Features of Mathematical Modelling of Gimballed Inertial Navigation System for Marine Moving Vehicle

Authors

DOI:

https://doi.org/10.18372/1990-5548.86.20562

Keywords:

gimballed inertial navigation system, gyroscopic stabilization, gyroscopic devices, integral correction, mathematical modelling, multi-mode system

Abstract

This article represents the features of creating the mathematical model and carrying out modelling of the gimballed inertial navigation system assigned for operation on marine moving vehicles. To increase the accuracy of the system, some modes of operation are introduced. Features of correction for every mode are described. The characteristic of the integral correction is given. The control moments for levelling and gyrocompassing modes are represented. The expressions for projections of the gyro-stabilized platform angular rates are created. The simulation results of stabilization and navigation processes are represented. The advantages of the integral correction are shown. The obtained results can be useful for the high-precision navigation systems and gyroscopic stabilization systems with payload. The proposed approaches can be applied for moving objects of the wide class.

Author Biographies

Olha Sushchenko , State University "Kyiv Aviation Institute"

Doctor of Engineering

Professor

Faculty of Air Navigation, Electronics and Telecommunications

Yurii Melnyk , State University "Kyiv Aviation Institute"

Doctor of Engineering Science

Professor

Faculty of Air Navigation, Electronics and Telecommunications

References

O. A. Sushchenko, “Robust control of angular motion of platform with payload based on H-synthesis,” Journal of Automation and Information Sciences, no. 48(12), pp. 13–26, 2016. https://doi.org/10.1615/JAutomatInfScien.v48.i12.20.

S. I. Osadchy, V. A. Zozulya, I. A. Bereziuk, and M. M. Melnichenko, “Stabilization of the angular position of hexapod platform on board of a ship in the conditions of motions,” Automatic Control and Computer Sciences, vol. 56, no. 3, pp. 221–229, 2022. https://doi.org/10.3103/S0146411622030051.

B. I. Kuznetsov, T. B., Nikitina, and I. V. Bovdui, “Multiobjective synthesis of two degrees of freedom nonlinear robust control by discrete continuous plant,” Technical Electrodynamics, vol. 5, pp. 10–14, 2020. https://doi.org/10.15407/techned2020.05.010.

O. Sushchenko, Y. Bezkorovainyi, O. Solomentsev, M. Zaliskyi, et al., "Features of Designing Control Systems of Tested Aviation Moving Platforms," Lecture Notes in Computer Science, vol. 15888, pp. 140–151, 2025. https://doi.org/10.1007/978-3-031-97596-7_9.

H. G. Wang, T. G. Williams, “Strategic inertial navigation systems,” IEEE Control Systems Magazine,” vol. 28, no. 1, 2008, pp. 65–85. https://doi.org/10.1109/MCS.2007.910206.

O. Sushchenko, “Design of Robust Precision Attitude and Heading Reference Systems for Marine Vehicles,” Electronics and Control Systems, no. 1, pp. 33–38, 2019. https://doi.org/10.18372/1990-5548.59.13637.

Y. Lia, N.-Z. Huang, and T. Jiang, Selective Maintenance Modelling and Optimization, Cham: Springer, 2023, 192 p.

S. Bittanti, Model Identification and Data Analysis. John Wiley & Sons: New Jersey, 2019. https://doi.org/10.1002/9781119546405

J. Fu and R. Ma, Stabilization and Hinf Control of Switched Dynamic Systems. Berlin: Springer, 2020. https://doi.org/10.1007/978-3-030-54197-2

X. Zhuang, P. Li, D. Li, and W. Sui, Gyroscopes – Principles and Applications. London: IntechOpen, 2020. https://doi.org/10.5772/intechopen.92242

F. de Castro Junquieira and E. de Barros, Development of a Dynamically Tuned Gyroscope-DTG, ABCM Symposium Series in Mechatronics, vol. 1, pp. 470–478, 2004. https://www.researchgate.net/publication/237398667.

M. Armenise, Advances in Gyroscope Technologies, Berlin: Springer, 2011. https://doi.org/10.1007/978-3-642-15494-2

S. Osadchyi and V. Zozulia, "Synthesis of optimal multivariable robust systems of stochastic stabilization of moving objects,” in 5th International Conference Actual Problems of Unmanned Aerial Vehicles Developments (APUAVD), 2019, pp. 106–111. IEEE, Kyiv, Ukraine. https://doi.org/10.1109/APUAVD47061.2019.89431

F. Asadi, State-Space Control Systems: The MATLAB/Simulink Approach. Sum Rafael: Morgan & Claypool, 2021. https://doi.org/10.1007/978-3-031-01832-9

V. M. Hernandez-Gurman and R. Silva-Ortigoza, Automatic Control with Experiments. Berlin: Springer, 2019. https://doi.org/10.1007/978-3-319-75804-6

Downloads

Published

2025-12-14

Issue

Vol. 4 No. 86 (2025)

Section

AUTOMATION AND COMPUTER-INTEGRATED TECHNOLOGIES

License

Authors who publish with this journal agree to the following terms:

Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.

Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.

Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).