The paper presents an analytical model of a micromachined electromagnetic inductive contactless suspension, which describes the dynamics of a levitated disk shaped proof mass in space, near an equilibrium point. The proof mass is levitated in an electromagnetic field created by a ring shaped coil. The model derives from the analysis of the set of Lagrange-Maxwell equations obtained for the proof mass-coil system in a general form. Also the condition for the stable levitation of the proof mass in space is developed and expressed in terms of coefficients of the quadratic form of a function of mutual inductance between the disk shaped proof mass and ring shaped coil.
In this paper, a micromachined accelerometer, based on a contactless suspension with a zero spring constant which is a new challenge that provides possibility to significantly increasing accuracies of the micromachined inertial sensor is proposed. Minimization of the spring constant of the contactless suspension is achieved by combining inductive and electrical contactless suspensions. To study the conditions required to eliminate the spring constant of the suspension and achieve stable levitation of the accelerometer proof mass, a mathematical model of the suspension is developed. It is shown that such a suspension can be developed in principle.
In this paper, the operating principle of a micromachined, dynamically tuned gyroscope, based on a contactless suspension is discussed and its mathematical model is derived. Dynamical analysis based on this mathematical model is conducted. The analysis shows that such a gyroscope can be created in principal and provides a value for the gyroscope gain to measuring angular rate which is several orders of magnitude greater in comparison with existed prototypes of the micromachined gyroscope based on a contactless suspension.
The article discusses a ground-based wheeled robot (GWR), designed to operate at airfields, in particular at aircraft parking lots for the purpose of patrolling or photographing the lower part of the aircraft. The purpose of the article is to find a way to increase the accuracy of the navigation system for a ground wheeled robot used in aircraft parking. All initial and final calculations were performed in the navigation coordinate system (CS). Also, the starting CS (SCS) and CS associated with the GWR were used. A trajectory of detouring the aircraft landing gear racks was obtained, at which the influence of aircraft position errors at the airfield parking and scanning laser range finder (LIDAR) measurement errors on the accuracy of determining the location coordinates of the aircraft and GWR can be minimized. The influence of linear and angular errors of the aircraft position on the value of the error in determining the location of the GWR was studied. A correction structure was developed based on Kalman filter of GWR navigation system according to the calculated coordinates. The results of modeling the operation of integrated navigation system with the proposed correction channel were demonstrated, which have shown the effectiveness of the proposed correction method. Based on the analysis of the indicated GWR navigation systems, it can be concluded that the features of the use of additional sensors are determined by the purpose of GWR and, accordingly, the trajectory of its movement. The proposed correction algorithm for the navigation system based on LIDAR measurements based on the initial research is an adequate and effective alternative to using GPS in limited conditions.
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