Two problems of conventional attitude algorithm in MEMS rotary SINS are focused on in this paper. One is that the yaw error diverges, and the other is that the highresolution rotary encoder is relied on. In order to solve the problems mentioned, an improved attitude algorithm in MEMS-RSINS aided by compass/rotary encoder is proposed and detailed. Then simulation is conducted to prove the validity of this improved attitude algorithm.

After renewed GLObal NAvigation Satellite System (GLONASS) was completed and it became world wide as its U.S. counterpart, Global Positioning System (GPS), the best way for increasing the number of satellites in the user’s view is combining these two systems. On the other hand, as it is possible for GPS satellites to be spoofed or blocked, combining becomes more efficacious. In this paper, GPS and GLONASS are used for positioning using Kalman filter. Kalman filter is utilized here because it is one of the cheapest and applicable tools for implementing on cheap processors. In addition, in this paper, we proposed a method against GPS signal spoofing based on combination of GPS and GLONASS regarding to pseudorange behavior in spoofing situations. The proposed method is not only easy to implement, but also low cost and high precision. This method without any need for expensive receiver has ability for real-time recognition of spoofing attacks and eliminating its effects. The recorded data was collected using an implemented GPS and GLONASS RF front-end in stationary mode and in order to show spoofing effects on positioning an artificial spoofing was applied on GPS satellite signals in different scenarios. The simulation results showed a big improvement in Root Mean Square (RMS) error in comparison with GPS-only positioning in all spoofed scenarios.

The paper presents a multiloop system tracking the radionavigation parameters of navigation satellite signals in the user equipment. Comparative analysis of accuracies of traditional tracking system with discriminators and filter in the tracking loop and the proposed system without discriminators is performed. RMS errors of estimates and the probability of signal acquisition are estimated with various values of SNR parameter. The proposed scheme is shown to outperform the traditional tracking system with discriminators.

The paper presents a multiloop system tracking the radionavigation parameters of navigation satellite signals in the user equipment. Comparative analysis of accuracies of traditional tracking system with discriminators and filter in the tracking loop and the proposed system without discriminators is performed. RMS errors of estimates and the probability of signal acquisition are estimated with various values of SNR parameter. The proposed scheme is shown to outperform the traditional tracking system with discriminators.

The paper develops an earlier proposed approach to the construction of geographically oriented horizon trihedron nonperturbed by inertial accelerations to aid navigation dead reckoning referred to as gyroscopic orientation with correctable pendulum. The proposed scheme is implemented using accelerometer trihedron and only one free gyro in equatorial orientation. Special attention is given to the Schuler filter which not only provides the “absolute” nonperturbality of navigation deadreckoning but also allows formulation of the problem of autonomous estimation of its error to the accuracy determined by the gyro drifts in the steady mode. The problem of occasional correction of “azimuth” heading during in situ observation is also considered.

The paper considers the algorithms identifying the parameters of Markov process correlation function based on maximum likelihood function method, least squares method, and constructing sample characteristics. The algorithms are compared with the algorithms based on Bayesian approach.

The paper discusses the relationship between Allan variance and error variance of sensor bias estimation obtained by averaging over a certain period. Allan variance is shown to coincide with this variance in some cases. Bias estimation accuracy can be improved using nonlinear filtering methods in the conditions of uncertain error model.

The basic methods for determining deflections of the vertical on a moving base are considered. The classification criteria of these methods are proposed. The comparative analysis of the methods has been performed based on the proposed criteria.

The paper presents the current state of development of onboard gravity gradiometers applied in mineral exploration and space missions; the results of their operation are discussed. Gradiometer designs using atom interferometry are considered. Prospects of gravity gradiometry for various applications are outlined. 

The paper provides an overview of acoustic positioning methods of autonomous underwater vehicles. Their advantages and disadvantages are discussed.

The paper focuses on the problem of synthesis of path following control for a robot with OMNI wheels. Control is synthesized using differential geometry methods through nonlinear transformation of the initial dynamic model. The main results are presented in the form of nonlinear control algorithm and experimental data.

Splines in non-parametric form, being the segments of affine embedded submanifold of R2, are offered. These splines can be applied as the path primitives for forming the required trajectories with the geometrical smoothness of G2. These trajectories are one-dimensional manifolds. If control algorithms are constructed with the method of the transverse feedback linearization, the required trajectories will be attractors. The required trajectories can be formed considering a limit on curvature. This allows specifying a reserve of the control signal. The simulation showed that in the steady part of actual trajectory the curvature does not exceed the limit on curvature. In the controlling distance from a point on an object to the virtual point on the required trajectory is not necessary. Application of Bernstein basis raises calculable stability of control algorithm.