Integrated Attitude and Navigation System for Fast Moving Objects
Transactions of IAA RAS, issue 20, 296–302 (2009)
Keywords: радиоинтерферометрия со сверхдлинными базами, интегрированная инерциально-спутниковая система, высокоманевренные объекты, объектовые испытания, сильносвязанная инерциально-спутниковая система ориентации и навигации, микромеханический датчик, двухантенная приемная аппаратура, ГЛОНАСС, GPS
Abstract
The paper presents a tightly coupled attitude and navigation system designed by the Concern CSRI Elektropribor, JSC, and the Russian Institute of Radionavigation and Time (RIRT), JSC. The system includes a strapdown inertial unit on micromechanical sensors and a compact GNSS receiver unit (GNSS RU). The double differences of phase measurements from two antennas are used to increase the accuracy in determination of a vehicle's attitude. The test results of field trials are discussed and analyzed. The main results are: 1. An operative embodiment of the Integrated Attitude and Navigation System (IANS) which relies on the data from a Strapdown Inertial Measuring Unit (SIMU) on micromechanical sensors and two GLONASS/GPS receivers operating from spaced antennas by the signals from the GLONASS and GPS has been designed and tested. The system has proved its reliable performance in the conditions of shading of part of the GNSS constellation and under interference as well as in the conditions of intensive maneuvering. 2. Based on the implemented IANS hardware and software, due to the velocity information introduced to the GNSS receiver unit from the SIMU, it was made possible to reduce the GNSS RU phase locked loops bandwidth from 16 Hz down to 2 Hz (by 8 times), resulting in increase of the GNSS RU noise immunity by 9 dB. 3. The IANS built on a tightly coupled principle provides practically continuous use of the raw GNSS data, thus ensuring stable solution of the navigation problem when the vehicle moves in town in the conditions that part of the SV may be shaded and under the effect of strong radio interference. 4. Processing of phase measurements in the IANS on a tightly coupled principle with ambiguity resolution based on the data from the SIMU provides effective solution of the attitude problem in the conditions of GNSS RU failures because of SV shading and interference. The solution offered in this paper allows interruptions in receiving phase measurements from the GNSS RU and makes it possible to effectively reject unreliable measurements.
Citation
B. A. Blazhnov, G. I. Yemelyantsev, D. A. Koshaev, I. V. Semenov, A. P. Stepanov, V. M. Zhilinsky, A. N. Korotkov, E. A. Tomofeev, G. S. Tsehanovich . Integrated Attitude and Navigation System for Fast Moving Objects // Transactions of IAA RAS. — 2009. — Issue 20. — P. 296–302.
@article{blazhnov2009,
abstract = {The paper presents a tightly coupled attitude and navigation system designed by the Concern CSRI Elektropribor, JSC, and the Russian Institute of Radionavigation and Time (RIRT), JSC. The system includes a strapdown inertial unit on micromechanical sensors and a compact GNSS receiver unit (GNSS RU). The double differences of phase measurements from two antennas are used to increase the accuracy in determination of a vehicle's attitude. The test results of field trials are discussed and analyzed. The main results are:
1. An operative embodiment of the Integrated Attitude and Navigation System (IANS) which relies on the data from a Strapdown Inertial Measuring Unit (SIMU) on micromechanical sensors and two GLONASS/GPS receivers operating from spaced antennas by the signals from the GLONASS and GPS has been designed and tested. The system has proved its reliable performance in the conditions of shading of part of the GNSS constellation and under interference as well as in the conditions of intensive maneuvering.
2. Based on the implemented IANS hardware and software, due to the velocity information introduced to the GNSS receiver unit from the SIMU, it was made possible to reduce the GNSS RU phase locked loops bandwidth from 16 Hz down to 2 Hz (by 8 times), resulting in increase of the GNSS RU noise immunity by 9 dB.
3. The IANS built on a tightly coupled principle provides practically continuous use of the raw GNSS data, thus ensuring stable solution of the navigation problem when the vehicle moves in town in the conditions that part of the SV may be shaded and under the effect of strong radio interference.
4. Processing of phase measurements in the IANS on a tightly coupled principle with ambiguity resolution based on the data from the SIMU provides effective solution of the attitude problem in the conditions of GNSS RU failures because of SV shading and interference. The solution offered in this paper allows interruptions in receiving phase measurements from the GNSS RU and makes it possible to effectively reject unreliable measurements.},
author = {B.~A. Blazhnov and G.~I. Yemelyantsev and D.~A. Koshaev and I.~V. Semenov and A.~P. Stepanov and V.~M. Zhilinsky and A.~N. Korotkov and E.~A. Tomofeev and G.~S. Tsehanovich},
issue = {20},
journal = {Transactions of IAA RAS},
keyword = {радиоинтерферометрия со сверхдлинными базами, интегрированная инерциально-спутниковая система, высокоманевренные объекты, объектовые испытания, сильносвязанная инерциально-спутниковая система ориентации и навигации, микромеханический датчик, двухантенная приемная аппаратура, ГЛОНАСС, GPS},
pages = {296--302},
title = {Integrated Attitude and Navigation System for Fast Moving Objects},
url = {http://iaaras.ru/en/library/paper/641/},
year = {2009}
}
TY - JOUR
TI - Integrated Attitude and Navigation System for Fast Moving Objects
AU - Blazhnov, B. A.
AU - Yemelyantsev, G. I.
AU - Koshaev, D. A.
AU - Semenov, I. V.
AU - Stepanov, A. P.
AU - Zhilinsky, V. M.
AU - Korotkov, A. N.
AU - Tomofeev, E. A.
AU - Tsehanovich, G. S.
PY - 2009
T2 - Transactions of IAA RAS
IS - 20
SP - 296
AB - The paper presents a tightly coupled attitude and navigation system
designed by the Concern CSRI Elektropribor, JSC, and the Russian
Institute of Radionavigation and Time (RIRT), JSC. The system
includes a strapdown inertial unit on micromechanical sensors and a
compact GNSS receiver unit (GNSS RU). The double differences of phase
measurements from two antennas are used to increase the accuracy in
determination of a vehicle's attitude. The test results of field
trials are discussed and analyzed. The main results are: 1. An
operative embodiment of the Integrated Attitude and Navigation System
(IANS) which relies on the data from a Strapdown Inertial Measuring
Unit (SIMU) on micromechanical sensors and two GLONASS/GPS receivers
operating from spaced antennas by the signals from the GLONASS and
GPS has been designed and tested. The system has proved its reliable
performance in the conditions of shading of part of the GNSS
constellation and under interference as well as in the conditions of
intensive maneuvering. 2. Based on the implemented IANS hardware and
software, due to the velocity information introduced to the GNSS
receiver unit from the SIMU, it was made possible to reduce the GNSS
RU phase locked loops bandwidth from 16 Hz down to 2 Hz (by 8 times),
resulting in increase of the GNSS RU noise immunity by 9 dB. 3. The
IANS built on a tightly coupled principle provides practically
continuous use of the raw GNSS data, thus ensuring stable solution of
the navigation problem when the vehicle moves in town in the
conditions that part of the SV may be shaded and under the effect of
strong radio interference. 4. Processing of phase measurements in
the IANS on a tightly coupled principle with ambiguity resolution
based on the data from the SIMU provides effective solution of the
attitude problem in the conditions of GNSS RU failures because of SV
shading and interference. The solution offered in this paper allows
interruptions in receiving phase measurements from the GNSS RU and
makes it possible to effectively reject unreliable measurements.
UR - http://iaaras.ru/en/library/paper/641/
ER -