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1

Koncepcja systemu nawigacji personalnej

Łabowski M., Kaniewski P., Paszek J.

Przegląd Elektrotechniczny

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2016

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R. 92, nr 1

58--61

PL

W pracy przedstawiono koncepcję systemu nawigacji personalnej. System składa się z jednostki inercjalnej (triada przyspieszeniomierzy, triada giroskopów), trójosiowego magnetometru oraz odbiornika sygnału GPS. Procesor nawigacyjny realizuje obliczenia związane z algorytmem nawigacji inercjalnej. Dane pomiarowe integrowane są za pomocą filtru Kalmana z korekcją wstecz.

EN

The paper presents a concept of pedestrian navigation system. The system consist of inertial measurement unit (three accelerometers and gyroscopes), three-axis magnetometer and GPS receiver. Navigation processor performs Strapdown Inertial Navigation System calculations (SINS). Data from SINS and GNSS are integrated by feed-backward Kalman Filter.

2

Analiza błędów losowych czujników bezwładnościowych przy pomocy metod wariancyjnych

Paszek J., Kaniewski P., Łabowski M.

Przegląd Elektrotechniczny

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2016

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R. 92, nr 1

62--67

PL

Artykuł porusza problem badania właściwości błędów losowych czujników inercjalnych. Wykorzystana w badaniach metoda wariancji Allana umożliwia określenie ich wartości na podstawie przebiegu czasowego sygnałów. Analizie poddano giroskopy i przyśpieszeniomierze dwóch czujników wykonanych w różnych technologiach. Na koniec opisano model propagacji błędów w dwuwymiarowym systemie nawigacji inercjalnej.

EN

This paper presents application of Allan Variance method for analysis of inertial sensors random errors. The research is based on data from two inertial sensors made in different technologies. Finally, the error propagation model of two-dimensional Inertial Navigation System is described.

3

Estimation of Flight Path Deviations for SAR Radar Installed on UAV

Łabowski M., Kaniewski P., Konatowski S.

Metrology and Measurement Systems

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2016

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Vol. 23, nr 3

383--391

EN

The paper presents a method of calculation of position deviations from a theoretical, nominally rectilinear trajectory for a SAR imaging system installed on board of UAV. The UAV on-board system consists of a radar sensor, an antenna system, a SAR processor and a navigation system. The main task of the navigation part is to determine the vector of differences between the theoretical and the measured trajectories of UAV center of gravity. The paper includes chosen results of experiments obtained during ground and flight tests.

4

Object georeferencing in UAV-based SAR terrain images

Łabowski M., Kaniewski P., Serafin P., Wajszczyk B.

Annual of Navigation

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2016

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No. 23

39--52

EN

Synthetic aperture radars (SAR) allow to obtain high resolution terrain images comparable with the resolution of optical methods. Radar imaging is independent on the weather conditions and the daylight. The process of analysis of the SAR images consists primarily of identifying of interesting objects. The ability to determine their geographical coordi-nates can increase usability of the solution from a user point of view. The paper presents a georeferencing method of the radar terrain images. The presented images were obtained from the SAR system installed on board an Unmanned Aerial Vehicle (UAV). The sys-tem was developed within a project under acronym WATSAR realized by the Military University of Technology and WB Electronics S.A. The source of the navigation data was an INS/GNSS system integrated by the Kalman filter with a feed-backward correc-tion loop. The paper presents the terrain images obtained during flight tests and results of selected objects georeferencing with an assessment of the accuracy of the method.

PL

Lotnicze zobrazowania terenu realizowane za pomocą radaru z syntetyczną aperturą pozwalają na uzyskanie wysokiej rozróżnialności porównywalnej z rozróżnialnością metod optycznych, mając jednocześnie nad nimi przewagę w postaci niezależności obserwacji od warunków pogodowych czy pory dnia. Proces analizy tak uzyskanych zobrazowań składa się przede wszystkim z identyfikacji interesujących obiektów. Możliwość określenia ich współrzędnych geograficznych pozwala na znaczące zwiększenie użyteczności tego rozwiązania z punktu widzenia potencjalnego użytkownika. W artykule przedstawiono metodę georeferencji zobrazowań terenu otrzymywanych za pomocą radaru z syntetyczną aperturą, który zainstalowano na pokładzie bezzałogowego statku powietrznego. System taki opracowano w ramach projektu WATSAR, zrealizowanego przez Wojskową Akademię Techniczną i WB Electronics S.A. Źródłem danych nawigacyjnych był system INS/GNSS, zintegrowany metodą filtracji pośredniej, z korekcją wstecz. W artykule zamieszczono radarowe zobrazowania terenu uzyskane podczas badań poligonowych systemu oraz wyniki georeferencji wybranych obiektów wraz z oceną dokładności wyznaczanego położenia.

5

Zastosowanie czujników inercjalnych w nawigacji personalnej

Łabowski M., Kaniewski P.

Elektronika : konstrukcje, technologie, zastosowania

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2014

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Vol. 55, nr 6

20-23

PL

W artykule opisano algorytm nawigacji inercjalnej, który po uzupełnieniu o metodę ZUPT, może być wykorzystany w nawigacji personalnej. Przedstawiono składniki systemu oraz wyniki wstępnych badań eksperymentalnych.

EN

The paper describes inertial navigation algorithm, which, after the addition of ZUPT method, can be used in personal navigation. Components of the system and preliminary results are presented.

6

Profesor Marek Kwiek. Uczony, nauczyciel i organizator

Łabowski M., Hojan E., Ozimek E.

Postępy Fizyki

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2013

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T. 64, z. 3-6

134--138

7

The heating effect of the magnetic fluid APG-832 in an alternating magnetic field

Skumiel A., Łabowski M., Gojzewski H.

Molecular and Quantum Acoustics

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2007

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Vol. 28

229-239

EN

A calorimetric study of the magnetic fluid APG-832 subjected to an alternating magnetic field has been performed. The results have permitted a determination of the specific absorption rat, expressed per the mass unit of the ferrimagnetic contained in the ferrofluid studied. In order to determine the polydispersity of magnetic grains and other parameters of the sample, it was subjected to the measurements by the vibrating sample magnetometer and observations under a transmission electron microscope.

8

The Heating Effect of the Biocompatible Ferrofluidin an Alternating Magnetic Field

Skumiel A., Łabowski M.

Molecular and Quantum Acoustics

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2006

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Vol. 27

233-238

EN

Results of the calorimetric measurements, in the range from 70 kHz up to 1.7 MHz, confirmed the suitability of the use of the ferrofluid studied in magnetic fluid hyperthermia, especially in the frequency range from 600 do 800 kHz. The H2 - law type dependence of the specific absorption rate on the square amplitude of the magnetic field testifies to the presence of superparamagnetic particles in the ferrofluid. The thickness of the surfactant layer was determined on the basis of the magnetic and calorimetric measurements.

9

Investigations of Magnetic Properties of Apg 513a Magnetic Fluid

Hornowski T., Skumiel A., Łabowski M.

Molecular and Quantum Acoustics

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2004

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Vol. 25

115-120

EN

Static magnetic properties of magnetic fluid APG 513A have been measured. The differential magnetic susceptibility was measured as a function of an external magnetic field in the range of 1-200 kA/m, parallel to the direction of the field. The data were analysed using the Langevin equation and taking into account polydispersity of a system. A lognormal function was used as to approximate the distribution function of the size of magnetic particles. On the basis of the least-square fit of the susceptibility data to the Langevin equation the parameters of the distribution function as well as macroscopic parameters of the ferrofluid such as the initial susceptibility, saturation magnetization and particle number density were obtained. In magneto-granulometric analysis of the ferrofluid the mean magnetic diameter and standard deviation of particles were obtained. The agreement between the susceptibility data and the Langevin equation predictions is very good, which suggests the lack of interactions between particles and the absence of agglomerates in the ferrofluid studied.

10

The Frequency Dependance of Ulrtadonic Attenuation in the Water-Based Magnetic Liquid in the Absence of a Magnetic Field

Hornowski T., Łabowski M., Skumiel A.

Molecular and Quantum Acoustics

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2003

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Vol. 24

41-46

EN

The measurements of ultrasonic attenuation in a water-based magnetic fluid EMG-605 as a function of frequency are presented. Experimental results are analyzed using two-phase model of magnetic liquid. A good agreement between experimental data and the predictions of theoretical model was obtained.

11

The Effect of Duration of Magnetic Field Application and Temperature of Velocity and Absorption Coefficient of Ultrasound Wave in a Magnetic Fluid

Hornowski T., Józefczak A., Łabowski M., Skumiel A.

Molecular and Quantum Acoustics

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2003

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Vol. 24

31-40

12

Ultrasonic and Magnetic Study of Physiology Based Magnetic Fluid

Józefczak A., Skumiel A., Łabowski M., Timko M., Gierczyk N.

Molecular and Quantum Acoustics

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2002

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Vol. 23

193-199

13

Determination on the Magnetic Susceptibility Anisotropy, Propagation Velocity and Absorption Coefficient of an Ultrasonic Wave in a Magnetic Fluid

Skumiel A., Hornowski T., Józefczak A., Łabowski M.

Molecular and Quantum Acoustics

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2001

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Vol. 22

221-230

14

An Investigation of the Magnetic Properties of Ferrofluids

Skumiel A., Hornowski T., Józefczak A., Łabowski M.

Molecular and Quantum Acoustics

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2001

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Vol. 22

231-238

15

Investigation of Ferrofluids by Magnetic and Acoustic Methods

Skumiel A., Hornowski T., Łabowski M.

Molecular and Quantum Acoustics

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2000

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Vol. 21

251-259

16

The effect of rate changes of the constant external magnetic field on the coefficient of ultrasonic wave absorption in polydispersive magnetic fluid

Józefczak A., Skumiel A., Łabowski M.

Archives of Acoustics

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2000

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Vol. 25, no. 4

441-449

EN

In this paper are presented experimental results of changes of the ultrasonic wave absorption coefficient as the function of external magnetic field intensity, for different rates of magnetic field changes in a polydispersive magnetic liquid EMG-605 based on water. Measurements were performed for two frequencies of ultrasonic wave: 3.6MHz and 6.12MHz, where the directions of propagation of ultrasonic wave and external magnetic field were mutually parallel and perpendicular. This paper presents also the radii of detected spherical clusters formed in magnetic fluid under the influence of magnetic field.

17

Dynamics of Concentration Fluctuations Near the Consolute Point of Benzonitrile-Isooctane Critical Mixture

Hornowski T., Łabowski M., Madej D.

Molecular and Quantum Acoustics

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1999

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Vol. 20

67-80

18

Akustyczne i magnetyczne badania struktury cieczy magnetycznej

Skumiel A., Hornowski T., Łabowski M.

Molecular and Quantum Acoustics

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1998

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Vol. 19

261-269

EN

The influence of magnetic field on the acoustic and magnetic properties of magnetic liquids is discussed. By fitting the curve of Taketomi's theory to the experimental data of the anisotropy of ultrasonic attenuation, the values of quantities describing the structure of magnetic liquid have been determined. Moreover, the dependence of magnetic susceptibility on frequency has been measured. It shows that two processes of magnetization, which are based on the mechanisms proposed by Brown and Neel, contribute to the magnetization of the EMG-605 magnetic liquid.

19

Resonance absorption of ultrasonic waves in a magnetic fluid

Skumiel A., Łabowski M., Józefczak A.

Archives of Acoustics

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1998

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Vol. 23, no. 2

195--210

EN

An external magnetic field applied to a magnetic fluid gives rise to the appearance of spherical and chain-like clusters. The present work is based on an acoustic method permitting the determination of the presence and size of the clusters by resonance absorption of an ultrasonic wave in a magnetic fluid under the influence of a magnetic field. Measurements by applying the pulse method of the variations of the ultrasonic absorption coefficient &Delta? for three frequencies in a selected magnetic fluid versus the external magnetic field strength have been reported.