Wyniki wyszukiwania - BazTech

1

Novel Variable Structure Measurement System with Intelligent Components for Flight Vehicles

Shen K., Selezneva M. S., Neusypin K. A., Proletarsky A. V.

Metrology and Measurement Systems

|

2017

|

Vol. 24, nr 2

347--356

EN

The paper presents a method of developing a variable structure measurement system with intelligent components for flight vehicles. In order to find a distinguishing feature of a variable structure, a numerical criterion for selecting measuring sensors is proposed by quantifying the observability of different states of the system. Based on the Peter K. Anokhin’s theory of functional systems, a mechanism of “action acceptor” is built with intelligent components, e.g. self-organization algorithms. In this mechanism, firstly, prediction models of system states are constructed using self-organization algorithms; secondly, the predicted and measured values are compared; thirdly, an optimal structure of the measurement system is finally determined based on the results of comparison. According to the results of simulation with practical data and experiments obtained during field tests, the novel developed measurement system has the properties of high-accuracy, reliable operation and fault tolerance.

2

Zintegrowany system nawigacji w świetle przepisów Międzynarodowej Organizacji Morskiej (IMO)

Ungert A.

Autobusy : technika, eksploatacja, systemy transportowe

|

2017

|

R. 18, nr 12

1375--1380, CD

PL

W artykule omówiony został problem integracji statkowych systemów nawigacyjnych i pozycyjnych w świetle najnowszych zaleceń Międzynarodowej Organizacji Morskiej (International Maritime Organization - IMO). Zalecenia odnośnie wymogów eksploatacyjnych mają na celu ułatwienie bezpiecznej integracji funkcji nawigacyjnych oraz informacyjnych. Analizie poddano wymagania formalne dla zasad integracji wyposażenia nawigacyjnego statków morskich w celu późniejszego modelowania jego integracji oraz wykrycia źródeł możliwych jej błędów, a także rewizji standardów szkolenia operatorów.

EN

Paper discussed the problem of integration of ships navigational and positioning systems in light of newest International Maritime Organization (IMO) regulations. Performance regulations are to make integration of navigational and informational functions safer. This paper is analyzing formal requirements of integration rules for ships equipment with purpose of later cooperation modeling and detection of possible errors in the system with regard for INS operators training process.

3

Remarks on the further development of an integrated navigation system

Wawruch R.

Zeszyty Naukowe Akademii Morskiej w Szczecinie

|

2016

|

nr 48 (120)

105--113

EN

According to the recommendation of the IMO Resolution MSC.252(83), “Adoption of the revised performance standards for integrated navigation system (INS)”, the INS is introduced in order to enhance navigational safety by providing integrated and augmented functions to avoid geographic, traffic and environmental hazards. Its main task is to provide ‘added value’ for the officer of the watch (OOW), ship’s captain and pilot, to plan, monitor or control the navigational safety and progress of the ship. The system should support navigational safety by combining, processing and evaluating inputs from different connected sensors and sources to provide information, giving timely warnings of dangerous situations, system failures and degradation of the integrity of delivered and presented information. An INS is defined as such if workstations provide multifunctional displays integrating at least the following navigational tasks (functions): route monitoring, collision avoidance and alert management. The output data contains a description of the subsystems and devices included in the INS, and the principles of their cooperation and presentation of data, but it does not present recommendations for interfacing the INS with the ship’s radio communications equipment or standardised rules of operation by the user and presentation of information. These restrictions limit the possibilities of using this system in e-navigation. This paper identifies the importance of these limitations with respect to the need for further development of INSs, and presents proposals to solve this problem.

4

Operability guidelines for product tanker in heavy weather in the Adriatic Sea

Mudronja L., Katalinić M., Bošnjak R., Vidan P., Parunov J.

Annual of Navigation

|

2014

|

No. 21

95--106

EN

This paper presents operability guidelines for seafarers on a product tanker which navigates in the Adriatic Sea during heavy weather. Tanker route starts from the Otranto strait in the south to the island Krk in the north of Adriatic Sea. Heavy weather is caused by south wind called jugo (blowing from E-SE to SS-E, sirocco family). Operability guidelines are given based on an operability criteria platform for presenting ship seakeeping characteristics. Operability criteria considered in this paper are propeller emergence, deck wetness and bow acceleration of a product tanker. Limiting values of mentioned criteria determine sustainable speed. Heavy weather is described by extreme sea state of 7.5 m wave height. Wave spectrum used in this paper is Tabain spectrum which is developed specifically for Adriatic Sea. Seafarer’s approach of decisions making in extreme weather is also shown and servers as a guideline for further research of the authors.

PL

W artykule przedstawiono propozycję wytycznych operacyjnych dla żeglugi tankowca na Morzu Adriatyckim podczas pogody sztormowej. Rozpatrywany szlak zaczyna się w cieśninie Otranto na południu i prowadzi do wyspy Krk na północy. Założono, że pogoda sztormowa jest spowodowana przez wiejący z kierunku SS-E wiatr południowy Jugo z grupy wiatrów lokalnych Sirocco. Zalecenia operacyjne zostały opracowane na podstawie kryteriów użytecznych dla osób odpowiadających za wachtę morską. Za takie uznano przede wszystkim: aspekt wynurzania się śruby napędowej, czynnik zalewania pokładu i przyspieszenia rejestrowane na dziobie statku. Wartości graniczne wspomnianych kryteriów określają dopuszczalną prędkość statku. Pogoda sztormowa została opisana przez dopuszczalny stan morza wyrażony wysokością fal (7.5 m). Dla opisu spektrum fal zastosowano kryterium Tabaina, najlepiej opisujące specyfikę Morza Adriatyckiego. Zaproponowane podejście zostanie również wykorzystane przez autora w dalszych badaniach.

5

Initial Realization of a Sensor Fusion Based Onboard Maritime Integrated PNT Unit

Ziebold R., Dai Z., Lanca L., Noack T.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

|

2013

|

Vol. 7, no. 1

127--134

EN

This paper introduces the basic concept of the Position Navigation and Timing (PNT) Module as future part of a ship side Integrated Navigation System (INS). Core of the PNT Module is a sensor fusion based processing system (PNT Unit). The paper will focus on important aspects and first results of the initial practical realization of such a PNT Unit, including a realization of a Consistent Common Reference System (CCRS), GNSS/IMU tightly coupled positioning results as well as contingency performance of the inertial sensors.

6

Multipurpose Remotely Piloted Aircraft System Integrated Navigation System Development and Testing

Petrovich-Kharchenko V., Ilnytska S.

Logistics and Transport

|

2013

|

Vol. 19, No. 3

85--90

EN

The paper presents development of prototype of integrated inertial-satellite navigation system that contains 3-axis accelerometers, gyros, magnetometers, barometric altimeter and GNSS (Global Navigation Satellite System) receiver. Navigation system testing procedure by means of flight at airdrome at small remotely piloted aircraft system (RPAS) is described, and data processing details with results are submitted. These results received from the data post-processing had approved the efficiency of integrated navigation system functioning in normal navigation mode, i.e. during availability of GNSS measurements. It has been shown as well that after approximately 10 s of autonomous MEMS inertial navigation system (INS) functioning accuracy of velocity and position calculation degrades significantly.

7

Low-cost navigation and guidance systems for Unmanned Aerial Vehicles. Part 1: Vision-based and integrated sensors

Sabatini R., Bartel C., Kaharkar A., Shaid T., Rodriguez L., Zammit-Mangion D., Jia H.

Annual of Navigation

|

2012

|

No. 19, part 2

71--98

EN

In this paper we present a new low-cost navigation system designed for small size Unmanned Aerial Vehicles (UAVs) based on Vision-Based Navigation (VBN) and other avionics sensors. The main objective of our research was to design a compact, light and relatively inexpensive system capable of providing the Required Navigation Performance (RNP) in all phases of flight of a small UAV, with a special focus on precision approach and landing, where Vision Based Navigation (VBN) techniques can be fully exploited in a multisensor integrated architecture. Various existing techniques for VBN were compared and the Appearance-Based Approach (ABA) was selected for implementation. Feature extraction and optical flow techniques were employed to estimate flight parameters such as roll angle, pitch angle, deviation from the runway and body rates. Additionally, we addressed the possible synergies between VBN, Global Navigation Satellite System (GNSS) and MEMS-IMU (Micro-Electromechanical System Inertial Measurement Unit) sensors, as well as the aiding from Aircraft Dynamics Models (ADMs). In particular, by employing these sensors/models, we aimed to compensate for the shortcomings of VBN and MEMS-IMU sensors in high-dynamics attitude determination tasks. An Extended Kalman Filter (EKF) was developed to fuse the information provided by the different sensors and to provide estimates of position, velocity and attitude of the UAV platform in real-time. Two different integrated navigation system architectures were implemented. The first used VBN at 20 Hz and GPS at 1 Hz to augment the MEMS-IMU running at 100 Hz. The second mode also included the ADM (computations performed at 100 Hz) to provide augmentation of the attitude channel. Simulation of these two modes was accomplished in a significant portion of the AEROSONDE UAV operational flight envelope and performing a variety of representative manoeuvres (i.e., straight climb, level turning, turning descent and climb, straight descent, etc.). Simulation of the first integrated navigation system architecture (VBN/IMU/GPS) showed that the integrated system can reach position, velocity and attitude accuracies compatible with CAT-II precision approach requirements. Simulation of the second system architecture (VBN/IMU/GPS/ADM) also showed promising results since the achieved attitude accuracy was higher using the ADM/VBS/IMU than using VBS/IMU only. However, due to rapid divergence of the ADM virtual sensor, there was a need for frequent re-initialisation of the ADM data module, which was strongly dependent on the UAV flight dynamics and the specific manoeuvring transitions performed.

8

Fusion of Data Received from AIS and FMCW and Pulse Radar - Results of Performance Tests Conducted Using Hydrographical Vessels “Tukana” and “Zodiak”

Krol A., Stupak T., Wawruch R., Kwiatkowski M., Paprocki P., Popik J.

TransNav : International Journal on Marine Navigation and Safety of Sea Transportation

|

2011

|

Vol. 5, no. 4

463--469

EN

Paper presents results of performance tests of the Integrated Vessel Traffic Control System re-alizing fusion of data received from shore based station of the Automatic Identification System (AIS) and pulse and Frequency Modulated Continuous Wave (FMCW) radars and presenting information on Electronic Navigational Chart issued by the Polish National Hydrographical Service – Hydrographical Office of the Polish Navy. Tests were conducted in real sea conditions using hydrographical vessels “Tucana” and “Zodi-ak” owned by the Maritime Office in Gdynia.

9

Estymacja położenia przy użyciu bezśladowego filtru Kalmana

Konatowski S.

Kwartalnik Elektroniki i Telekomunikacji

|

2006

|

Vol. 52, z. 2

229-243

PL

Proces estymacji położenia w zintegrowanych systemach nawigacyjnych jest często realizowany na nieliniowych modelach systemów. Nieliniowość dynamiki obiektu, którego pozycję należy estymować, wymaga stosowania odpowiednich filtrów. Powszechnie przyjętym rozwiązaniem jest rozszerzony filtr Kalmana oparty na linearyzacji funkcji nieliniowych. W artykule przedstawiono ideę bezśladowego filtru Kalmana wykorzystującego przekształcenie bezśladowe. Zaprezentowano wyniki badań symulacyjnych, które wykazują lepszą dokładność estymacji położenia przy użyciu bezśladowego niż rozszerzonego filtru Kalmana.

EN

In integrated navigation systems different kinds of Kalman Filter working as error estimators or navigation algorithms are widely used. These filters work in time-discrete mode. Kalman Filters utilize information about dynamics of the object (system). Knowledge about dynamics and its correct modelling is the main issue in implementation of the Kalman Filters. In systems with linear dynamics, it is adequately to use basic Kalman Filter. Systems with nonlinear dynamics require linearization of the system model and in such case Extended Kalman Filter (EKF) is generally accepted. Unscented Kalman Filter (UKF) is an alternative for EKF. UKF is a recursive-estimating filter, which properties meet well requirements of strongly nonlinear systems. UKF does not linearize the model but manipulate on statistical parameters of nonlinear transformed state and measurement vector. UKF bases on Unscented Transform (UT). UT converts the state vector into a set of weighted Sigma Points. These points are than used in algorithms of UKF. The UKF algorithm is a set of equations, which are necessary to do prediction, innovation and correction steps. Simulation results of position estimation using EKF and UKF show that UKF used as data processing algorithm gives better accuracy of estimation in system with nonlinear dynamics than EKF. Nonlinearity in system used in simulation causes by transformation of co-ordination systems. Such situation takes place very often in navigation. This shows that UKF is more suitable to systems with strong nonlinearities than EKF. Better accuracy of position estimation using UKF calls for large number of computations (especially evaluation of matrix square root), what makes it more demanding for computation units of integrated navigation systems. UKF may also be used to estimate errors in integrated navigation system based on the compensation mode.

10

Błędy systematyczne w nawigacji

Banachowicz A.

Technical Sciences. Supplement / University of Warmia and Mazury in Olsztyn

|

2005

|

suppl. 2

255--271

PL

Scharakteryzowano główne źródła błędów systematycznych występujących w procesie nawigacyjnym - w modelach stanu i pomiarowym. Przedstawiono wpływ poszczególnych błędów systematycznych na określane parametry nawigacyjne: wektor prędkości i współrzędne pozycji. Istotne, szczególne przypadki zilustrowano przykładami. Zaproponowano rozszerzenie algorytmów zintegrowanych systemów nawigacyjnych procedurami badania zgodności i identyfikacji błędów systematycznych.

EN

The paper presents main sources of systematic error in navigation process - in state space and measurement models. It shows the impact of systematic errors on defined navigation parameters: velocity and position coordinates. Besides the important, particular cases were explained with examples. The author proposes expansion of integrated navigation systems algorithm about procedures of research of consistence and identification of systematic errors.

11

Position estimation using Unscented Kalman Filter

Konatowski S., Sipa T.

Annual of Navigation

|

2004

|

No. 8

97-110

EN

Position estimation in integrated navigation systems often calls for operations on nonlinear system models. Dynamics nonlinearity of an object, which position we want to estimate requires using special filters. The Extended Kalman Filter based on linearization of nonlinear functions is generally accepted solution. The paper presents the Unscented Kalman Filter based on Unscented Transform. Filter performance with comparison to extended Kalman filter is discussed on the theoretical base and simulation results showing accuracy increase are presented.

12

Dokładność estymacji miejsca położenia w systemach nawigacyjnych INS/GPS oraz INS/DGPS

Kaniewski P., Konatowski S., Marzec M.

Biuletyn Wojskowej Akademii Technicznej

|

2001

|

Vol. 50, nr 11

117-132

PL

W artykule zaprojektowano dwa zintegrowane systemy nawigacyjne, w których podstawowym przyrządem nawigacyjnym jest inercjalny system nawigacji INS. Czujnikiem korekcyjnym jest odbiornik systemu GPS oraz odbiornik systemu DGPS. Elementy systemu zintegrowano z wykorzystaniem zdecentralizowanej techniki filtracji opierając się na kaskadowym filtrze Kalmana. Wygenerowano różne trasy statku powietrznego oraz błędy przyrządów nawigacyjnych. Opracowano algorytm filtracji kalmanowskiej dla zaprojektowanych systemów. Przeprowadzono badania symulacyjne zintegrowanych systemów nawigacyjnych w środowisku MATLAB, na podstawie których dokonano oceny jakości estymacji miejsca położenia statku powietrznego w zaprojektowanym systemie.

EN

The article presents two projects of integrated navigation systems containing Inertial Navigation System as a reference navigation sensor. As corrective sensors, GPS and DGPS receivers have been applied. The system components have been integrated with use of decentralized (cascaded) Kalman filters. The designed systems have been tested in MATLAB to evaluate their accuracy of estimation of the aircraft position and velocity. During simulations, diverse aircraft routes and errors of navigation sensors have been generated. The simulation results included in the paper confirm high accuracy of the designed systems.

13

Zintegrowany system nawigacyjny ZSN-16

Jankiewicz M.

Biuletyn Wojskowej Akademii Technicznej

|

2000

|

Vol. 49, nr 3

125-133

PL

Artykuł zawiera opis techniczny, przeznaczenie i krótką charakterystykę nowoczesnego zintegrowanego systemu nawigacyjnego, będącego na wyposażeniu okrętów przeciwminowych projektu 207 M, Marynarki Wojennej RP. Ze szczególnym uwzględnieniem przedstawiono zasadę działania oraz funkcje realizowane przez system ZSN-16.

EN

The article contains the technical description the use and a short characteristic of a modern integrated navigation system currently operated on board of the Polish Navy minesweepers, project 207 M. Special attention has been paid to the principles of operation and functions realized by the ZSN-16 system.