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An approach to the solution of a problem for autonomous underwater vehicle navigation and 3D reconstruction of locality by stereo images is described. The basis for navigation by stereo images is the method of visual odometry. Several modifications of the method directed to increase in accuracy of vehicle localization and decrease in computing expenses were suggested. It includes an adaptive procedure...
In the given work, we consider the concept of forming extrasmall satellites to the base of a universal block-modular platform “Synergy”. One of the key elements of such a nanosatellite is the orientation and stabilization system to provide the desired position the nanosatellite on orbit by the use of “liquid flywheel”, in which line with mercury a key component. The proposed system is a hydrodynamic...
According to the requirements of the fiber optic gyro with high-accuracy, the high-power and high-accuracy double-pass backward (DPB) erbium-doped fiber source was used. The optimization parameters of high-power, high-efficiency erbium-doped superfluorescent fiber source are designed. Near Gaussian-shaped spectrum of erbium-doped superfluorescent fiber source was designed. Near Gaussian-shaped spectrum...
We consider the problem of ensuring predetermined attitude of a microsatellite with three flywheels and a strong permanent magnet with hysteresis rods on board. Small displacement vector of magnetic moment of the magnet models the perturbing effect of various equipment installed on board the microsatellite. Application of the integral manifolds method and the averaging method allow us to obtain the...
In this paper made an attempt to reveal the features of the problem associated with the development and creation of nanosatellites of the CubeSat format. It is shown that, due to small weight and size parameters, nanosatellites are faster inhibited by the Earth's atmosphere and experience the effect of much larger aerodynamic accelerations, this fact must be taken into account for planning nanosatellite...
This article describes the sensor calibration technology for the SamSat nanosatellite platform attitude sensing system, which consists of a three-axis magnetometer and a three-axis angular velocity sensor. Using the described technology, calibration tests of sensors were carried out and parameters of error models caused by the temperature of the device were determined for each sensor under study....
In this paper, the express test feasibility of the fiber optic gyroscope (FOG) coil winding symmetry quality using periodic variation temperature excitation is confirmed in theory by using the 3D fiber coil model that we proposed early. Then experiments are conducted to see how a FOG coil responds to periodic variation temperature excitation when its symmetry properties are purposely changed, which...
Various types of gyroscopes are currently used for stabilization, navigation and control in strategic accuracy systems and special devices of different purposes: classical mechanical gyro (MG), dynamically-tuned gyro (DTG), floated-type gyro (FG), electrically suspended gyro (ESG), ring laser gyro (RLG), fiber optic gyro (FOG) and micro electro mechanical gyro system (MEMS). In 1982 a team of PhDs...
Methods to increase the resistance of an inertial measurement unit (IMU) based on micromechanical sensors to external mechanical and thermal actions are discussed. Application of the passive method, a damping gasket, in the IMU designed in the JSC Concern CSRI Elektropribor is described. The features of the damping gasket design with the use of finite element modeling are considered. An optimized...
In this paper, we consider a technique for increasing the aspect ratio (AR) of an electrostatic comb drive structure of a microelectromechanical system, which is fabricated with the bulk microstructuring technology. The technical solution is described, which allows increasing the electrical capacity of driving and measuring comb structures, reducing the duration of plasma etching and increasing AR...
This paper describes a method providing scale factor linearity in compensation type angular rate and linear acceleration meters with digital feedback and pulse width modulation control of torque sensor electric current, which provides high levels of scale factor stability in precision measuring devices without the need of introducing heightened requirements to the component base.
This paper addresses the influence of temperature of the upper limit of the operating range on the scale factor of the compensation pendulum gas-filled accelerometer with the elastic suspension designed by the Pilyugin Center.
The report describes a high-accuracy method for determining the output characteristic linearity of a compensation type pendulum linear accelerations meter (accelerometer) without the use of expensive equipment.
The low cost and small size of MEMS inertial sensors allows their combination into a multi sensor module in order to improve performance. However the different linear accelerations measured on different places on a rotating rigid body have to be considered for the proper fusion of the measurements. The errors in measurement of MEMS inertial sensors include deterministic imperfection, but also random...
Layout design stage of an integrated circuit for a micromechanical accelerometer is considered. A method for automated placement of repeating elements of analog blocks is proposed. The method takes into account area restrictions and placement of a block digital part. The layout of the capacitors array for the digital-to-analog converter is automatically synthesized with the proposed method, taking...
The study of free motion of the rotor-type micromechanical gyro sensing element as a round orthotropic plate clamped at its center was based on the Timoshenko-Mindlin plate theory. Fixation of the rotor at its center was modeled as the clamped edge of a small-radius inner hole of the plate. The mathematical model of the sensing element motion was designed in accordance with the assumptions made in...
The report provides test results of checking the hypothesis on the Gaussian distribution of errors in the position determinations defined during numerous flights within one-hour time sample for SINS installed on board high-maneuverable objects. The problem under consideration concerns the correctness in the employment of quality evaluation criteria for SINS navigation solution based on the hypothesis...
Critical operating modes of the strapdown inertial orientation systems (SIOS) or such rotations, under which the error of the SIOS increases with the unchanged accuracy of the gyros and the unchanged SIOS algorithm, are presented. Euler's theorem is well-known: A rigid body with a fixed point can be rotated to any angle position about some axis by some angle. Two new theorems are proved: 1. A rigid...
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