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  • In connection with the situation with  coronavirus the meetings of the ACS department are held in the online mode "Conferences on the ZOOM platform".

Master's thesis on "Improving the accuracy micromechanical sensor of angular velocity" volume 75 pages containing 63 figures, 3 tables and 30 sources for references.

Micromechanical gyroscopes are the primary sensors measuring the information included in the inertial navigation systems.

The use of sensitive items on microelectromechanical (MEMS) technology limited them significant in terms of noise, which leads to a rapid increase in the error in time and limited period of stand-alone use of guidance and control built on MEMS sensors. The main reason for the increasing uncertainty of the system focus on MEMS gyroscopes (MMG) is a low-frequency component of the random component of gyro output that leads to a rapid increase of error of navigation and control at the MMG and time limits of battery life.

The relevance of the study is that the mathematical model of unstable output MMG will find ways to reduce it, which will improve the accuracy of navigation and control systems for MMG time and increase their battery life.

The purpose of the master's thesis is to solve the following problems:

1. Get MMG mathematical model errors, which is a low component dependency errors from the time of the sensor.

2. Develop methods for identifying factors derived model for bench testing MMG.

3. Develop an algorithm error compensation for low component MMG and confirm the adequacy experimentally.

MMG object is as basic sensors inertial navigation systems of the aircraft.

The subject of study is the low-frequency components of the MMG error depending on the time of methods of identification at bench testing MMG and ways to reduce this error to provide desired measurement accuracy MMG.

In this paper, the method of identifying low-frequency component of zero output MMG and compensation algorithm random errors. The adequacy of the proposed method of random error compensation zero output MMG has been confirmed experimentally.

Scientific novelty of the results is as follows:

1. The mathematical model of low-frequency components of random error zero output micromechanical gyroscope;

2. The method of identification of coefficients of a mathematical model of low frequency components of random error zero output micromechanical gyroscope;

3. The algorithm of compensation for low component of random error zero output micromechanical gyroscope.

The results were made public at the X International Scientific Conference "Gyro technologies, navigation, traffic control and design of aerospace vehicles", Kiev, 2015.

 

Keywords: micromechanical gyroscope, low-frequency components, mathematical model, static test coefficient identification algorithm compensation.

The problem of designing control systems for regulating facilities under uncertainty relates to the fundamental and pressing problems of the modern theory of automatic control.

Firstly typical are cases where there is no exact mathematical description of the object of control or a change its parameters unknown so widely in the operation.

Second, with the development of management theory there are new requirements for the systems developed.

Third, each process has its own characteristics, and automation as every year more and more complicated and there are new complex technical processes, the practice provides many new challenges. The purpose of the master's thesis is to achieve high accuracy control using adaptive regulator under the action of large disturbances.

Objectives: to develop a mathematical model of UAV for the synthesis and analysis of adaptive regulators; synthesis of adaptive stabilization laws in UAV flight path on route; calculation precision control UAV using synthesized laws; choosing the best regulator; test results using simulation and modeling of semi natural.

Subject of research: adaptive motion controller parameters unmanned aircraft. Research object: the management of unmanned aircraft flying in the face of uncertainty. The natural solution to the problem of automatic flight control under uncertainty based on the combination of H2 and H ∞- optimum appears unacceptable quoting strict requirements for management errors. Such problems can be solved through the use of algorithms adaptation. The novelty of the thesis is to use adaptive regulator, unlike the known algorithm can be operational even in the absence of information on the matrix state and determined that consistent evaluation of the model parameters and motion parameters of the plane can get the necessary quality control with fewer prior information . The research results can be used to create labs for course automatic control UAVs.

Keywords: automatic control, adaptive regulator, identification, simulation, motion parameters, discrete system, drone.

Master's thesis Kucheryavenko I.O. under the guidance of assistant professor, Ph.D. Prokhorchuk A.V "Geophysical navigation system" contains 104 pages, 5 posters, 52 used source.

With the development of the navigation methods on the geophysical fields of the Earth sharply raises the question of improving the methods of navigation systems and algorithms, the mathematical apparatus of the modification, which is widely used for this purpose. The use of optimal methods for constructing the reference navigation map allows you to automate the process of extracting the necessary information (identification of navigational landmarks) methods of comparing images of the Earth's surface.

The successful solution of this problem requires the use of modern mathematical apparatus of the non-traditional tasks of navigation knowledge industries and ensure the implementation of algorithms in the automatic mode. It's can be:

* pre-processing of data about the values of geophysical field, which requires the use of construction techniques organized data structures;

* the selection of the useful signal from the values of the geophysical field;

* engaging methods of pattern recognition methods for constructing interpolation maps for identifying image elements on the templates directory.

The aim is to develop Geophysical navigation system in the magnetic field of the Earth, its algorithmic support of continuous maps of the magnetic field of the Earth's surface.

The object of research is geophysical navigation system. Subject of research ̶ algorithms for constructing the reference magnetic field maps, remote data paging methods to ensure continuous operation of the system.

An algorithm for constructing continuous maps of the magnetic field on the basis of interpolation improved the robustness of the image data in the lack of conditions, led off the speed of construction of maps based on structured digital data to reduce the mean square error data interpolation.

The proposed methods in the remote podskachki continuous real-time data helped to create a complete data communication system, there is a need in the construction of the navigation system. Based on the results of the magnetic field surface recording and processing bitmap images alignment problem has been solved.

The practical significance of scientific research and the results obtained is to create reference methods for constructing maps of physical fields of the Earth using remote sensing data obtained using UAVs and processing of digital filters and ensure the use of the information obtained in real time to solve navigation tasks.

Implementation of the results of practical importance, and form the basis for the development of continuous maps Magnin field, used for the formation of the software with respect to the interpolation tasks and data.

Test software module that was created during the work, allowed to explore a number of modified discrete data interpolation algorithms and show their effectiveness on the practical material. Application of the developed methods allowed to create a geophysical navigation system that works in real time.

According to the thesis topic published the following scientific papers in professional journals and abstracts at conferences:

1) A. Pikenin, A. Prokhorenko, I. Kucheryavenko // Information systems, mechanics and management, issue 10, "KPI" 2014, p.15-26.

2) Kucheryavenko I. Prokhorchuk A. "Selection of the optimal interpolation method to build reference maps geoficheskoy navigation system" / / Mechanics-technological systems and complexes, Issue 52, NTU "KHPI", 2016 p.65-71.

Keywords: geophysical navigation, magnetic field, interpolation methods, navigation landmarks, a continuous exchange of data.

Master's thesis is devoted to research of methods used to solve the problem of positioning in GPS satellite navigation system and improve the accuracy of the coordinates by applying robust algorithms.

The relevance of this work confirmed by continued growth of GPS applications in everyday life.

The purpose of the master's thesis is to study the positioning accuracy depending on the selected method of calculation and building effective robust algorithm for determining location based on free access code.

The first part of the thesis is devoted to analysis of robust algorithms and algorithms used in known GPS receivers.

In the second part, there shows a block diagram of the structure of GPS receiver. Physical models of external disturbing factors, that influence the measured pseudorange has been analyzed.

There is a detailed description of developed robust algorithm of positioning in the third part of the master's thesis.

The fifth section is devoted to the research results and recommendations for its use.

To achieve this goal settled the following tasks: analysis of statistical characteristics of physical models of disturbances that takes into account during construction of positioning algorithms; the existing algorithms of coordinates determining have been compared and analyzed the methods robust estimation; robust positioning algorithm has been developed and conducted its modeling.

Keywords: satellite navigation system, methods of solution, robustness.

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