Abstract
A task of constructing a tightly-coupled inertial satellite integrated system under the conditions of limited visibility is considered in terms of solving both orientation and navigation problems. To determine the orientation parameters of a moving object, a dual-mode GNSS gyrocompass is implemented, which comprises a gimballess inertial measurement unit (IMU) on fiber-optic gyros (FOG), and two-antenna receiving equipment (RE) of global navigation satellite system (GNSS). Algorithms and errors of a GNSS gyrocompass with antenna baseline at the level of wavelength of carrier frequency and satellite receivers with external reference oscillator are studied. At that, the IMU with the antenna module of GNSS RE operates in reversible modulation rotation mode. A specific feature of this system is that a GNSS gyrocompass can be constructed while observing at least one navigation satellite of GPS or GLONASS; moreover, it has an autonomous operation mode which implements an AHRS scheme and position dead-reckoning based on the IMU and log data in absence of signals from the navigation satellite. The ambiguity of phase measurements and unreliable measurements are removed by referring to the IMU data when forming differential measurements in the integrated system at the level of the first differences of phases. The results of desktop analysis of bed testing data for a prototype system with a GNSS gyrocompass Orion-M (designed by CSRI Elektropribor) comprising GNSS receiving units 2K-363E-62 (RIRV JSC) and FOG-based inertial unit VG 910 (Fizoptika JSC) are presented in the paper.
Similar content being viewed by others
References
Emel’yantsev, G.I., Blazhnov, B.A., Stepanov, A.P., and Semenov, I.V., GLONASS Data Processing in GPS Compass with Antenna Base Equal to Carrier Wavelength, Proc. of 22nd St. Petersburg International Conference on Integrated Navigation Systems, 2015, pp. 9–19.
Emel’yantsev, G.I., and Stepanov, A.P., Integrirovannye inertsial’no-sputnikovye sistemy orientatsii i navigatsii (Integrated Inertial Satellite Systems of Orientation and Navigation), V.G. Peshekhonov, Ed., Concern CSRI Elektropribor, JSC, 2016.
Li, Y., Zhang, K., and Grenfell, R., Improved Knight Method Based on Narrowed Search Space for Instaneous GPS Attitude Determination, NAVIGATION: Journal of the Institute of Navigation, 2005, vol. 52, no. 2, pp. 111–119.
Hirokawa, R., and Ebinuma, T., A Low-Cost Tightly Coupled GPS/INS for Small UAVs Augmented with Multiple GPS Antennas, NAVIGATION: Journal of the Institute of Navigation, 2009, vol. 56, no. 1, pp. 35–44.
Emel’yantsev, G.I., Stepanov, A.P., Blazhnov, B.A., Radchenko, D.A., Vinokurov, I.Yu., and Petrov, P.Yu., Using Satellite Receivers with a Common Clock in a Small-Sized GNSS Compass, Proc. of 24th St. Petersburg International Conference on Integrated Navigation Systems, 2017, pp. 222–225.
Zhalilo, A.A., Detection and Elimination of Cyclic Phase Slips of Single-Frequency and Double-Frequency GPS/GNSS Observations. New Universal Method and Algorithms, Proc. of 14th St. Petersburg International Conference on Integrated Navigation Systems, 2007, pp. 311–318.
Jung, H., Psiaki, M.L., Scott, W.J., and Boitnott, C.L., Attitude Sensing Using a GPS Antenna on a Turntable: Experimental Tests, NAVIGATION: Journal of The Institute of Navigation, 2004, vol. 51, no. 3, pp. 221–229.
Dubinko, T.Yu., and Seliverstov, A.S., The Program Method Used to Increase the Accuracy of Finding the Spatial Orientation Angles of a Vessel by Satellite Navigation Systems, Navigatsiya i gidrografiya, 2016, no. 46.
Author information
Authors and Affiliations
Corresponding author
Additional information
Original Russian Text © G.I. Emel’yantsev, B.A. Blazhnov, A.P. Stepanov, 2017, published in Giroskopiya i Navigatsiya, 2017, No. 4, pp. 3–17.
Rights and permissions
About this article
Cite this article
Emel’yantsev, G.I., Blazhnov, B.A. & Stepanov, A.P. Specific Features of Constructing a Dual-Mode GNSS Gyrocompass as a Tightly-Coupled Integrated System. Gyroscopy Navig. 9, 97–105 (2018). https://doi.org/10.1134/S2075108718020049
Received:
Published:
Issue Date:
DOI: https://doi.org/10.1134/S2075108718020049