Vol 8, No 3 (2017)

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.

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.

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.

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.