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Information Reliability, Monitoring and Diagnostics of Navigation Systems

  S.P.Dmitriev, N.V.Kolesov. A.V.Osipov
St. Petersburg: SRC of Russia - CSRI "Elektropribor". 2003. - p.207

Price - 60 RUR

© SRC of Russia - CSRI "Elektropribor". 2003.
© S.P.Dmitriev, N.V.Kolesov. A.V.Osipov, 2003.
ISBN 5-900780-46-5

Concepts of information failure and information reliability of navigation systems (NS) are introduced.
Procedures are considered to calculate NS information reliability, which are based on its error approximation by random diffusion and Markov jump processes. Techniques of the theory of runs and the Fokker-Planck-Kolmogorov equations solution are employed in the procedures.
Effective algorithms are proposed and analyzed for monitoring and diagnostics of information failures and NS malfunctions. The algorithms are based on methods for nonlinear multiple-choice filtration and are supposed to use Kalman filter bank. Examples are given for implementing monitoring and diagnostics for inertial and satellite NS.

The book is intended for wide range of specialists engaged in the field of NS designing. The book contains necessary reference information in mathematical statistics for better understanding the cited material.

Bibliograph.: 99, Fig.44, Tab. 2

CONTENTS

Foreword 3
Introduction 5
Chapter 1. Foundations of General Reliability Theory for Technical Systems 14
1.1. Technical System Hardware Reliability. Probabilistic Assessment 14
1.2. Simple Flow of Events and Markov Models for Technical System Operation 19
1.3. Reliability of Redundant Technical Systems 26
1.4. Monitoring and Diagnostics of Technical Systems 35
Chapter 2. Error Model and Information Reliability Assessment of Navigation Systems 42
2.1. Characteristics of Scalar Random Processes 44
2.2. Vector Markov Processes 52
2.3. Stochastic Error Models of Navigation System 56
2.4. Runs of Random Markov Processes. Fokker-Planck-Kolmogorov Equations 68
2.5. NS Information Reliability Assessment under Diffusion Error Models 74
2.6. NS Information Reliability Assessment under Jump Error Models 81
Chapter 3. Information Failures and Malfunctions in Navigation Systems. Monitoring and Diagnostics Methods 89
3.1. Monitoring and Diagnostics of Information Failures and Malfunctions as a Decision Problem 89
3.2. Review of Known Approaches to Solving Monitoring and Diagnostics Problems for Information Failures and Malfunctions 96
3.3. Estimation of Determined Dynamic System State 100
3.4. Optimal Estimation of Stochastic Dynamic System State 107
3.5. Monitoring and Diagnostics of Information Failures and Malfunctions in NS by Optimal Methods for Multiple-Choice Filtration 115
3.6. Monitoring and Diagnostics of Information Failures and Malfunctions in NS by Suboptimal Methods for Multiple-Choice Filtration 129
Chapter 4. Information Failures and Malfunctions of Navigation Systems. Examples of Monitoring and Diagnostics 137
4.1. Monitoring of Satellite Navigation System Integrity 137
4.2. Monitoring and Diagnostics of Information Failures in Redundant Autonomous System of Marine Navigation 146
4.3. Monitoring and Diagnostics of Information Failures in Low Redundant Autonomous System of Marine Navigation 157
Appendix 1. General Concepts of Probability Theory 175
Appendix 2. Riccati Equation Solution 181
Appendix 3. Probability of 1st Order Markov Process Non-Exceedance of a Specified Level at Interval 185
Appendix 4. Kalman Filter Ratio Derivation 193
References 200
On behalf of the Organizing Committee of the 4th Conference of Young Scientists Navigation and Motion Control 5


Session "Smart control systems"

S.N.Vasiliev
Logical approach to dynamic systems control (L e c t u r e)

7
E.A.Cherkashin
Using artificial intelligence for information-control systems

24
T.I.Madzhara
A computer-aided system for solving optimal control problems

31


Session "Gyroscopic systems"

A.A.Stolbov
On increasing the calibration accuracy of the inertial navigation system based on attitude gyros

38
A.M.Boronakhin
The use of analytical gyro vertical for navigation on the railway track

45
V.V.Pchelin, A.V.Uskov
A stabilized gyro compass based on a strapdown short-period vertical

53
N.V.Goncharov, Yu.V.Filatov
Development of goniometric methods and means for monitoring the vehicle attitude

58


Session "Data processing"

L.A.Mironovsky
The theory of invariants and its application in diagnosis (L e c t u r e)

64
Yu.A.Litvinenko
Kalman filter sensitivity to uncertainty of water current when solving the problem of inertial navigation system
damping by the log

83
A.P.Aleshkin, T.O.Myslivtsev
Adaptive empirical estimation of the state vector for a spacecraft under measurement shortage

89
M.S.Koryukin
The use of neuronet algorithms for processing data from redundant sensors

97
G.V.Bezmen
The possibility analysis for using neural networks in solving filtering problems

103
K.Yu.Petrova
Optimization of defect distinguishability in test diagnosis

107
I.S.Kayutin
Study of digital data processing algorithms for an acceleration sensor

115
D.P.Loukianov, A.Ya.Maizelis
Investigation of speed variations for high-speed gas flows in variable cross-section nozzles

121
V.A.Smirnov
Algebraic synthesis of controllers of gyroscopic stabilization and control systems

129
A.V.Bobkov
A system of positioning by the terrain image on the basis of line set analysis

137


Session "Sensors of navigation and control systems"

M.I.Evstifeev, M.F.Smirnov, A.A.Untilov
The analysis of mechanical, electrical and thermal characteristics in designing a micromechanical gyro

142
D.P.Loukianov, I.Yu.Ladychuk
Study of microaccelerometers using surface acoustic waves

149
Yu.V.Shadrin, S.G.Kucherkov
Dynamic characteristics of a ring micromechanical gyro with the open loop

155
Yu.V.Povodyrev, S.M.Dyugurov
Development of methods and means to increase the accuracy of the angular data pickup system of a strapdown electrostatic gyro

160
V.N.Khodurov
Experimental investigation into the thermal drift of fiber-optic gyros

165
D.I.Lychev, S.G.Kucherkov
A precision rotary test bench for testing a micromechanical gyro

171


Session "Control theory and systems"

V.O.Nikiforov
Control of vehicles with roughly known characteristics: roughness, adaptation and robustness (L e c t u r e)

177
V.O.Rybinsky
Robust stabilization of linear periodic systems

188
K.Yu.Polyakov
Ultimate possibilities of smoothing random processes using continuous-digital filters

196
O.E.Yakupov
An adaptive electro-hydraulic servo drive of the aircraft

203
T.V.Turenko
A hybrid model of the direct digital control system with a unitary-code sensor

211
A.G.Klimenkov, A.L.Starichenkov, T.S.Chernysheva
The software of the simulator for hydrofoil ship motion control

218


Session "Electronic and electromechanical devices of navigation and control systems"

V.D.Aksenenko, S.I.Matveev
Synchronous demodulation using the digital signal processing technique

225
Ya.V.Belyaev, Ya.A.Nekrasov
The methods for estimating the accuracy of a temperature stabilization system using the software for thermal fields calculation

229
A.M.Richnyak
A superconductive geomagnetic motor for spacecraft orientation and stabilization systems

233


Session "Computer technologies in navigation and control"

A.A.Belash, S.S.Gurevich
The central computer of the strapdown inertial attitude system and its software

241
D.A.Tomchin
The virtual laboratory for study and control of a single-rotor vibration bench

246
S.N.Turusov, O.Yu.Lukomskaya
The system of informational support for organizational readiness of the ship's crew

253


Session "Ship navigation"

A.V.Ulanov
The analysis of alternative approaches to managing the controlled motion of an underwater gliding vehicle

261
I.F.Shishkin, A.G.Sergushev
Using the science about tracks in water areas

268
A.G.Shpektorov, V.A.Zuev
Stabilization of a high-speed vehicle at the prescribed route

274
N.V.Kuzmina
Contrasting color of auxiliary information in the marine direction-finder

280


Session "Integrated navigation and orientation systems"

A.M.Boronakhin, A.V.Kazantsev. S.A.Karpasov
The results of experimental investigations of the navigation system on the railway as a part of the track measurement car CSRI-4

286
S.V.Ignatiev
A stabilized gyrocompass based on fiber-optic gyros with rotating sensor unit

291
A.A.Pisarevsky, A.N.Doronin
The integrated system for aircraft

299
Yu.V.Gavrilenko, N.A.Zaitseva, E.V.Kochneva
Suboptimal double-step filter for special navigation problems

303


Round table
"The results and forms of holding a conference using the Internet"

Yu.A.Litvinenko, O.A.Stepanov, D.O.Taranovsky
The experience in holding the conference of young scientists Navigation and Motion Control   using the Internet

309
L i s t    o f    a u t h o r s
315
Foreword 5
Gravimetry

L.K. Zheleznyak, V.N. Koneshov
Up-to-date methods for studying gravity field of the World ocean
9
L.K. Zheleznyak
The Russian marine gravimetric system
14
A.V. Sokolov, S.V. Usov, L.S. Elinson
Gravity survey in conditions of marine seismic work
21
B.A. Blazhnov, L.P. Nesenjuk, V.G. Peshekhonov, A.V. Sokolov, L.S. Elinson, L.K. Zheleznyak
An integrated mobile gravimetric system. Development and test results
33
V.N. Ilyin, Yu.L. Smoller, S.Sh. Yurist
A mobile ground-based gravity meter. Development and test results
45
V.N. Berzhitzky , V.N. Ilyin , E.B.Saveliev, Y.L. Smoller, Yu.V. Bolotin, A.A.Golovan, N.A.Parusnikov, G.V. Popov, M.V. Chichinadze
GT-1A inertial gravimeter system design experience and results of flight tests
48
O.A. Stepanov, B.A. Blazhnov, D.A. Koshaev
The efficiency of using velocity and coordinate satellite measurements in determining gravity aboard an aircraft
61
Yu.I. Nikolsky
Problems of reduction in high-accuracy gravity measurements in geodesy and geology
75

Gravity gradiometry

G.B. Volfson
State and prospects of gravity gradiometry development
90
A.B. Manukin
Design of a measuring system for a highly sensitive gravity gradiometer using vertical pendulums
105
M.S. Petrovskaya, G.B. Volfson
Construction of geopotential models by the satellite gradiometry data
111
V.G. Peshekhonov, G.B. Volfson
Problem solution for design of a gravity variometer operating on a moving base
118
G.B. Volfson, M.I. Evstifeev, V.G. Rozentsvein, M.P. Semenova, Yu.I. Nikolsky, E.V. Rokotyan, S.F. Bezrukov
A new generation of gravity variometers for geophysical investigations
122

 Borehole navigation

A.A. Molchanov, G.S. Abramov
Navigation in investigation of underground space in searching, exploring and developing mineral deposits
136
V.G. Rozentsvein
State of the art of borehole gyroscopic navigation systems
146
E.V. Freiman, S.V. Krivosheyev, V.V. Losev
Peculiarities of attitude algorithm construction for gyroscopic inclinometers based on a single-axis gyrostabilizer
168
N.P. Rogatykh
Methodical aspects of inclinometer design
178
V.M. Suminov, D.V. Galkin, A.A. Maslov
A mathematical error model of a gyro inclinometer
190
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Contents with abstracts
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