Attitude determination in integrated GNSS-inertial navigation systems in information and measurement insufficiency conditions
Abstract The article presents the attitude determination algorithm for multi-antenna global navigation satellite and inertial integrated navigation system operating under information and measurement insufficiency conditions. The information and measurement insufficiency conditions are understood as...
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Published in | Journal of physics. Conference series Vol. 1925; no. 1; pp. 12052 - 12062 |
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Main Authors | , , , |
Format | Journal Article |
Language | English |
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01.05.2021
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Abstract | Abstract
The article presents the attitude determination algorithm for multi-antenna global navigation satellite and inertial integrated navigation system operating under information and measurement insufficiency conditions. The information and measurement insufficiency conditions are understood as the impossibility of the inertial system alignment on a fixed base and the absence of a redundant number of satellites to resolve the carrier phase integer ambiguity. The ability of the navigation system to operate in such conditions is achieved by combining several existing attitude determination methods and using the new method of attitude determination using ambiguous satellite phase measurements and absolute angular rate measurements. The hardware-in-the-loop simulation results using a 2-axis motion simulator and microelectromechanical systems inertial sensors are presented. The results confirm the efficiency of the proposed approach to the design of the navigation system algorithm. |
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AbstractList | The article presents the attitude determination algorithm for multi-antenna global navigation satellite and inertial integrated navigation system operating under information and measurement insufficiency conditions. The information and measurement insufficiency conditions are understood as the impossibility of the inertial system alignment on a fixed base and the absence of a redundant number of satellites to resolve the carrier phase integer ambiguity. The ability of the navigation system to operate in such conditions is achieved by combining several existing attitude determination methods and using the new method of attitude determination using ambiguous satellite phase measurements and absolute angular rate measurements. The hardware-in-the-loop simulation results using a 2-axis motion simulator and microelectromechanical systems inertial sensors are presented. The results confirm the efficiency of the proposed approach to the design of the navigation system algorithm. Abstract The article presents the attitude determination algorithm for multi-antenna global navigation satellite and inertial integrated navigation system operating under information and measurement insufficiency conditions. The information and measurement insufficiency conditions are understood as the impossibility of the inertial system alignment on a fixed base and the absence of a redundant number of satellites to resolve the carrier phase integer ambiguity. The ability of the navigation system to operate in such conditions is achieved by combining several existing attitude determination methods and using the new method of attitude determination using ambiguous satellite phase measurements and absolute angular rate measurements. The hardware-in-the-loop simulation results using a 2-axis motion simulator and microelectromechanical systems inertial sensors are presented. The results confirm the efficiency of the proposed approach to the design of the navigation system algorithm. |
Author | Kuznetsov, I M Veremeenko, K K Pronkin, A N Zharkov, M V |
Author_xml | – sequence: 1 givenname: M V surname: Zharkov fullname: Zharkov, M V organization: Automated Complexes of Attitude and Navigation Systems Department, Moscow Aviation Institute (National Research University) , Russian Federation – sequence: 2 givenname: K K surname: Veremeenko fullname: Veremeenko, K K organization: Automated Complexes of Attitude and Navigation Systems Department, Moscow Aviation Institute (National Research University) , Russian Federation – sequence: 3 givenname: I M surname: Kuznetsov fullname: Kuznetsov, I M organization: Automated Complexes of Attitude and Navigation Systems Department, Moscow Aviation Institute (National Research University) , Russian Federation – sequence: 4 givenname: A N surname: Pronkin fullname: Pronkin, A N organization: Automated Complexes of Attitude and Navigation Systems Department, Moscow Aviation Institute (National Research University) , Russian Federation |
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Cites_doi | 10.1080/23080477.2020.1824055 10.2514/1.G002504 10.21303/2461-4262.2020.001361 10.1134/S2075108718020049 10.1134/S2075108718040090 10.1007/s00190-010-0380-8 10.1179/003962609X390058 10.3390/rs12223736 |
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References_xml | – volume: 8 start-page: 219 year: 2020 ident: JPCS_1925_1_012052bib2 article-title: About One way to increase the accuracy of navigation system for ground wheeled robot used in aircraft parking publication-title: Smart Science doi: 10.1080/23080477.2020.1824055 contributor: fullname: Chernomorsky – volume: 40 start-page: 1 year: 2017 ident: JPCS_1925_1_012052bib8 article-title: Survey of global-positioning-system-based attitude determination algorithms publication-title: J. Guid. Control Dynam. doi: 10.2514/1.G002504 contributor: fullname: Goh – start-page: 558 year: 2004 ident: JPCS_1925_1_012052bib9 contributor: fullname: Titterton – volume: 4 start-page: 38 year: 2020 ident: JPCS_1925_1_012052bib1 article-title: Navigation and motion control systems of the autonomous underwater vehicle publication-title: EUREKA: Physics and Engineering doi: 10.21303/2461-4262.2020.001361 contributor: fullname: Antonov – volume: 9 start-page: 97 year: 2018 ident: JPCS_1925_1_012052bib5 article-title: Specific features of constructing a dual-mode GNSS gyrocompass as a tightly-coupled integrated system publication-title: Gyroscopy and Navigation doi: 10.1134/S2075108718020049 contributor: fullname: Emel’yantsev – ident: JPCS_1925_1_012052bib12 – volume: 9 start-page: 277 year: 2018 ident: JPCS_1925_1_012052bib3 article-title: Attitude determination using ambiguous GNSS phase measurements and absolute angular rate measurements publication-title: Gyroscopy and Navigation doi: 10.1134/S2075108718040090 contributor: fullname: Zharkov – ident: JPCS_1925_1_012052bib11 – volume: 84 start-page: 433 year: 2010 ident: JPCS_1925_1_012052bib7 article-title: Integer least-squares theory for the GNSS compass publication-title: J. Geod. doi: 10.1007/s00190-010-0380-8 contributor: fullname: Teunissen – volume: 41 start-page: 138 year: 2009 ident: JPCS_1925_1_012052bib10 article-title: The GNSS ambiguity ratio-test revisited: a better way of using it publication-title: Surv. Rev. doi: 10.1179/003962609X390058 contributor: fullname: Teunissen – start-page: 314 year: 2013 ident: JPCS_1925_1_012052bib6 contributor: fullname: Noureldin – volume: 12 start-page: 3736 year: 2020 ident: JPCS_1925_1_012052bib4 article-title: Integrated GNSS/IMU-Gyrocompass with rotating IMU. Development and test results publication-title: Remote Sens-Basel. doi: 10.3390/rs12223736 contributor: fullname: Emel’yantsev |
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The article presents the attitude determination algorithm for multi-antenna global navigation satellite and inertial integrated navigation system... The article presents the attitude determination algorithm for multi-antenna global navigation satellite and inertial integrated navigation system operating... |
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SubjectTerms | Algorithms Axis movements Global navigation satellite system Hardware-in-the-loop simulation Inertial navigation Inertial sensing devices Microelectromechanical systems Motion simulators Navigation satellites Navigation systems Physics Satellite tracking Satellites |
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Title | Attitude determination in integrated GNSS-inertial navigation systems in information and measurement insufficiency conditions |
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