Journal "Gyroscopy and Navigation" /  Books  
   "Gyroscopy and Navigation" №3 (34), 2001


A.V.Osipov Safety measure for ship passing track 3
The present paper considers the problem of the safety assessment for ships track under passing with other vessels (OV). Such problem arises then for ships collision avoidance the passing track is used. In this case the own ship (OS) motion is carried out on the previously generated track. This track has the form of linearly broken curve. Safety measure for passing track admits to compare different recommended tracks and make decision that track is best suited to our operation. As a measure of track safety is taken the probability of lack of OS collision with all OV. For assessment of such measure the possible OV actions are taken into account. For each OV the set of safety passing track is generated. A generation of track and safety assessment is founded on the model of OV mariner actions as an intelligent agent. Each agent has a form of the dynamical system which is controlled by knowledge. Example of safety assessment is worked out in detail.
S.P.Dmitriev, N.V.Kolesov, A.V.Osipov, G.N.Romanycheva Automatic passing trajectory synthesis as a tool of mariner's intelligent suppor 19
In this paper the problem of automatic ships passing trajectory synthesis is considered. The concept for solving this problem for one of the complicated ship navigation tasks is presented. The principles of derivation concept for tools of the mariner's intelligent support are stated. These tools are represented as a program module realized in the suggested framework for trajectory synthesis. The synthesized passing trajectory has the form of linearly broken curves, satisfies the requirements of International Regulation for Preventing Collision at Sea and is optimal as regards the minimum deflection from the initial programmed path. The simulation results for the ships passing problem are presented.
G.I.Emeliantsev, O.N.Anuchin On efficient usage of water-speed log data in ship integrated orientation and navigation systems based on strapdown inertial modules 32
The observation and autonomous modes of the integrated orientation and navigation system (IONS) for marine vehicles are considered. The system is based on the strapdown inertial measurement unit (SIMU) with low-accuracy fiber-optic gyros (FOG) and on GPS/GLONASS receivers. Besides, the IONS transfer from the observation to the autonomous mode is simulated; the autonomous mode uses the water-speed log data taking account of sea current fluctuations. The algorithm of Kalman feedback filter is used in IONS for measurements processing. And with this, the consideration should be taken of reversing modulation turns of SIMU measuring unit, vehicle conditions and the distance between SIMU measuring unit mounting place and the ship's center of gravity. It is shown that usage of water-speed log data in the autonomous mode (after the system calibration in the observation mode) provides the essential increase of IONS heading accuracy.
G.A.Sapozhnikov, G.A.Bogoslovsky Parameter definition for the multicomponent electromagnetic suspension 43
The functional diagram, the principle of operation and the mathematical model of the differential electromagnetic A.C. converter of force, permitting supply voltage period to be adjusted, are described. The suboptimal nonlinear control unit is constructed for a non-linear model of active electromagnetic A.C. suspension using the method of analytical design of control units in combination with the Newton iteration method for solving systems of non-linear operator equations. The problem of adjusting an operating clearance depending on a value of supply voltage period (frequency) is solved. The calculations executed for a concrete control system have shown that under linear control of the non-linear model the outcome considerably worsens in comparison with the outcome obtained under optimum linear control of a linearized model. The calculations made for the investigated suspension have shown that for different values of the initial data non-linear quasi-optimal correction enables to make quality indicators of the non-linear system close to quality indicators of the linear optimum system. The performance data of the designed multicomponent accelerometer are adduced.
A.V.Soloviev, Yu.A.Litmanovich, B.I.Golubchin Efficiency analysis of the linearly ramping signal estimation against noise in the case of data quantization 54
The problem of estimating linearly changing signal against the Gaussian noise is considered in case of amplitude quantization. The dependence of Gaussian random process, quantized by amplitude, on a mean value of the process is studied. On this basis the estimation accuracy of linearly changing signal is evaluated by the moving-average method and the least-squares method for the data quantized by amplitude. The dependence of an accuracy of these methods on the relation between the noise level and a value of low-order digit of numerical code is examined. It is determined what requirement should be satisfied by a value of low-order digit of numerical code with the specified noise intensity, in order that an accuracy of these estimation methods could not depend on the form of data representation (analogue or digital).

Papers of the 8th Saint Petersburg International Conference
on Integrated Navigation Systems

S.S.Gurevich, V.Z.Gusinsky, B.Ye.Landau, V.M.Lesyuchevsky, S.L.Levin, Yu.A.Litmanovich, V.G.Peshekhonov, V.N.Tsvetkov    An Attitude Reference System with Solid-Rotor ESGs for Orbital Satellites 63
The research-and-production enterprise Medicon is performing the project on making the gyroscopic module for an, inclinometer intended for surveying while drilling of inclined and horizontal wells and for well logging. The basis of the : gyroscopic module is the hemispherical resonator gyro (HRG), modified for activity in the structure of an inclinometer. The first stage of the project is dedicated to the making and trial of a modified HRG. The results of the activities at this stage are presented in the current report.
B.P. Bodunov, S.B. Bodunov, V.M. Lopatin, V.P. Chuprov Development and test of the hemispherical resonator gyro for Use in an inclinometer system 74
The paper describes the development of a strapdown attitude reference system for orbital satellites based on electrostatic solid-rotor gyros. The main design principles, constructional features, drift model, methods of investigation and some results of the experimental studies of the gyro of this type are presented. The essentials of the algorithms developed to determine the spacecraft attitude are considered. Also discussed are the structure of the ESG-based system, the principles and results of designing digital and analog electronic devices included in it.

Brief notes

John Mark, Daniel Tazartes, Randall Curey Partitioned Executive Structure for Real-Time Embedded Software Applications 83
V. Logozinski, I.Safoutine, V. Solomatin Fiber Optic Gyro with Digitally Corrected Output 93
 The "open loop" fiber optic gyro with a digitally corrected output is described. The developed sensor is traced to VG910F by optics and analog electronics design. The digital correction of raw analog data has been implemented in VG991D to improve bias and scale factor stability over temperature and to linearize output.
 The developed correction algorithm is based on the error model and realized as a polynomial approximation on set of parameters (temperature, output voltage).
 The digital board were developed and integrated into the sensor additionally to analog electronics. This board digitizes set of analog signals, processes them in accordance to predetermined algorithm and provides external serial port RS485. Key design features and test data of the new sensor are presented.

Academy of Navigation and Motion Control
Official information

To the 90th anniversary from S.F. Farmakovsky birth 103

Pages of History

S.S.Rivkin Development of the probabilistic approach to the gyroscopic devices research realized by ..Sveshnikov 105


Materials of the joint meeting of the Bureau of Navigation Systems and Their Sensors Section and the Saint Petersburg Section of Precise Gyroscopy of the RAS scientific council on the problems of motion control and navigation
Hemispherical resonator gyro (paper abstracts) 123
Russian and international conferences, symposiums, and exhibitions 126

The abstracts of the papers presented here
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Last updated September 20, 2002