Abstract Two methods of modeling quasigeoid heights specified discretely in the Earth’s local surface areas using generalized Fourier series are considered. The first method involves modeling of the Earth gravitational field characteristics on a plane; it makes use of a two-dimensional Fourier transform in an orthonormal set of trigonometric functions. The second method implies the expansion of quasigeoid

Abstract Two safe navigation algorithms for autonomous underwater vehicles are described: algorithm for avoidance of point obstacles including all the moving underwater and surface objects, and limited size bottom objects, and algorithm for bypassing extended obstacles such as bottom elevations, rough lower ice edge, garbage patches. These algorithms are developed for a control system of a heavyweight

Abstract The most critical element of Hemispherical Resonator Gyroscope (HRG) is the high quality factor (Q-factor) mechanical resonator. This paper discusses the role of thermoelastic damping (TED) on effective Q-factor. Finite element method (FEM) is used to solve this highly coupled field problem involving vibration, solid mechanics, heat transfer and thermodynamics. The major contribution of this

Abstract The paper analyzes the development prospects for aircraft navigation systems using onboard geophysical field measurements. Prospective systems that are not widely applied yet are considered: magnetic gradiometers measuring the stationary magnetic field gradient, gravity gradiometers measuring the gravity field gradient, and electromagnetic systems measuring the alternating part of magnetic

Abstract Pedestrian navigation has been of high interest in many fields, such as human health monitoring, personal indoor navigation, and localization systems for first responders. Due to the potentially complicated navigation environment, selfcontained types of navigation such as inertial navigation, which do not depend on external signals, are more desirable. Pure inertial navigation, however, suffers

Abstract Formulas are obtained for estimating the random walk noise in the algorithmic compensation of gyroscope bias. An example of the statistical significance estimation for the factors affecting the bias during a fiber-optic gyroscope calibration in the operating temperature range and at different rates of their change is given. It is shown that the random error of temperature sensors can play

Abstract The paper studies a previously proposed method for calculating the current accuracy characteristics of a correlation-extreme search algorithm for solving the map-aided navigation problem. The proposed method is based on the analysis of the ratio of the extreme values of the functional used in the search algorithm for comparing the measured field fragment, and the fragments obtained from a

Abstract The paper briefly overviews the development of unmanned surface ship technology over the last 20 years. Main problems of their navigation equipment and algorithms, and their compliance with the International Maritime Organization requirements are discussed.

Abstract The paper considers the results of an analytical study of the errors in various scalar calibration algorithms for 3D sensors of a vector physical measurand. Practical recommendations for the implementation of the calibration algorithm are given. The results are confirmed by mathematical simulation.

Abstract The paper considers an algorithm designed to control the motion of an underactuated vessel along a path with a continuous bounded curvature. The algorithm, based on transverse feedback linearization, provides for restriction of the control signal. In this case, the state vector of the vessel motion model does not approach the singularity point of the control law. The control algorithm makes

Abstrast—The purpose of this work is to determine the time difference of transportable atomic clock during motion and to study the accuracy of obtained estimates. The estimates are obtained using the measurements from Global Navigation Satellite Systems and inertial navigation system. Results from autonomous and integrated processing of measurements from two systems are presented. Decrease in time

Abstract— The algorithm presented earlier is detailed for the case when an autonomous underwater vehicle (AUV) is equipped with a strapdown inertial navigation system (SINS) based on angular rate sensors and a water speed log. The algorithm simulation results for a SINS of navigation grade, a dual axis water speed log, two trajectories of the AUV motion when approaching the beacon to a distance of

Abstract Frequency response of a laser gyroscope was studied by numerical modeling of a complete system of equations describing it. The calculation results are compared to the results of experimental measurements taken on a precision dynamic test bench. The frequency response was measured for a gyroscope based on a four-mirror ring laser with a non-planar contour, operating on He–Ne active mix at the

Abstract—The paper considers an original autonomous correction algorithm for UAV navigation system based on comparison between terrain images obtained by onboard machine vision system and vector topographic map images. Comparison is performed by calculating the homography of vision system images segmented using the convolutional neural network and the vector map images. The presented results of mathematical

Abstract The article describes the design of passive underwater landmarks (PUL) and their use for navigation of autonomous unmanned underwater vehicles (AUV). The procedure of AUV observation using PUL is considered. It is shown that with proper maneuvering of the AUV during observation, the accuracy of determining its coordinates is limited only by the accuracy of the PUL positioning during installation

Abstract Algorithms for a dispatcher of a multi-agent control system for an autonomous underwater vehicle (AUV) are described. The algorithms are designed on a modular basis, which provides for the control of a wide range of tasks assigned to the AUV, and, in addition, makes the implementation of each algorithm simple.

Abstract The article gives an overview of methods for determining the attitude angles from observations of external reference vectors. To maintain the observability of the kinematic parameters of a free-flying airplane model motion in a vertical wind tunnel, we analyze the methods for determining the finite rotation vector using two, three or more vectors known in the model body frame, as well as their

Abstract The paper describes the relevance and advantages of the geophysical support for autonomous magnetometric navigation systems (MNS). Theoretical data on the Earth’s magnetic field components are considered, and the displacement of magnetic poles in international models of the Earth’s main magnetic field is analyzed. The prospects for mapping and software support of MNS are discussed. The results

Abstract—The paper focuses on improving the accuracy and shortening the time of shipborne SINS initial alignment under the ship yawing, rolling and pitching motions. This is achieved by implementing a two-step SINS alignment algorithm. At the first step, the ship attitude parameters are approximately autonomously estimated by data from gyros and accelerometers. The description of ship dynamics is introduced

Abstract—There are two basic approaches to strapdown attitude computation, namely, the traditional Taylor series expansion approach and the Picard iterative method. The latter was recently implemented in a recursive form basing on the Chebyshev polynomial approximation and resulted in the so-called functional iterative integration approach. Up to now a detailed comparison of these two approaches with

Abstract The paper addresses the systematic error of an inertial navigation system, caused by the discrepancy between the plumb line and the normal to the reference ellipsoid surface. The methods of this discrepancy estimation, and their use for correcting the output data of inertial navigation systems are studied.

Abstract—A new mathematical model has been constructed for the motion of a single-crystal resonator of a wave solid-state gyroscope in the form of a thin elastic shell rotating on a moving base, taking into account the influence of an electrostatic system of oscillations excitation. The expression derived for the potential energy of elastic deformation of the resonator takes into account low anisotropy

Abstract Modern gyroscopy is characterized by a great diversity of gyroscopes that have been and are being developed. Dominant positions belong to wave optic gyroscopes implementing the relativistic Sagnac effect, and micromechanical vibratory gyroscopes the operating principle of which is based on Coriolis effect. At the same time, high-precision rotor mechanical gyroscopes based on the principles

Abstract The paper studies the problem of reducing the errors of heading and pitch/roll angles for a strapdown inertial navigation system (SINS) based on fiber-optic gyroscopes (FOG) during a vessel maneuvering. The solution of the problem is analyzed mainly for autonomous mode of the system operation using the water speed log data. A specific feature of the studied solution is that the gyro drifts

Abstract— A critical functional part of a hemispherical resonator gyroscope (HRG) is the mechanical resonator, and a few million quality factor (Q-factor) is needed for the lowest resolution. This paper focuses on anchor loss of a HRG of a few millimeters in size. A detailed parametric study of dimensions and shell imperfections due to fabrication is carried out. A sensitivity study of the effect of

Abstract— The article considers a problem of autonomous underwater vehicle (AUV) positioning with acoustic measurements of range and possibly radial velocity relative to a single beacon, velocity components and coordinate increments from an inertial navigation system, and the data from a water-speed log or a ground log. Interruptions in acoustic measurements reception are acceptable. Availability of

Abstract— Reduction of optical quantum sensors in size, including nuclear magnetic resonance (NMR) gyroscopes, implies primarily downsizing of the working gas cell. This paper considers the dependence of isotope shift in the balanced scheme based on NMR in xenon isotopes on the dimensions of the gas cell. With this aim in view, an experimental and theoretical studies of the factors affecting the relaxation

Abstract Reconfiguration of a motion control system (MCS) for an autonomous underwater vehicle (AUV) in case of failure of some of the controls or actuators that provide the vehicle propulsion and maneuvering is discussed. The features of actuators operating on different physical principles are analyzed. A nonlinear mathematical model of the vehicle motion is formed taking into account the features

AbstractThe features of a feedback loop in a quantum sensor with a two-frequency spin oscillator are discussed. Engineering solutions that ensure stable two-frequency oscillation and, in particular, the use of automatic gain control units and all-pass filters are considered. The results of experimental studies of oscillation modes conducted on a quantum sensor breadboard are presented for stationary

AbstractThe paper presents the brief history of development of a precision gyroscope with electrostatic suspension of rotor; the main problems of constructing a gyro with a hollow rotor, as well as their solutions found by the chief designer A.S. Anfinogenov are discussed.

Abstract—This study analyses the GPS velocity estimation performances of three different estimation models, namely, the time-differenced carrier phase velocity estimation (TDCPVE), Doppler observation velocity estimation (DopplerVE), and precise point positioning velocity estimation (PPPVE). Static and vehicle kinematic experiments are conducted for validation. Under simulated kinematic conditions

AbstractAccording to well-described literature concerning the work history of multipath mitigation in the global navigation satellite systems (GNSS), multipath is still the most dominant factor in a challenging environment. There are unperturbed harsh circumstances where GNSS signals cannot reach and smartphone navigation is not possible. The main objective of this research is to find an accurate solution

AbstractThe paper presents brief information on the results of research and development activities undertaken in 2015–2019 and aimed at the practical implementation of e-Navigation concept. Current state of practical application of S-mode, the only global product created within the concept, is studied. Most of the new technologies developed under the main regional projects are discussed. Special focus

AbstractProbabilistic study of angular motion dynamics has been performed for CubeSat nanosatellites with passive stabilization systems, including aerodynamic, aerodynamic-gravitational, gravitational, and gravitational-aerodynamic ones. Analytical functions of the maximum angle values distribution have been obtained for a nanosatellite axes deviation from required directions (orbital velocity vector

AbstractA new algorithm for geophysical map-aided navigation is proposed. It does not require any preliminary estimation of the field measured along the vehicle trajectory and, as consequence, does not need any stochastic field model. The algorithm uses a whole set of the available geophysical field measurements. The accuracy analysis procedure applied to estimate the effectiveness of the proposed

Abstract—The Allan variance was originally meant to be a characteristic of time and frequency standards, but now it is widely used in many fields, including the development of navigation devices. The paper considers different applications of the Allan variance to various tasks, among which is estimation of characteristics of navigation devices. However, sometimes the Allan variance does not seem to

Abstract—The limitations of Kalman filter (KF) have motivated researchers to consider alternative methods of integrating inertial navigation systems (INS) and global navigation satellite systems (GNSS), predominantly based on artificial intelligence (AI). Over the past two decades, a great number of research gained in order to validate the possibility of using AI methods in the field of integrated

AbstractThe paper presents the gravimeters for measuring the gravity from moving platforms, and the stages of their development at the Concern “Central Scientific Research Institute “Elektropribor” (hereinafter CSRI Elektropribor). Engineering solutions are described, due to which high accuracy of measurements has been achieved. The authors discuss popular applications of mobile gravimeters.

AbstractThe paper deals with the possibility of direction finding and determining the coordinates of a source of acoustic signal emitted by a surface or underwater vehicle in the subsonic frequency range. For this purpose combined hydroacoustic receivers are used. During the first experiment, the estimates of the systematic component of direction finding error were obtained when the source emitted

AbstractThe results of a comparative analysis of methods for positioning and timing support of remote users based on GNSS measurements from a GLONASS receiver and observational data on quasar radiation from compact very long base radio interferometric (VLBI) systems are discussed. Using radio telescope measurements increases the stability of positioning-and-timing and navigation support of users owing

AbstractThe paper discusses the specific features of tuning and calibration of a Coriolis vibratory gyroscope (CVG) with a metal resonator for the angular rate sensor (ARS) mode. Since the output signal contains the Coriolis and quadrature components, the compensating signal in the feedback loop is formed on the basis of two-stage correction algorithm. The results of the CVG-ARS testing using an electronic

Abstract—Global Navigation Satellite System (GNSS) software-defined radio (SDR) is a programmable software receiver, primarily used to receive satellite data and provide user position. It is flexible and cost-effective compared to conventional satellite receivers. In GNSS SDR, recording the live raw data in real-time is a challenging task as large data are sent by the satellites at a very high speed

AbstractUnmanned aerial vehicle (UAV) is a complex system. Its design involves control, aerodynamics, and communication systems. We use the complex linear relationships among UAV attributes (sensor readings, and commands) to propose a new technique to detect contextual faults. The contextual faults mean that a defective sensor shows invalid values concerning the context of other attributes. The proposed

AbstractThe paper addresses the dynamics of on-board gravity gradiometers for measuring the second derivatives of the geopotential. Mathematical models of accelerometer and dumbbell versions of the devices are developed, and their instrumental errors are analyzed.

AbstractThe paper considers the techniques developed for calibration of an inertial measurement unit (IMU) containing three angular rate sensors (ARS). Calibration is performed on a two-axis calibration turntable with a thermal chamber. For instrumental errors of ARS measurements, a priori parametric model is introduced, which includes biases, scale factor errors, small angles of nonorthogonality of

AbstractTheoretical characteristics of codeless GPS-signal acquisition in the L1 band are described and analyzed. The results obtained allow for a reliable choice of a coherent integration interval, calculation of signal detection thresholds, and estimation of signal detection probability. The operability and feasibility of the technique for codeless signal acquisition by frequency has been experimentally

Abstract—In this paper, the problem of an autonomous unmanned aerial vehicle (UAV) approach to a target which is selected in a reference image is addressed. A robust matching algorithm is proposed to reliably project the selected point in the reference image into the live images of a quadrotor helicopter. Projective transformations are applied to the reference image to extract additional keypoints

AbstractThe paper presents a comparative analysis of the extended Kalman filter (EKF) and the sigma-point Kalman filter (SPKF) applied to solve the problem of SINS/GNSS integration based on a loosely-coupled integration scheme. Complete stochastic measurement models of MEMS inertial sensors are considered. The efficiency of the EKF and the SPKF is evaluated using real experimental data on complex motion

AbstractThe paper describes the experience of constructing an integrated SINS/GNSS navigation system for supporting a side-looking synthetic aperture radar, located aboard a small-sized unmanned aerial vehicle (UAV). Key features and factors that should be taken into account when developing a navigation system operated under severe conditions are studied. Flight test results are presented, including

AbstractThe main features of the design and circuitry of an ESG-based sensor for measuring three angles of a moving object rotation are discussed. The physical basis of the proposed engineering solution is generation of rotational and single- or two-component translational motion of an electrostatically suspended rotor with the use of a torquer and force transducer. The theoretical justification, algorithms

AbstractA new algorithm and a method of coordinate referencing of an unmanned autonomous underwater vehicle (AUV) to underwater objects using stereo images are proposed for automated inspection of bottom industrial infrastructure facilities. Computational experiments have been carried out using a modeling simulator based on a hybrid multiprocessor computing architecture. The proposed solutions have

AbstractThe Earth-centered, Earth-fixed (ECEF) frame does not have any specific points in the near-Earth space; therefore, it can be used as the basic one for navigation in the polar regions. The paper considers a new algorithm for calculation of ECEF coordinates. The proposed algorithm is complementary to the basic strapdown INS algorithm, which functions in its normal mode from aircraft takeoff to

AbstractThe paper considers modification of a reaction wheel current control loop based on a fuzzy controller trained by a genetic algorithm. The control logic maintains the motor current which can be represented as a sum of two components, one of which is proportional to the input signal, and the other one corresponds to the error of control moment implementation. It is shown that the system with

AbstractThe technique for calibration of sensors in a strapdown inertial measurement unit on a relatively coarse (1°–2°) turntable are discussed. The proposed technique is based both on direct and indirect methods. Calibration errors are estimated analytically and, also, by means of mathematical simulation. For direct methods, the choice of program orientations is substantiated; the vector method is

AbstractThe results of study of a fiber-optic gyroscope prototype with 0.01–0.001deg/h drift are presented. The gyroscope comprises three feedback loops: one for Sagnac phase difference compensation, the second one for the scale factor stabilization, and the third (fast-response) one for the compensation of constant component of optical signal on the photodetector, affecting the measurement channel

Abstract—Vision-based navigation has been of interest in aviation for decades. Driven by the demand for optical verification of take-off and landing procedures during all-weather operation many developments have been raised following changes in technology of sensor and processing hardware and aviation requirements. This paper summarizes the developments from the 60s until today and exemplarily discusses

Abstract—Ring Laser Gyroscopes (RLGs) are widely used in many airborne and navigation systems for accurate measurement of the true rotation of the body movement. But the RLG’s suffer a serious problem at low frequencies known as Lock–in frequency. To avoid lock-in problem, the RLG is vibrated mechanically to a high frequency which is known as Dithering. In order to get the true rotation of the body

AbstractThe paper considers the methods of high-precision navigation of space geodetic systems. A technology of determining the orbit parameters by kinematic and dynamic methods using GLONASS signals is proposed. It is for the first time that experimental estimates of position errors have been obtained in a study case of Geo-IK-2 spacecraft, with the measurement residuals of the global quantum-optical

AbstractThe study makes an approach to the problem of circumlunar spacecraft navigation using the measurements from the global navigation satellite systems (GNSS) GLONASS, GPS, Galileo and BeiDou. Algorithms have been developed for determining the orbits of low- and high-orbit circumlunar spacecraft, based on the method of dynamic filtering of pseudo-range measurements from “reverse” navigation satellites

AbstractThe paper addresses the practical implementation of a calibration algorithm for a magnetometer integrated in an electronic device, using synchronous measurements of a gyroscope. Recurrent expressions have been derived for accumulating the intermediate matrices, due to which there is no need for accumulating the full set of primary measurements of vector counters. An algorithm has been formulated