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Том 8, № 3 (2017)
- Год: 2017
- Статей: 8
- URL: https://bakhtiniada.ru/2075-1087/issue/view/12698
Article
Aircraft navigation using MEMS IMU and ground radio beacons
Аннотация
Navigation of a small-sized aircraft is discussed using integrated data from MEMS-based IMU and receiver of ground radio beacon signals within an integrated tightly-coupled orientation and navigation system (IONS). IONS algorithms and errors in orientation and navigation parameters are considered both during prestart IMU error calibration with external aiding over a limited time interval and during simulation of aircraft flight along a preset path. Data in IONS are integrated using the extended Kalman filter (EKF). In simulation modeling of IONS functioning algorithms in Matlab (Simulink) we used data of bench tests of MEMS sensors developed by Elektropribor.
173-180
Indoor laser-based SLAM for micro aerial vehicles
Аннотация
This article presents a laser-based 2D simultaneous localization and mapping (SLAM) algorithm for indoor environments. An adaption and optimization of a ground vehicle SLAM solution (TinySLAM) for the use with Micro Aerial Vehicles is proposed. Optimizations of the map update strategy and a motion model improves the accuracy strongly. An extension to 3D mapping is introduced. The presented algorithm is tested with simulated and real world data. The optimized SLAM solution maps a whole floor of an office building very accurately and achieves embedded real-time capability.
181-189
Motion monitoring based on a finite state machine for precise indoor localization
Аннотация
This paper presents a precise stance detection method for accurate personal localization using a foot-mounted inertial measurement unit. The exact classification of the stance phases of the foot is realized with a finite state machine (FSM), which separates the human gait circle in different sub-states. The FSM-based approach provides high accurate and robust detections of Zero Velocity Updates (ZUPTs) which can be applied to the navigation filter. We use a constraint stochastic cloning (SC) Kalman filter to show the performance of the high precise ZUPT intervals with real world sensor data including forward, backward and staircase motion. Even for the movement type running and the signals of an ultra-low cost inertial measurement unit we achieve with our motion monitoring system a position estimation with an average error of less than 1.5% of the travelled distance.
190-199
Vision system as an aid to car navigation
Аннотация
We focus on car navigation method using vision system and digital road map. Vision system installed onboard the car serves as an additional source of navigation information. It is used to determine the car lateral deviation relative to the road axial line, range and bearing to the intersection center. Algorithm generating these parameters is described with account for the topology and parameters of roads presented in the digital map. Accuracy of lateral deviation and range measurements is estimated using real data.
200-208
Some algorithms for determining an unknown initial position of AUV using information from a single beacon navigation system
Аннотация
Determination of the unknown initial position of an autonomous underwater vehicle (AUV) using information on the distance to a single mobile hydro-acoustic beacon (MHB) transported by an autonomous surface vehicle (ASV) is discussed. Three algorithms used to solve the problem are described. Some results of the algorithms performance obtained during the sea trials with the use of a marine autonomous robotic complex (MARC), including an AUV and ASV, are considered.
209-216
Identification of AUV hydrodynamic characteristics using model and experimental data
Аннотация
The identification method of AUV hydrodynamic characteristics is presented in the paper. It uses virtual hydrodynamics software and trajectory measurements of the state vector in various motion modes. Quantitative estimates of hydrodynamic characteristics are given for one of the AUVs recently created in IMTP FEB RAS.
217-225
Complex technology of navigation and geodetic support of airborne electromagnetic surveys
Аннотация
The paper considers a complex technology of navigation and geodetic support for airborne geophysical surveys by the example of an airborne electromagnetic survey that makes use of an outboard platform connected to the helicopter with a cable. The technology is based on satellite and photogrammetric methods. The innovation methods used to determine navigation and geodetic parameters are protected by the Russian patents and have been tested in practice. The paper presents the results of the authors’ long-term experience in this field of research.
226-234
Adjustment of PID controller in fiber-optic gyro feedback loop
Аннотация
Functioning of closed-loop FOG is presented. Block diagram of FOG control system is given, and sources of nonlinear distortions of its components are described. A method to analyze the closed-loop FOG control system is proposed for adjustment of PID controller that does not require complex and high precision test equipment. Control target function is set, and coefficients of PID controller are selected optimal for this target function and certain FOG sample.
235-239