Over the past 50 years, Allan variance and its modifications have been developed for characterizing the instabilities in precision clocks and oscillators. These instabilities are often modeled by non-stationary processes, and these variances have been shown to be efficient descriptors of these processes. The time-domain and frequency-domain relationships are shown along with the strengths and weaknesses of the proposed variances. These variances are also shown to be useful elsewhere, as in navigation.

The paper presents a Pedestrian Integrated Navigation System (PINS) including micro Inertial Measurement Unit (IMU), Global Positioning System (GPS) module, magnetometer and barometric altimeter, whose data are processed by the Extended Kalman Filter (EKF).

The paper studies the errors of autonomous strapdown inertial navigation system (SINS) based on fiber-optic gyros (FOGs) with an IMU placed in a two-axis gimbal. Quality criterion of IMU rotation law and the gimbal kinematic scheme are considered. IMU rotation control law, optimal by minimization criterion, is calculated. Simulation modeling is conducted to analyze how IMU sensor errors affect INS accuracy. The obtained results are confirmed by bench tests of INS based on Elektropribor developed FOGs.

The article presents a method of determining gyro and accelerometer delays during calibration of strapdown inertial navigation systems (SINS) of navigational accuracy. The method uses the Kalman filter in SINS navigation mode and makes it possible to estimate, in a single iterative process, errors in gyro and accelerometer delays and scale factors, sensitivity axes misalignment and drift, accelerometer proof mass coordinates with respect to the pole of the body-fixed reference frame. Application of SINS navigation mode during calibration reduces the requirements to accuracy of the rate table. The obtained estimates of calibration parameters are selfconsistent, minimizing the resulting SINS error. The method was tested during calibration of FOG-based SINS.

A MEMS RR-type gyro design is proposed, which is immune to translational vibrations and constant linear accelerations. Mechanical immunity is enhanced by arranging the electrodes of angle sensors and torques on elastic suspension with certain rigidity. Main design features of the gyro are described, analytical expressions are given for the ratio of suspension and electrode eigenfrequencies, and results of mathematical modeling of gyro dynamics on vibrating foundation are provided.

The paper provides an analytical solution to the problem of propagation of elastic waves in a structure including a bearing foundation with a piezoelectric layer applied to it subject to constant rotation. Relations to calculate the dependency of elastic wave parameters on the structure rate are obtained. Numerical simulation results are given. The possibility of applying these results in solid-state gyros on surface acoustic waves is considered.

The paper describes a precision device on floating gyros measuring the spacecraft angular rate. The device is intended to be used within orientation and stabilization control system of various low dynamic space vehicles (communication, meteorological, research satellites). Some results of device ground verification and autonomous tests regarding estimation of major accuracy parameters of its measurement channels.

In this article we provide the description of precise gyroscopic angular rate measurement device. The device is designed to operate within stabilization control systems of various low-dynamics satellites (communication satellites, Earth remote sensing satellites, scientific space vehicles). This gyroscopic device is developed in NII PM named after Academician V. I. Kuznetsov. The device consists of four independent measuring channels. The sensing element of each measuring channel is floating gyro with gas-dynamic rotor bearing and floating element magnetic suspension. We describe the main engineering solutions and features of measurer, which allow reaching its functional and accuracy characteristics. Finally described some ground tests results of the gyroscopic measurer (accuracy characteristics, 24 hours bias stability diagrams, bias diagrams as a function of temperature and supply voltage, noise diagram).

GLONASS is declared fully operational in its revitalized form since late 2011. This generated interest for using it for redundancy and system independence and for a robust Multi-GNSS navigation environment. This paper discusses the accuracy capabilities of revitalized GLONASS in standalone and in mixed mode of operation with GPS on basis of studies made using real-life data from different parts of India collected over 2012 – 2014. The results show the potentials of GLONASS as an independent global navigation system and the advantages of it as an active component of usable Multi-GNSS from India and the surrounding regions.

Micro Aerial Vehicles (MAV) with vertical takeoff and landing capabilities such as quadrotors are often used as sensor platforms. The carried equipment like cameras or LASER range finders has to be aligned to some point of interest. In this article a modified type of a quadrotor will be presented: a quadrotor with tiltable rotors which in contrast to common quadrotors is able to perform independent velocity and attitude movements. This ability makes additional aligning equipment to move the payload redundant. After a system description, the used control algorithm based on Nonlinear Inverse Dynamics (NID) is explained. In this article an extension of this approach is presented. The pseudo control hedging method removes the influence of the actuator dynamics from the control loop. The extension and its integration into the control algorithm are explained and the influence on the quality of control is demonstrated by simulation results.

This paper deals with the problem of map-aided navigation. Based on the previous overview of nonlinear filtering algorithms for this problem solution, current trends in the development of such algorithms are discussed. Some new lines in identification of error models and the use of information on the probable vehicle motion are considered.

This paper is devoted to the navigation of an autonomous underwater vehicle (AUV) with a mobile hydroacoustic beacon, which is transported by an autonomous surface vehicle (ASV). Two algorithms for AUV position using information on the distance to a single mobile acoustical beacon and data from the onboard reckoning system were used. The first algorithm is based on the extended Kalman filter and the second one uses the particle filter. The simulation and the marine trial results of the considered algorithms operation using AUV and ASV are discussed.

The article presents brief information on the historical background of the e-Navigation concept, its definition, modern outlook of its fundamentals and the first results of their implementation.