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Integrated orientation and navigation systems for marine vehicles/carriers (In Russian)

O.N.Anuchin, G.E.Yemeliantsev

356 p.
Saint-Petersburg, CSRI "Elektropribor"



The book deals with integrated orientation and navigation systems (IONS) which are the main source of information of automatic motion control systems of marine vehicles.

The purpose and the basic design of IONS are considered, the algorithms for the operation of strapdown inertial measurement units (SIMU) and receivers of spacecraft navigation systems (SNS) are given. The purpose and the problems solved by electronic chart display information systems (ECDIS) are described. The SIMU mathematical error models based on different types of gyroscopes and gyroless SIMU are presented, as well as IONS error models for alignment and calibration modes, autonomous and observation operational modes.

The state of the art in the development of the main modules of IONS, in particular, SIMU sensitive elements, receivers of SNS and ECDIS is reviewed. The present-day requirements are formulated and structure of IONS for ships and vessels of various classes is described.

The accuracy in generation of navigational and dynamic motion parameters of marine vehicles provided by IONS based on SIMU with electrostatic, laser and fiber-optic gyros, as well as gyroless SIMU with angular accelerometers is analysed. A mathematical model, analytical expressions for errors and the results of computational error modeling are given for each of IONS considered in the book.

The book is intended for engineers, technicians and researchers engaged in marine engineering, navigation and marine motion control problems. The book can be used by teachers, postgraduates and senior students of naval schools.

References: 79. Illustrations: 71.

The book review published in journal "Gyroscopy and Navigation" No 1(28), 2000.


CONTENTS

Introduction

Chapter 1. The construction and the algorithms of integrated orientation and navigation systems for ships and marine vessels
1.1. The purpose, the problems to be solved and the structure
1.2. Interfaces and information networks
1.3. Operational modes and the methods of integrated data processing used in them
1.4. The algorithms for operation of strapdown inertial measurement units
1.5. The methods and algorithms for navigation determination in satellite navigation systems
1.6. The purpose and the problems solved by electronic chart display navigation information systems

Chapter 2. Error models of integrated orientation and navigation systems
2.1. The error models of strapdown inertial measurement units
2.2. The error models of satellite navigation systems
2.3. The error model of the relative log
2.4. The models of IONS errors in generation of navigation and dynamic parameters

Chapter 3. The state of the art and the problems of development of the main modules of integrated orientation and navigation systems for marine vehicles/carriers
3.1. Strapdown inertial measurement units and their sensitive elements
3.2. The receivers of satellite navigation systems
3.3. The electronic chart display information systems
3.4. The present-day requirements to the IONS. The composition of the IONS for marine vessels of various classes

Chapter 4. The accuracy analysis for integrated orientation and navigation systems in generating navigation and dynamic motion parameters of marine vehicles
4.1. General provisions
4.2. The integrated orientation and navigation system based on a SIMU with electrostatic gyroscopes
4.3. The integrated orientation and navigation system based on a SIMU with laser gyroscopes
4.4. The integrated orientation and navigation system based on a SIMU with fiber-optic gyroscopes
4.5. The integrated orientation and navigation system based on a gyroless SIMU

Appendices
Appendix 1. Strapdown inertial navigation systems of the NATO ships
Appendix 2. An integrated orientation and navigation system for SEAPATH 400 ships/vessels
Appendix 3. The algorithms for modeling the motion of the SIMU seating

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Journal "Giroskopiya i Navigatsiya" website (in Russian)
• based on fiber-optic gyros (FOG)
• based on micromechanical gyros (MMG)
• Shipborne speed and depth meters
• Magnetic compasses
• Communication complex Distancia-E
• Integrated Shipborne Communication and Broadcasting Complex P-409
• Trailing towed array device K-697E
• Equipment for shipborne self-powered telephone communication BTS
• Shipborne automatic digital telephone exchange P-443E
• Floating information assemblies for submarines
• Mobile aeromarine gravimeter Chekan-AM
• Multi-purpose bottomhole remote sensing system UZTS-90
• Micromechanical gyro MMG-2
• Micromechanical gyro MMG-EPTRON
• Multi-channel micro-acceleration measurement system SINUS
• Autonomous attitude control system for low-orbiting spacecrafts