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Although the Extended Kalman Filter (EKF) achieves satisfactory estimations in general, inconsistencies can appear when the filter is used in adverse conditions. After explaining theoretically why such inconsistencies appear, three filters are presented: the Schmidt-Kalman Filter (SKF), the Observability-Constrained EKF (OCEKF) and the Invariant Filter (IF). These techniques, designed to preserve...
In modern vehicle management systems, usage of navigation systems in complex traffic situations can distract the driver from the road scene and increase the risk of collisions. The proposed approach makes it possible to improve safety in vehicle navigation. To assist the driver, a system for decision-making assistance is being built, taking into account the changing environment and the dynamic characteristics...
The paper discusses the functionality of the Satellite Navigation Equipment (SNE) for the advanced Crew Transportation Spacecraft (CTS) Federatsiya, algorithms for determining its attitude exclusively from measurements of a global satellite navigation system without using any additional navigational or gyroscopic devices. It proposes methods for determining the attitude with successive increases in...
Simulation of a mobile object stochastic trajectory on the basis of the fractal Wiener process taking into account the Hurst indicator is offered. For numerical realization of this process the wavelet based decomposition is used. The peculiarities of trajectory parameters estimation by using the Kalman filter and the synthetic algorithms of nonlinear filtering are considered. An example of the object...
A new approach suitable for real-time detecting and isolating GPS faults in pseudo-range and pseudo-range rate is investigated for tightly coupled SINS/GPS integrated navigation system. First, the SINS/GPS tight integration system structure, the system state and measurement equations are deduced based on error models and Kalman filter theory. Then, a GPS fault detection method based on residual chi-square...
The paper considers the main features of the convolutional neural network architecture and their application to design the algorithm for recognition of tower lighthouse images. Tower lighthouses are supposed to have red and white horizontal bands. Their images can be received from some electronic video devices. A brief review of the definitions used in this subject area, such as layers and layer types:...
The paper considers the task of determining the angular position of the pilot's head with respect to the vehicle body. The task is solved due to the use of two inertial measuring modules, one of which is based on the pilot's head, and the second is rigidly connected to the vehicle body. It is accepted that within some small angles relative to the longitudinal axis of the vehicle, it is possible to...
Russian Progress transport cargo vehicles (TCV) used in the International Space Station (ISS) project often keep residual resources of their basic systems upon they fulfill their main tasks in the ISS program. Utilization of these resources for space research if free flight of the TCV after its undocking from the station increases efficiency of both the TCV work and the ISS research program as a whole...
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