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Том 7, № 4 (2016)
- Год: 2016
- Статей: 7
- URL: https://bakhtiniada.ru/2075-1087/issue/view/12688
Article
MEMS rotary strapdown INS with low-resolution rotary encoder
Аннотация
The paper focuses on two problems of conventional attitude algorithm in MEMS rotary SINS. One is that the yaw error diverges, and the other is that the high-resolution rotary encoder is relied on. In order to solve the problems mentioned, an improved attitude algorithm in MEMS-RSINS aided by compass/rotary encoder is proposed and detailed. Then simulation is conducted to prove the validity of this improved attitude algorithm.
311-317
Positioning improvement by combining GPS and GLONASS based on Kalman filter and its application in GPS spoofing situations
Аннотация
After renewed GLObal NAvigation Satellite System (GLONASS) was completed and it became world wide as its U.S. counterpart, Global Positioning System (GPS), the best way for increasing the number of satellites in the user’s view is combining these two systems. On the other hand, as it is possible for GPS satellites to be spoofed or blocked, combining becomes more efficacious. In this paper, GPS and GLONASS are used for positioning using Kalman filter. Kalman filter is utilized here because it is one of the cheapest and applicable tools for implementing on cheap processors. In addition, in this paper, we proposed a method against GPS signal spoofing based on combination of GPS and GLONASS regarding to pseudorange behavior in spoofing situations. The proposed method is not only easy to implement, but also low cost and high precision. This method without any need for expensive receiver has ability for real-time recognition of spoofing attacks and eliminating its effects. The recorded data was collected using an implemented GPS, and GLONASS RF front-end in stationary mode and in order to show spoofing effects on positioning an artificial spoofing was applied on GPS satellite signals in different scenarios. The simulation results showed a big improvement in Root Mean Square (RMS) error in comparison with GPS-only positioning in all spoofed scenarios.
318-325
Methods for determining deflections of the vertical on a moving base
Аннотация
The basic methods for determining deflections of the vertical on a moving base are considered. The classification criteria of these methods are proposed. The comparative analysis of the methods has been performed based on the proposed criteria.
326-336
The influence of regularization methods on the accuracy of modern global geopotential models
Аннотация
Regularizing properties of stabilizing factors are studied to improve the accuracy of the Fourier series summation by spherical functions, used to describe the Earth’s gravitational field. The efficiency of the tested methods is estimated using the nonregularized global gravity field model ITSG-Grace2014s available on the ICGEM website [8].
337-342
Experimental estimation of delivery success of navigation data packages transmitted via digital hydroacoustic communication channel
Аннотация
The paper reports the experimental research and provides the obtained quantitative and qualitative dependencies of underwater acoustic (UWA) modem performance, particularly, delivery success of navigation data packages on the main characteristics of hydroacoustic communication channel. Experiments were carried out at the sea shelf near the island of Palmaria (Italy, Mediterranean) during CommsNet13 marine expedition organized by the Center for Maritime Research and Experimentation (CMRE, La Spezia) using UWA S2C modems by Evologics, Germany.
343-352
Path following control algorithms implemented in a mobile robot with omni wheels
Аннотация
The paper focuses on the problem of synthesis of path following control for a robot with omni wheels. Control is synthesized using differential geometry methods through nonlinear transformation of the initial dynamic model. The main results are presented in the form of nonlinear control algorithm and experimental data.
353-359
Erratum
Erratum to: “Estimating the navigation informativity of the Earth’s anomalous gravity field”
360-360