geodetic applications
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37
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The paper presents the work results of the Laboratory of Inertial Geodetic Systems in the Moscow
State Technical University named after N.E.Bauman. This laboratory performs researches in the field of
application of inertial equipment in geodesy and geophysics: from precise positioning to aviation gra-
vimetry. A wide spectrum of test results is presented. The tests were carried out in different countries
using our equipment and data processing algorithms.
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Yu.A.Litmanovich, V.M.Lesyuchevsky, V.Z.Gusinsky
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Information processing using increments of signal multiple integrals: from strapdown INS to other real-time
systems
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46
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A new approach to signal processing in strapdown INS (SINS) is presented. This approach can also
be applied in other real-time systems. Three SINS problems that can occur in different systems were
solved through the usage of increments of signal multiple integrals at a step of the problem solution.
The authors made the analysis of possibility and expediency of generating signal multiple integrals
during the preliminary data processing.
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S.P.Dmitriev, O.A.Stepanov, B.S.Rivkin, D.A.Koshaev, D.Chang
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Optimal map-matching for car navigation systems
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57
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Within the scope of Markov nonlinear filtration theory the authors define and give the general
solution for the problem of car positioning on the road in the presence of external data of coordinates,
speed and heading and with the use of digital road map. The purpose of the problem is to find a more
probable road along which a car moves and to determine its position on the road to the maximum
accuracy. The authors suggest the problem solution algorithm and analyze a potential accuracy of the
solution. An experimental examination of the developed algorithm is carried out with the use of real
measurements of the satellite system and the road map data.
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I.N.Beloglazov, S.N.Kazarin
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Stereoscopic systems of navigation and observation
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70
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Owing to the successful development of on-board digital computers new opportunities appeared for
using stereo effect contained in images of different iconic systems. These new opportunities are
considered in the paper. Possible solutions of various technical problems are discussed. The theory of
stereoscopic navigation system precision is evolved and experimental researches of these systems are
carried out verifying the basic theoretical conclusions.
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Brief Notes
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P.K.Plotnikov, A.M.Ramzaev, D.V.Cherepanov
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Theory and application of gyroscopic shredders
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88
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The review of system design features, theory and application of gyroscopic shredders is presented.
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Academy of Navigation and Motion Control
Official information
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Information about the 9th General Meeting of the Academy
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95
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II Scientific and Technical Conference of Young Scientists "Navigation and Motion Control"
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97
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Abstracts of papers presented at the conference
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99
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Information
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Russian and international conferences, symposiums and exhibitions
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119
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Book review: O.N.Anuchin, G.I.Emeliantsev "Integrated orientation and navigation systems for marine
vehicles"
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119
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About the publication of the book by Yu.A.Soloviov "Satellite navigation systems"
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121
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