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Development of Small-Sized INS/GNSS Orientation and Navigation Systems for Various Types of Vehicles and Robotic Devices

              Extensive use of INS/GNSS integrated systems is a current trend in development of navigation equipment of various vehicles. A major challenge is the need to downsize these systems while accuracy requirements that are to be fulfilled throughout the world, even in the Subarctic, are increasing. Providing the desired accuracy of attitude parameters, namely heading, is especially relevant. Insufficient accuracy of existing miniature inertial sensors and low noise immunity of satellite receivers complicate the solution of above-stated problems.

           International research laboratory Integrated Orientation and Navigation System conducts research in the following directions:

- reducing the inertial sensor errors through their calibration in integrated systems independent of the vehicle motion type;

- reducing the errors in heading and other attitude parameters generated by an integrated system being a small-sized multisystem GNSS compass with antenna baseline of the order of satellite navigation signal carrier wavelength;

- developing a universal approach to phase ambiguity resolution for satellite navigation systems with code and frequency signal division;

- reducing the number of satellites in view required for attitude determination by GNSS compass, which is needed to shorten the system readiness time and to enhance its noise immunity;

- improving the noise immunity of GNSS compass (effect of industrial noise, satellite signal multipath).

            Within these directions, we solve a composite problem: designing a small-sized INS/GNSS system (GNSS compass) with a better accuracy compared to existing systems (Fig. 1). The expected results dealing also with the development of theoretical foundations of integrated system design will further allow the construction of competitive highly accurate small-sized integrated systems for a wide range of vehicles.

Fig. 1. Prototype of small-sized multisystem GNSS compass.

(Fig. 1 is provided by candidate of technical sciences Stepanov A.P.)