Navigation of a small-sized controlled aircraft is discussed using integrated data from MEMS-based IMU and receiver of ground radio source 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 highly maneuvering path. Data in IONS are integrated using the extended Kalman filter. In simulation modeling of IONS functioning algorithms in Matlab (Simulink) we used data of bench tests of MEMS sensors developed by Elektropribor.

This article presents a laser-based 2D simultaneous localization and mapping (SLAM) algorithm for indoor environments. An adaption and optimization of a ground vehicle SLAM solution (TinySLAM) for the use with Micro Aerial Vehicles is proposed. Optimizations of the map update strategy and a motion model improves the accuracy strongly. An extension to 3D mapping is introduced. The presented algorithm is tested with simulated and real world data. The optimized SLAM solution maps a whole floor of an office building very accurately and achieves embedded real-time capability.

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.

We focus on car navigation method using computer vision system and digital road map. Computer vision system installed onboard the car serves as an additional source of navigation information. It is used to determine the vehicle lateral deviation relative to the road center, range and bearing to the intersection center. Algorithm generating these parameters is described with account for the topology and parameters of roads presented in the road map. Accuracy of lateral deviation and range measurements is estimated using real data.

The paper considers the problem of initial unknown position determination of autonomous underwater vehicle (AUV) based on range to a single mobile sonar bea con transported by an autonomous surface vehicle. After diving the AUV is fixed over the bottom. Three algorithms are considered. Some performance results are given obtained in sea trials using marine autonomous robotic complex (MARC) including AUV and surface vehicle.

Hydrodynamic properties of an autonomous underwater vehicle are among the key factors determining the quality of control when making spatial motions. The results of the work are based upon the experience in development and practical application of autonomous underwater vehicles at the Institute of Marine Technology Problems (IMTP) FEB RAS. The identification method of AUV hydrodynamic characteristics is presented in the work. It is based on use of computing virtual hydrodynamics and trajectory measurements of the state vector in various motion modes. The estimation of the hydrodynamic characteristics is given for one of the underwater robots created in IMTP FEB RAS over the last years.

The paper considers the complex technology of navigation and geodetic support of airborne geophysical surveys by the example of airborne electromagnetic survey using a portable transceiver system. The technology includes satellite and photogrammetric methods. The technology incorporates innovation methods used to determine navigation and geodetic parameters protected by the Russian patents and tested in practice. The paper presents the results of authors’ long-term experience in this sphere.

A method for designing the digital controllers of command devices based on two-step optimization is proposed. An automated CAD workplace is applied as a design toolkit. The developed algorithms and their program implementation demonstrate large quality improvement and decrease in labor costs in designing digital controllers for gyrodevices. The developed method can be applied to a wide class of automatic control systems with resonance properties.

Functioning of closed-loop FOG is presented. Block diagram of FOG regulation circuit is given, and sources of nonlinear distortions of FOG regulation circuit elements are described. A method to analyze the regulation circuit of a closed-loop FOG is proposed for adjustment of PID-controller that does not require complex and high precision test equipment. Target function of regulation is set, and coefficients of PID-controller are selected optimal for this target function and certain FOG.

The paper considers a solution used to measure and further compensate the effect of dynamic trim of sounding vessel on the adequacy of collected bathymetric data. Attitude determination system with a free baseline is applied using phase measurements of GLONASS/GPS navigation signals.