ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)
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vol 64 / January, 2021
Article

DOI 10.17586/0021-3454-2020-63-12-1094-1102

UDC 527.62

DEVELOPMENT OF A HIGH-PRECISION SATELLITE LOCAL-INERTIAL NAVIGATION SYSTEM FOR UNMANNED VEHICLE CONTROL

D. E. Chickrin
PhD, Associate Professor; Kazan Federal University, Department of Cyber-Physical Technologies; Head of the Department;


P. A. Savinkov
ARRIVAL LTD, Development of a Traffic Control System for Unmanned Vehicles; Leader of the Team;


P. A. Kokunin
PhD, Associate Professor; Kazan Federal University, Center of Digital Transformations; Director of the Center;


R. I. Shagiev
ARRIVAL LTD, Embedded Systems Engineer;


Abstract. The current trends in the creation of integrated navigation systems for pilotless vehicles are considered. Technical requirements for promising domestic navigation systems for unmanned vehicles are substantiated. A four-point inertial navigation system is developed and tested, which makes it possible to increase the accuracy and reliability of the resulting vehicle trajectories. In model experiments, the error in the deviation of the reconstructed trajectory from the true one is reported to be about 2% of the distance traveled. A combined navigation system with a seamless transition from satellite navigation to inertial navigation and vice versa is developed. Algorithms for calibrating odometric data, determining the initial heading of a vehicle, as well as algorithms for compensating for drifts of the inertial system according to satellite navigation data are implemented.
Keywords: global navigation satellite systems, inertial navigation systems, local navigation systems, unmanned vehicles

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