Fault-tolerant integrated navigation system for an unmanned apparatus using computer vision. (English. Russian original) Zbl 1453.93152
J. Comput. Syst. Sci. Int. 59, No. 2, 261-275 (2020); translation from Izv. Ross. Akad. Nauk, Teor. Sist. Upr. 2020, No. 2, 128-142 (2020).
Summary: The structure and software of a complex navigation system for an unmanned apparatus are presented. It includes a platformless inertial navigation system, receivers of the satellite navigation system, and a computer vision system. An approach to the construction of an algorithm to exclude failures is proposed. Simulation results are provided.
MSC:
| 93C85 | Automated systems (robots, etc.) in control theory |
| 93B35 | Sensitivity (robustness) |
| 93C83 | Control/observation systems involving computers (process control, etc.) |
References:
| [1] | A. Vitkovskii, The drone of the future—a machine that can do anything, 2010. http://www.uav.ru. |
| [2] | M. Volkov, New unmanned reconnaissance capabilities, 2010. http://www.uav.ru. |
| [3] | Ageev, M. D.; Kiselev, L. V.; Matvienko, Yu. V., Autonomous Underwater Robots: Systems and Technologies (2005), Moscow: Nauka, Moscow |
| [4] | Kalyaev, I. A.; Lokhin, V. M.; Makarov, I. M., Intelligent Robots, The School-Book (2007), Moscow: Mashinostroenie, Moscow |
| [5] | Grumondz, V. T.; Polovinkin, V. V.; Yakovlev, G. A., The Theory of the Movement of Bicentric Devices. Mathematical Models and Research Methods (2012), Moscow: Vuzovsk. Kniga, Moscow |
| [6] | K. K. Veremeenko, D. A. Antonov, V. M. Zharkov, R. Yu. Zimin, and A. Yu. Tchernodoubov, “Small-sized integrated navigation system,” IEEE Aerospace Electron. Syst. Mag., No. 26 (3), 39-41 (2011). |
| [7] | A. S. Amiragov, D. A. Antonov, K. K. Veremenko, M. V. Zharkov, A. N. Pron’kin, and E. L. Chekhov, “Fault-tolerant navigation complex for an automatic uninhabited underwater vehicle,” Nov. Navigats., No. 2, 24-30 (2017). |
| [8] | D. A. Antonov, M. V. Zharkov, I. M. Kuznetsov, E. M. Lunev, and A. N. Pron’kin, “Unmanned aerial vehicle positioning based on photographic image and inertial measurements,” Tr. MAI, No. 91 (2016). http://trudymai.ru/published.php. |
| [9] | O. A. Stepanov and D. A. Koshaev, “Research methods for solving the orientation problem using satellite systems,” Girosk. Navigats., No. 2 (25), 30-55 (1999). |
| [10] | Boston Dynamics. http://www.bostondynamics.com/robot_ls3.html. |
| [11] | K. K. Veremeenko, D. A. Antonov, M. V. Zharkov, and A. S. Amiragov, “On a creation concept of a navigation complex for an automatic uninhabited underwater vehicle,” Nov. Navigats., No. 1, 28-33 (2014). |
| [12] | Stepanov, O. A., Fundamentals of the Theory of Assessment with Applications to the Tasks of Processing Navigation Information. Part 2. (2012), St. Petersburg: Introduction to the Theory of Filtration, St. Petersburg |
| [13] | Stepanov, O. A., Fundamentals of the Theory of Assessment with Applications to the Tasks of Processing Navigation Information. Part 1. (2010), St. Petersburg: Introduction to the Theory of Assessment, St. Petersburg |
| [14] | Aleshin, B. S.; Afonin, A. A.; Veremeenko, K. K.; Koshelev, B. V.; Plekhanov, V. E.; Tikhonov, V. A.; Tyuvin, A. V.; Chernomorskii, A. I., Orientation and Navigation of Moving Objects. Modern Information Technology (2006), Moscow: Fizmatlit, Moscow |
| [15] | Rivkin, S. S.; Ivanovskii, R. I.; Kostrov, A. V., Statistical Optimization of Navigation Systems (1976), Leningrad: Sudostroenie, Leningrad |
| [16] | Leondes, C. T., Control and Dynamic Systems, Advances in Theory and Applications (1976), Amsterdam: Elsevier, Amsterdam · Zbl 0324.00029 |
| [17] | Salychev, O. S., Wave Description of Disturbances in Problems of Error Estimation of Inertial Navigation Systems (1992), Moscow: Mashinostroenie, Moscow |
| [18] | B. S. Aleshin, D. A. Antonov, K. K. Veremeenko, R. Yu. Zimin, M. V. Zharkov, I. M. Kuznetsov, and A. N. Pron’kin, “Small-sized integrated navigation and landing complex,” Tr. MAI, No. 54 (2016). http://trudymai.ru/published.php?ID=29692. |
This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. In some cases that data have been complemented/enhanced by data from zbMATH Open. This attempts to reflect the references listed in the original paper as accurately as possible without claiming completeness or a perfect matching.
