title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½Ð¾Ð¹ Ð¿Ð¾Ð´ÑÐ¸ÑÑÐµÐ¼Ñ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸ Ð¸ ÑÐ¾ÑÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÐºÐ°ÑÑÑ Ð² ÑÐµÐ¶Ð¸Ð¼Ðµ ÑÐµÐ°Ð»ÑÐ½Ð¾Ð³Ð¾ Ð²ÑÐµÐ¼ÐµÐ½Ð¸
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Developing of a software algorithm of navigation and mapping in real time
Creators: name: ÐÐ°ÑÐ¸Ð½Ð¾Ð², ÐÐ°ÐºÑÐ¸Ð¼
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2020
Subjects: SLAM
ÐÐ­ÐÐ¡
GNSS
INS
VSN
IMU
MEMS

description: Ð¢ÐµÐ¼Ð° Ð²ÑÐ¿ÑÑÐºÐ½Ð¾Ð¹ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ: Â«Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½Ð¾Ð¹ Ð¿Ð¾Ð´ÑÐ¸ÑÑÐµÐ¼Ñ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸ Ð¸ ÑÐ¾ÑÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÐºÐ°ÑÑÑ Ð² ÑÐµÐ¶Ð¸Ð¼Ðµ ÑÐµÐ°Ð»ÑÐ½Ð¾Ð³Ð¾ Ð²ÑÐµÐ¼ÐµÐ½Ð¸Â».
ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½Ð¾ÑÑÐµÐ¹ SLAM Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸ Ð¸ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ñ ÐºÐ°ÑÑÑ, ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐµ Ð³Ð¸Ð±ÑÐ¸Ð´Ð½Ð¾Ð¹ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ Ð´Ð»Ñ Ð±Ð¾Ð»ÐµÐµ ÑÐ¾ÑÐ½Ð¾Ð³Ð¾ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ñ ÐºÐ°ÑÑÑ. ÐÐ°Ð´Ð°ÑÐ¸, ÐºÐ¾ÑÐ¾ÑÑÐµ ÑÐµÑÐ°Ð»Ð¸ÑÑ
Ð² ÑÐ¾Ð´Ðµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ:
1. ÐÐ½Ð°Ð»Ð¸Ð· Ð¿ÑÐµÐ´Ð¼ÐµÑÐ½Ð¾Ð¹ Ð¾Ð±Ð»Ð°ÑÑÐ¸: Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ñ Ð¸ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ðµ ÐºÐ°ÑÑ;
2. ÐÐ½Ð°Ð»Ð¸ÑÐ¸ÑÐµÑÐºÐ¸Ð¹ Ð¾Ð±Ð·Ð¾Ñ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ñ Ð°Ð½Ð°Ð»Ð¾Ð³Ð¾Ð² SLAM;
3. ÐÐ½Ð°Ð»Ð¸ÑÐ¸ÑÐµÑÐºÐ¸Ð¹ Ð¾Ð±Ð·Ð¾Ñ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ñ ÑÐ¸ÑÑÐµÐ¼ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸;
4. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð³Ð¸Ð±ÑÐ¸Ð´Ð½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ñ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸;
5. ÐÐ½Ð°Ð»Ð¸Ð· Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½ÑÑ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ¾Ð².
Ð Ð°Ð±Ð¾ÑÐ° Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð° Ð¾ÑÐ½Ð¾Ð²ÑÐ²Ð°ÑÑÑ Ð½Ð° ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ñ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ð¹ Ð² Ð¾Ð±Ð»Ð°ÑÑÐ¸ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¾Ð½Ð½ÑÑ ÑÐ¸ÑÑÐµÐ¼, Ð³Ð´Ðµ ÑÐ¾Ð±ÑÐ°Ð½Ñ Ð¼ÐµÑÐ¾Ð´Ñ Ð³Ð¸Ð±ÑÐ¸Ð´Ð¸Ð·Ð°ÑÐ¸Ð¸ ÑÐ¸ÑÑÐµÐ¼
Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸ Ð´Ð»Ñ Ð¿Ð¾Ð²ÑÑÐµÐ½Ð¸Ñ ÑÐ¾ÑÐ½Ð¾ÑÑÐ¸ Ð»Ð¾ÐºÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð¸ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÑ Ð¸Ñ ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ. Ð ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐµ ÑÐ°Ð±Ð¾ÑÑ Ð±ÑÐ»Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð° Ð¸ Ð¿ÑÐ¾ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð° Ð½Ð° ÑÐ°Ð·Ð½ÑÑ ÑÑÐµÐ½Ð°ÑÐ¸ÑÑ Ð³Ð¸Ð±ÑÐ¸Ð´Ð½Ð°Ñ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ¸ÑÑÐµÐ¼Ð° VINS-G.
ÐÐ¾ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ°Ð¼ ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð½Ð° ÑÐ¸Ð¼ÑÐ»ÑÑÐ¾ÑÐµ Ð±ÑÐ»Ð¸ ÑÐ´ÐµÐ»Ð°Ð½Ñ Ð²ÑÐ²Ð¾Ð´Ñ,
ÑÐ²Ð¸Ð´ÐµÑÐµÐ»ÑÑÑÐ²ÑÑÑÐ¸Ðµ Ð¾ Ð´Ð¾ÑÑÐ¸Ð¶ÐµÐ½Ð¸Ð¸ Ð±Ð¾Ð»ÐµÐµ ÑÐ¾ÑÐ½Ð¾Ð¹ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ð¸ Ð² ÑÑÐ»Ð¾Ð²Ð¸ÑÑ Ð¾ÑÐºÑÑÑÐ¾Ð¹ Ð¼ÐµÑÑÐ½Ð¾ÑÑÐ¸ Ð¿ÑÐ¸ ÑÐ°ÑÑÐ¸ÑÐ½Ð¾Ð¹ Ð¿Ð¾ÑÐµÑÐµ ÑÐ¸Ð³Ð½Ð°Ð»Ð° ÑÐ¾ ÑÐ¿ÑÑÐ½Ð¸ÐºÐ°.
Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð½Ð°Ñ ÑÐ¸ÑÑÐµÐ¼Ð° Ð¿Ð¾Ð·Ð²Ð¾Ð»ÑÐµÑ ÑÐ¾Ð²ÐµÑÑÐ°ÑÑ ÑÐ¾ÑÐ½ÑÑ Ð½Ð°Ð²Ð¸Ð³Ð°ÑÐ¸Ñ Ð¸ Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ð¸Ðµ ÐºÐ°ÑÑÑ Ð² SLAM Ð¼Ð¾Ð´ÐµÐ»ÑÑ Ð´Ð»Ñ Ð´ÑÐ¾Ð½Ð¾Ð² Ð² ÑÑÐ°ÑÐ¸ÑÐ½Ð¾Ð¹ ÑÑÐµÐ´Ðµ.
description: Theme of the qualification work is "Developing of a software
algorithm of navigation and mapping in real time."This work is devoted
to the study of the possibilities of SLAM navigation and map building,
the development of a hybrid navigation system for more accurate map
building. Tasks that were solved during the study:
1. Domain analysis: navigation and map building;
2. Review of existing SLAM algorithms;
3. Review of existing navigation systems;
4. Developing of a hybrid navigation system;
5. Analysis of the results.
The work was carried out based on existing research in the field
of navigation systems, which collected methods of hybridization of
navigation systems to improve localization accuracy. As a result, the
VINS-G hybrid navigation system was developed and tested on different
scenarios. Based on the testing results on the simulator, conclusions were
drawn indicating the achievement of more accurate navigation in open
areas with a partial loss of satellite signal. The developed system allows
for precise navigation and map building in SLAM models for drones in a
static environment.