The term fingerprint-based (FP) positioning includes a wide variety of methods for determining a receiver’s position using a database of radio signal strength measurements that were collected earlier at known locations. Nonparametric methods such as the weighted k-nearest neighbor (WKNN) method are infeasible for largescale mobile device services because of the large data storage and transmission requirements. In this work we present an overview of parametric FP methods that use model-based representations of the survey data. We look at three different groups of parametric methods: methods that use coverage areas, methods that use path loss models, and methods that use Gaussian mixtures. Within each group we study different approaches and discuss their pros and cons. Furthermore, we test the positioning performance of several of the analyzed approaches in different scenarios using real-world WLAN indoor data and compare the results to those of the WKNN method.

The paper focuses on construction of reference orthogonal frame bound with IMU of a strapdown inertial navigation system and recalculation of accelerometer signals for its origin. Main points of the algorithm refining the FOG IMU calibration parameters in dynamic test bench conditions using the Kalman filter algorithm and relying upon the system navigation solution are detailed. Time lags in FOG gyros and accelerometers’ measurement channels are estimated to the accuracy allowing construction of a 0.001 deg/h class navigation system.

The satellite launch vehicles’ evolution goes through a reduction of cost, weight and size of the IRS (Inertial Reference System), while keeping a very high level of performance and safety compatible with this kind of application. The classic approach leads to duplicate this equipment, so assuring a first level redundancy. But this solution is not favourable considering the previous criteria (cost, weight, size) and does not allow detecting a possible slow drift of performance of one of the two IRS because there is no possible majority vote. The approach proposed in this paper is based on a multisensor architecture, integrating 6 gyroscopes and 6 accelerometers, with a triplication of the common functions, which allows using a non-radiation hardened electronics. This integrated architecture facilitates the implementation of FDI techniques (Fault Detection and Isolation), and withstands straight failures and performance drifts of the inertial sensors, the whole being integrated into a single equipment, which allows reducing drastically cost, weight and size. In this context, the use of HRG (Hemispherical Resonant Gyroscope) is particularly relevant because of its low size and weight. As a result, the proposed architecture allows reaching high levels of accuracies, which makes it capable of a wide range of missions. This paper details the proposed inertial and electronic architecture, demonstrates the techniques used for the FDI function and shows the contribution of the HRG for this kind of architecture in terms of accuracy, safety and size.

Dynamics of wave solid gyro with thin elastic axisymmetric shell resonator under consideration of nonlinear effects is investigated. These nonlinearities are caused by reference voltage on electromagnetic control sensors. We use Lagrange-Maxwell method to derive the equations of resonator motion. Lagrange function is calculated using kinetic and potential energy along with electromagnetic energy. Equations of gyro dynamics describing electric, magnetic and mechanical oscillations in interconnected form are obtained. They are studied using two-scale method. The resulting formula for calculating the gyro error and demonstrated example indicate the need to take into account nonlinear electrical processes in the gyroscope.

Errors of continuous survey on vertical parts of wells are studied basing on analysis of existing designs and algorithms of ideal operation of present gyroinclinometers (GI) of various types including earlier rejected GI arrangements. Modernized structure and new algorithms using structural redundancy created intentionally for longitudinal GI are proposed. Analytical studies of the design accuracy are accompanied by large simulation and results of practical operation.

The paper focuses on development and studies of inertial measurement unit of a waverider buoy based on MEMS sensors. The model for estimating the accuracy of IMU algorithms is developed and studied, selection of time constants for orientation system and the vertical channel is validated, error in computing the wave elevation is estimated. The bench tests of IMU produced by the results of these studies have confirmed the obtained conclusions and the error level.

GNSS Spoofing is a technique that intentionally fools a receiver into generating incorrect position and/or time solution. A low cost GNSS receiver is added to the widely existed GNSS/INS system to achieve effective spoofing detection. Models of pseudorange/carrier phase double difference under normal and spoofing conditions are built and analyzed. With the aid of INS, double difference observations are calculated and compared with the actual measurements to construct the test statistic. A full detection process with constant false alarm rate is set up and its detection ability is verified by live signal experiment in a static case.

The paper considers a design of integrated navigation system of a single-axis wheeled module used to perform various functions in airdrome infrastructure. The core of the integrated navigation system is a strapdown inertial navigation system integrated with a video camera and dynamic model of a single-axis wheeled module with nonholonomic constraints. The integrated navigation system simultaneously estimates the module navigation parameters and the coordinates of the references observed by the video camera. The system is shown to determine the navigation parameters nd to construct the structural map of references over rather long periods without external aiding.

Algorithm for constructing a global geoid model with accuracy of zeroth approximation is presented. The algorithm is based on one-dimensional spherical Fourier transformation. It works with memory substitution and outperforms the standard discrete transformation in running speed by 2.5 orders, and numerical integration method, by 4 orders. The algorithm approbation was performed based on a new gravitational model of the Earth EGM2008 published by National Geospatial Intelligence Agency (NGA) of the USA Ministry of Defense. 

The paper proposes a method for optimizing sampled-data systems over a set of reduced order controllers. The method is based on the concept of parametric transfer function and finding a subset of solutions for polynomial Diophantine equation with the order not exceeding the preset number. The method is applied to optimization of H2-norm of sampled-data submarine motion control system.

The paper has the following objectives: 1) interdisciplinary review of state of the art anti-asteroid planetary defense; 2) technical proposals for development of a multilevel planetary defense system based on modern spacecraft technology using projectile asteroids to deflect the target asteroids and distributed integrated navigation systems with installation of navigation equipment at various objects. Composition and required accuracy of these systems are discussed. The work develops the results achieved by the International Laboratory of Space Research, Technologies, Systems, and Processes [1] established in 2011 at Moscow Institute of Electronics and Mathematics (Higher School of Economics) supported by the grant of the Russian Government (2011–2013) using the lecture course “Models of planetary defense” developed in 2014 at the Institute Department of Mechanics and Mathematical Modeling.

For a stationary system, coarse alignment is used to initially determine the orientation of the INS by utilizing the Earth gravity and rotation vectors. Yet, a gyro-free INS has only accelerometers and hence cannot measure the Earth rotation vector and thus cannot deduce its yaw angle. In this paper, we formulate the coarsealignment procedure and derive error characteristics for a gyro-free system. In addition, a comparison between different configurations of accelerometers is being conducted.