Journal "Gyroscopy and Navigation" /  Books  
   "Gyroscopy and Navigation" №4 (47), 2004


M. O.Kechine,. C.C. J. M. Tiberius, H. van der Marel Real-Time Kinematic Positioning with NASA's Internet-Based Global Differential GPS (IGDG) 12
Abstract  25
The Global Differential GPS (GDGPS) system developed by JPL aims at seamless global real-time positioning at the dm accuracy level for dual-frequency receivers either static or mobile, anywhere and at any time. The GDGPS system relies on GPS data transmitted in real-time to a central processing center at JPL from a global network of permanently operating GPS dual-frequency receivers. At the processing center, the Internet-based Global Differential GPS (IGDG) system, the heart of JPL's GDGPS, generates and disseminates over the open Internet special 1-second global differential corrections (IGDG corrections) to the GPS broadcast ephemerides. The IGDG corrections enhance the accuracy of GPS broadcast orbits and clocks down to the dm level and are the key-factor in high-precise real-time positioning of a stand-alone receiver. An independent experimental verification of the dm positional accuracy of IGDG system was carried out, by means of both a static and a kinematic test in the Netherlands. In the static test, the means of the position coordinates, taken over individual days of data, agree with the known reference at the 1-2 cm level confirming that the IGDG position solutions are free of systematic biases. The standard deviation of individual real-time position solutions turned out to be 10 cm for the horizontal components and 20 cm for the vertical component. In the kinematic test, carried out with a small boat, the means of coordinate differences with an accurate ground-truth trajectory, are at 1-2 dm level over the almost 3 hour period; the standard deviations of individual positions were similar to values found in the static test, 10 cm for the horizontal components, and 20 cm for the vertical component. More than 99% of the IGDG-corrections were received in the field with the nominal interval of 1 second, using a GPRS cellular phone. The latency of the corrections was generally 7 to 8 seconds.
A. K.Brown The Results of a GPS/Inertial Navigation System Using a Low Cost MEMS IMU. 26
Abstract  35
This paper describes the design, operation, and test results of a miniature, low cost integrated GPS/inertial navigation system that uses commercial off-the-shelf Micro-Electro-Mechanical System (MEMS) accelerometers and gyroscopes. The MEMS inertial measurement unit (IMU) is packaged in a small size and provides the raw IMU data through a serial interface to a processor board where the inertial navigation solution and integrated GPS/inertial Kalman filter is generated.
The GPS/inertial software integration is performed using NAVSYS' modular InterNav software product. This allows integration with different low cost GPS chip sets or receivers and also allows the integrated GPS/inertial navigation solution to be embedded as an application on a customer's host computer. This modular, object oriented architecture facilitates integration of the miniature MEMS GPS/INS navigation system for embedded navigation applications and is designed to handle the large errors characteristic of a low grade MEMS IMU.
Test results are presented in this paper showing the performance of the integrated MEMS GPS/inertial navigation system. Data is provided showing the position, velocity and attitude accuracy when operating with GPS aiding and also for periods where GPS dropouts occur and alternative navigation update sources are used to bound the MEMS inertial navigation error growth.
S.Winkler, H.-W.Schulz, M.Buschmann, T.Kordes, P.Vorsmann Viaual Aided Low-Cost GPS/INS Integration for Autonomous MAV Navigation 36
Abstract  49
Today, Micro Aerial Vehicles are primarily used in order to provide real-time images from the surrounding area. But to carry out more sophisticated missions a robust state determination of the aircraft is necessary. Here the attitude is of primary importance. In this paper satellite and inertial navigation will be tightly-coupled with a Kalman Filter using satellite ranges. It will be quantitatively shown how the inertial sensor noise level and the lever arm from the inertial sensors to the GPS antenna influence the position, velocity and attitude errors. This study ends up with the problem to stabilize the filter despite short lever arm and high inertial sensor noise level. For this a horizon sensor is used so that the Kalman filter becomes observable and hence more robust. The visual aiding significantly improves the navigation performance. The results presented are based on simulation and real flight data.
O.Mezentsev, J.Collin, H.Kuusniemi, G.Lachapelle Accuracy Assessment of a High Sensitivity GPS Based Pedestrian Navigation System Aided by Low-Cost Sensors 49
Abstract  64
Using long total dwell times, acquisition and weak GPS signal tracking in degraded signal environments are possible. A technology utilizing such long integration methods is called High Sensitivity GPS (HSGPS). A previous hardware in-the-loop GPS signal simulator test has demonstrated that, for a stand-alone HSGPS implementation provided by SiRF Technologies Inc., signals as weak as -186 dBW could be tracked by the receiver (MacGougan et al., 2002). This corresponds to 25-30 dB weaker signals than the typical outdoor line-of-sight GPS signals. However, measurement noise increases as signal power decreases and the receiver tracking loops become susceptible to possible tracking of cross-correlation or echo-only signals that can lead to severe position and velocity estimation errors.
This paper presents the results of the accuracy analysis of the sensor aided HSGPS receiver for pedestrian navigation in signal-degraded environments. Description of the downtown test and the equipment used is given. Analysis of the stand-alone HSGPS results with Receiver Autonomous Integrity Monitoring (RAIM) techniques is presented. Brief analysis of gyro bias estimation problems with GPS is presented. Kalman filter integration methodology is presented and the results are analyzed.

Materials of the 24th Conference in memory of N.N.Ostryakov
Abstracts of the papers

Session Sensors of navigation and control systems

V.G. Peshekhonov, L.P. Nesenyuk,
 S.G. Kucherkov, 
M.I. Evstifeev, Ya.A. Nekrasov
Results of Micromechanical Gyro Development 65
M.I. Evstifeev, A.S. Kovalev, A.A. Untilov, Yu.V. Shadrin Nonlinear Rigidity Estimation for the Elastic Suspension of a Micromechanical Gyro -
M.I. Evstifeev, A.A. Untilov Instrument error research for a micromechanical gyro 66
V.A. Vorobjov, A.S. Donnik, I.V. Merkuriev Dynamics of a hemispherical resonator gyro considering resonator variable thickness -
V.Z. Gusinsky, O.I. Parfenov A way to increase accuracy of electrically suspended gyro 67
S.M. Dyugurov, K.A. Stavash Dynamical error model of angular data readout system basing on electrically suspended gyro test results -
K.V. Poletkin, N.G. Troitsky, A.I. Chernomorsky Temperature drift reduction in the rotor vibrating gyro of compensation type -
A.V. Nebylov, A.I. Panferov, S.A. Brodsky Simulation and optimization of flexible structure oscillation damping systems 68
E.F. Polikovsky, A.V. Molchanov, A.M. Osipov Use of laser gyro signal read at zero angle in strapdown inertial navigation systems 69


V.I. Gavrysev, A.G., Scherbak, S.N. Beliaev Microscopical damping analysis at diffusion welding of beryllium rotors of electrically suspended gyros 70
L.A. Dudko, A.A. Konovchenko Efficiency of structural materials used in gyro industry -
V.I. Kratenko, I.E. Mahov, D.P. Muzlov High-vacuum exhaust units 72

Session Gyroscopic systems

Ya.I. Binder, P.M. Gasparov, P.A. Klyushkin, G.B. Volfson, V.G. Rozentsvein Flux-gate inclinometer with magnetic disturbance compensation 73
Ya.I. Binder, T.V. Paderina, I.B. Chelpanov Azimuth determination for intricate profile wells using weighted average estimation -
S.A. Butyrin, A.F. Dyumin, V.V. Korabelschikov, D.M. Surinsky Accuracy estimation for error calibration of fiber optical gyro units of strapdown stellar-inertial orientation system 74
V.A. Nikolaev, V.E. Strigaliev Rapid compassing using the fiber optical gyro on a fixed base -
S.A. Chernikov, Samer Al-Salek Improvement of inertial-damped gyrosystem dynamic behavior using rigidity control 75
V.M. Nikiforov Termination control of the gyrosabilized platform motion in the coarse alignment mode 76
I.V. Alenkin, V.Z. Gusinsky, Yu.A. Litmanovich, A.A. Stolbov Misalignment error calibration of the ESG-based gimbaled inertial navigation system -
V.B. Uspensky , T.N. Vahitov, M.S. Blinov Parameter estimation for angle nonorthogonality using direct procedure and on the base of navigation problem solution 77
A.A. Odintsov, Yu.E. Naumov, V.B. Vasilieva Methods reducing scale factor influence on errors of the inertial navigation system on noncontrollable gyros 80
V.Z. Gusinsky, Yu.A. Litmanovich, A.A. Stolbov Self-contained calibration of gyro autocompensation parameters of the ESG-based gimbaled inertial navigation system -
D.A. Dunaev, A.P. Kolevatov, I.I. Nesterov Development of the strapdown orientation system for the vehicles under extreme impact actions 81
V.S. Ermakov, V.A. Galkin, A.A. Shirokov, D.A. Dunaev, A.P. Kolevatov, S.G. Nikolaev, I.V. Fedorov Modified airborne strapdown azimuth and vertical device: development and test results -

Session Navigation data processing and motion control

Special problems of data processing

V.L. Solunin, B.G. Gursky, E.P. Spirin High accuracy navigation systems and new information techniques 82
A.V. Sholohov Validation of recurrent procedures for navigation parameters correction using data on proposed position of land vehicle trajectories -
O.A. Stepanov O.S. Amosov Solution of estimation problems using the Bayesian approach and neural networks. Comparative investigation 83
V.I. Gupalov, A.M. Boronakhin, E.A. Shalagina, N.S. Filipenya Standardization of measurement results for rail track geometrics 84

Processing and control problems in space systems

V.N. Branets, L.I. Komarova Control system for spacecraft Soyuz descending. Stages of development 84
I.V. Merkuriev Integration algorithms for celestial system and spacecraft strapdown inertial navigation system 85
A.F. Dyumin,
 S.N. Egorov 
Optimal parameter synthesis of the orbital gyrocompass on the elliptical orbit -

Satellite navigation systems and their applications

O.I. Fedoskin Scaled-down simulating test bench for the module preprocessing GPS/GLONASS SNS signals 86
Yu.A. Dormidonov, P.A. Lelyavin Car borne recording system -
A.Yu. Feoktistov, K.G. Shupen Monitoring equipment for the state of satellite navigation systems GLONASS and GPS. Results of experimental research 87
V.V. Seregin, V.I. Yuschenko At-once-resolution of phase measurements ambiguity at definition of mobile vehicle orientation 88
L.A. Fokin, A.G. Schipitsin Approaches to the solution of attitude data accuracy increase for inertial/satellite navigation systems -

Identification, test and reliability problems

N.V. Kolesov, A.V. Osipov, M.Yu. Chesnokov Monitoring and diagnostics of navigation system failures based on interval multi-alternative filtering 89
A.V. Chernodarov, A.P. Patrikeev, V.A. Matyushin, A.Yu. Platonov INS state control by results of the parametric identification of sensors error models 90
M.B. Rosenhaus, V.I. Zarudny Non-traditional approach to mean-time-between-failures determination -

Processing algorithms during alignment and orientation

V.P. Golikov, S.V. Larionov, A.V. Trebukhov, A.A. Golovan Environmental tests results and their processing for the gimbaled INS alignment updating algorithm using external data 91
E.R. Vilipp, M.A. Ermolina, V.D. Kedrov, E.N. Svirid, A.M. Tazba Alignment of inertial navigation systems without dynamic data about base motion -
A.S. Deeva, A.G. Schipitsyn Increasing of inertial data accuracy by sensors optimal alignment in SINS 92
Yu.G. Martynenko, A.M. Formalsky Ways of unstable objects stabilization -
L.N. Belsky, S.F. Deryugin, L.N.Shalimov, A.G. Schipitsyn, L.A. Fokin System of decision-making support at development of strapdown inertial navigation systems for same class vehicles 93

Session Electronics and computers of onboard systems

Electronics of sensors and peripheral devices.
Problems of design and technology

S.V. Ugarov, O.A. Kondratjev, I.V. Savin, N.V. Tsitovich, A.N. Blinov Microprocessor control system for power facilities of the electrical moving system 94
A.V. Lekomtsev, I.A. Sheviakov Multifunctional digital-to-resolver converter 95
O.L. Mumin, V.V. Sumarokov, B.V. Dudnitsin On embedding of digital signal processing into a three-channel accelerometer -
V.Z. Kokotov Influence of structure parameters, cooling air and environment on heatsink efficiency in frame structures of onboard computer with forced air-cooling 96
V.Z. Kokotov Design optimization of a unit basic frame structure for onboard digital computer with forced air cooling -
I.N. Cheremisin, G.B. Zakharova Reconstruction of technology files from printed circuit board images 97
V.E. Dzhashitov, V.M. Pankratov, B.E. Landau Mathematical models of nonstationary temperature fields for electronics in the spacecraft orientation system 98

Architecture and software

Yu. M. Matrosov, M.V. Tolmacheva, Z.I. Tsal General-purpose dispatching program for the navigation system computation process 99
A.P. Kolevatov Development environment for navigation system algorithms and software 100
N.A. Lukin, I.G. Ponomarev, L.Ya. Tolstikhina, V.S. Lusin, A.S. Bokov Comparison characteristics of SINS algorithm realization on different processors 101

On-board computer systems

V.N. Branets, S.F. Vlasov, F.S. Vlasov Computing aids of spacecraft control systems 101
N.A. Lukin Reconfigurable processor arrays based on uniform computation medium - base elements of on-board function-specific processors. Architecture, productivity, ranges of application 102
L.I. Ponomarev, Yu.G. Nesterov, N.A. Lukin, N.A. Diadkov Integration of onboard equipment for unmanned aircrafts 103
L.I. Ponomarev, Yu.G. Nesterov, V.M. Adodin, N.A. Lukin, N.A. Diadkov Computation systems construction for integrated onboard equipment in small-size unmanned aircrafts 104

Session Metrology in navigation and motion control:
Methods and means providing uniformity of measurements

V. A. Granovsky, N. N. Lozovsky Metrology Role in Developing the Navigation Equipment 105
V. D. Morozov, T.N. Siraya Dezign, certification and use of measurement procedures at navigation equipment development 106
T.N. Siraya, L.A. Tohadze Methodological problems of measurement procedures development and certification -
O.B. Basun, A.K. Isaev, M.D. Kudrjavtsev, N.L. Yavorovskaya Design and certification of geometric parameters measurement procedures used at manufacturing and testing of navigation equipment 107
O.B. Basun, M.D. Kudriavtsev, L.I. Chernitsky, N.L. Yavorovskaya Precise angular fixation of autocollimator axis to the horizontal base plane laying on two cyllindrical supports 108
O.B. Basun, A.K. Isaev, M.D. Kudriavtsev, D.Sh. Chernitskaya, Yu.B. Chirkov, N.L. Yavorovskaya Features of coordinate measuring machines use at navigation equipment development: design of measurement procedures including methods of measuring results estimation 109
K.V. Koreshkov, A.V. Popov Development of virtual measurement instrumentation for adjustment and testing of navigation equipment analog units -
E.I. Tsvetkov Indirect multiparameter measurements with self-training -
T.A. Kompan Role and opportunities of dilatometric measurements in testing of hard materials and structures linear dimensions 110
N.A. Kaldymov, D.M. Kalikhman, L.Ya. Kalikhman, A.V. Polushkin, I.N. Kaldymov The plant recording and defining the level of gyromotor vibration 111
V.G. Markov Metrological provision facilities for antenna measurements in the conducting medium. State-of-the-art and progress -
V.V. Vasiliev, V.A. Granovsky Metrological expertise as the form of metrological support at navigation equipment development 112
V.A. Granovsky, V.A. Mikhalsky, T.N. Siraya Principles of navigation system accuracy evaluation and monitoring during the tests 113
A.I. Skalon Peculiarities of metrological assurance for nonstandarized facilities testing navigation systems and their components -
V.V. Vasiliev, V.N. Narver, V.D. Prikhodko, O.A. Sokolov Remote check element for testing the course indication system 114
V.N. Narver, V.D. Prikhodko, V.F. Savik, V.I. Stotyka X-Y digital autocollimator for measuring dynamic errors of stabilizing systems -

Session Automatics and power supply of navigation systems Methods and means providing uniformity of measurements

B.V. Gryazev, V.V. Saveliev, V.A. Smirnov Creation of multistage stabilizing systems and laying of the pointing direction 115
V.N. Narver, V.D. Prikhodko, V.I. Stotyka Stabilizing error estimation for the pointing direction of a TV watch facility taking into account observer eye reaction -
N.V. Kuzmina Experimental research of the ways of data presentation to the optronics system operator -
S.V. Bogoslovsky, S.N. Pavlov Handwheel of the controlled inertia moment 116
O.K. Epifanov, E.E. Epifanova, V.G. Karetin, M.A. Nikitin The way of construction units sealing for electromechanical devices under increased values of seawater hydrostatic pressure and operating temperature -
V.I. Gavryusev, A. N. Antyshev Increasing quality and technological effectiveness of contacting pairs in unit multiconductor plugs 117
A.I. Gasnikov, Yu.A. Gollandtsev Influence of saturation on electromagnetic transients in ac electronic inductor jet motor -
O.K. Epifanov, A.B. Oskin, I.A. Salova Development of a unified high-performance torque motor for the navigation systems 118
V.D. Aksenenko, S.I. Matveev Study of angle-to-digital converter error based on variable reluctance transformer 119
V.A. Afanasiev, L.A. Vorobiova, Yu.A. Gollandtsev, I.E. Gutner The electromechanical actuating device with uniform magnetic field -
Yu.A. Gollandtsev, V.A. Afanasiev Simulation of transient and steady-state thermal modes of power semiconductor converter operation -

International Public Association
The Academy of Navigation and Motion Control
Official information

A.A.Odintsov In memory of S.F.Farmakovsky 121
XVIII General Meeting of the Academy of Navigation and Motion Control 126


Russian and international conferences, symposiums, and exhibitions 129

New books

O.N.Anuchin, I.E.Komarove, L.F.Porfiriev Onboard navigation and orientation systems of Earth artificial satellites 131
List of the materials published in the journal Gyroscopy and Navigation in 2004 135

The abstracts of the papers presented here
are available in Russian and English
at (Section "Publications")
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Last updated January 20th, 2005.