Izvestiya MGTU MAMIIzvestiya MGTU MAMI2074-0530Moscow Polytechnic University66895Original ArticleAlgorithm for navigation of ground-based transport-technological facilities on the basis of integrated inertial-satellite navigation and odometer dataNovikovP. VNovikoF_08@mail.ruSheypakA. ADSc in Engineering-GerdiV. NPhD in Engineering-NovikovV. VPhD in Engineering-EninV. NDSc in Engineering-Moscow Polytechnic UniversityBauman Moscow State Technical University150620172313930042021Copyright © 2017, Novikov P.V., Sheypak A.A., Gerdi V.N., Novikov V.V., Enin V.N.2017The dynamic development of navigation technologies has led to the emergence of practical applications for the solution of the problem of navigation of ground transport and technological facilities (GTTF). The most promising way of solving the navigation problem of GTTF is the creation of integrated inertial-satellite navigation systems. For a long period of time, the widespread use of navigation systems for transport applications was constrained by their high cost. The appearance of low-cost microelectromechanical (MEMS) inertial sensors on the market of navigation equipment provided the technological basis for the creation of small-scale inertial-satellite navigation systems. For transport applications, integrated inertial-satellite are integrated with additional information sensors, which include the odometer. Implementation of integrated systems is impeded by massively high level of intrinsic errors in MEMS sensors, as well as by the low accuracy of determining navigational parameters in the zone where the satellite signal of the satellite navigation systems is not stable. It is obvious that the development of methods for processing measurement information and the synthesis of specialized algorithms that ensure the accuracy of navigation systems GTTF is an urgent scientific task. In this paper, a schematic and technical solution for constructing an integrated inertial-satellite navigation systems with an integrated odometer sensor is presented and justified. A specialized navigation algorithm is developed that provides an integrated navigation solution for data coming from heterogeneous sources of measurements. A detailed functional diagram of the algorithm is given. A set of functional criteria for the quality and reliability of the navigation solution is defined. Correction algorithms for the main kinematic parameters of the trajectory motion of the GTTF - the true course angle, the location coordinates, the velocity vector components, are developed. The developed algorithm is invariant to the type of inertial sensors and in this sense is unified. Performance was confirmed by the results of full-scale tests of the navigation system of a forklift truck carrying out freight traffic on the territory of the seaport.navigation systemgyroscopeodometeraccelerometeralgorithminertial sensorMEMS sensorheading angleнавигационная системагироскоподометракселерометралгоритминерциальный датчикмикроэлектромеханический датчиккурсовой угол[Salychev O.S. Applied Inertial Navigation: Problems and Solutions - M.: BMSTU Press, 2004. 302 p.][Salychev O.S. MEMS-based Inertial Navigation: Expectations and Reality - M.: BMSTU Press, 2012. 208 p.][Salychev O.S. Inertial Systems in Navigation and Geophysics - M.: BMSTU Press, 1998. 208 p.][Новиков П.В., Новиков В.В., Шейпак А.А. Интегрированная навигационная система наземного транспортного средства. - М.: Известия МГТУ «МАМИ», № 4(26), 2015. Т. 1. С. 70-77.][Новиков П.В., Герди В.Н., Новиков В.В. Применение микроэлектромеханических датчиков в интегрированной навигационной системе наземного транспортного и сельскохозяйственного технологического средства. - М.: Известия МГТУ «МАМИ», № 3(29), 2016. С. 25-30.][Новиков П.В., Шейпак А.А., Герди В.Н., Новиков В.В. Повышение точности и надежности определения выходных параметров интегрированной навигационной системы наземного транспортного средства. - М.: Известия МГТУ «МАМИ», № 4(30), 2016. С. 50-56.][Sheipak Anatoly, Novikov Pavel The satellite-based algorithm for determining the location of hydraulic lift. Design of machines and structures. A publication of the university of Miskolc - Vol. 4, Number 2 (2014) pp. 45-53.][Novikov V.V., Novikov P.V. & Gerdy V.N. The hardware structure of the navigation system. Proceeding of the 13th International Conference on Advanced Engineering, Computer Aided Design and Manufacturing CADAM 2015, Croatia, September 15th - 19th, 2015, pp. 39-43.][Sheypak A.A. & Novikov P.V. Specialized alternative algorithm for determining the location of hydraulic lift. Proceeding of the 12th International Conference on Advanced Engineering, Computer Aided Design and Manufacturing CADAM 2014, Croatia, September 16th - 20th, 2014, pp. 59-62.][Sheypak A.A., Novikov P.V. Determining the location of hydraulick lift by specialized alternative algorithm. International Journal Advanced Engineering 8th year (2014), pp. 97-104.]