Currently world tendencies of inertial navigation systems (INS) development show to almost full transition to method of strapdown systems (SINS). Transition to SINS technology is defined by the fact that such systems are in 3 ÷ 4 times more informa-tive in comparison with platform ones, providing ~ 50 % MA mission reliability in-crease; complete autonomous initial alignment in 1,5 ÷ 3 less time, thus substantially reducing MA vulnerability; have their mass-and-dimensional parameters reduced in 2 ÷ 3 times; is in ~ 10 times less power consuming and has more than in 10 times larger operational life, which reduces system life cycle cost.

The Moscow Institute of Electromechanics and Automatics has started development of inertial navigation systems, mainly air application, since 60s of the last century. By the end of the 90s the Institute has developed and delivered in operation some modifications of gyro INS on floating astatic gyros that are still in operation at pre-sent. During the same time the Institute has developed the SINS domestic technology which, in particular, included technologies of the laser gyroscope, the quartz acceler-ometer, the high-efficiency but a little power-intensive airborne computer, and the precision high-speed analog-digital converter. Last decade activities in the indicated area are characterized by developing for MA SINS of two accuracy classes: BINS-SP-1 with the dead reckoning error equal 3,7 km. per hour (3rd accuracy class) and BINS-SP-2 with the error equal 1,85 km. per hour (2nd accuracy class). The first sys-tem has passed all kinds of tests and accepted to series delivery. The second system is at the final stage of flight tests now. These systems are used on board of Yak-130, Tu-160, AN-70, SU-35 and other aircraft. The article discloses systems structure, software differences, main specifications (Fig. 7) and provides the flight tests results (Fig. 8-10), confirming specified requirements. By their specifications these systems are in parity with the foreign systems of similar functionality (the Table).Thus, it is possible to note that in Russia has produced the SINS domestic technology which is highly competitive with known foreign analogs.

This paper presents a real-time state estimation system for outdoor vehicles using inertial sensor, magnetic sensor and GPS receivers with carrier phase measurement capability. The article concentrates on the precise orientation. A sensor calibration is presented. A real-time method for carrier phase integer ambiguity determination is described. The state estimation algorithm is a two level extended Kalman filter. The results are tested for real movement of a car and a sail-plane.

The paper considers attitude determination for an aircraft fast rotating about longitudinal axis by an integrated orientation and navigation system (IONS) comprising MEMS IMU and GNSS receiver.

Attitude determination is aided by magnetometer data or phase measurements from closely spaced GNSS receiving antennas; IONS algorithms and errors in attitude determination are analyzed. Methods to enhance the attitude accuracy are analyzed, and scale factor errors of gyros and accelerometers along the longitudinal axis are investigated using these data sources.

The system experimental sample uses IMU based on STIM300 Sensonor MEMS sensors (Norway), magnetometers and phase measurements of 1К-181 GNSS re-ceivers by the Russian Institute of Radionavigation and Time. The results obtained in bench tests are presented.

Mass debalance of resonators of the cylindrical vibratory gyroscopes substantially influences the performance of these devices. In particular, it can lead to splitting of the resonator natural frequency in the operating mode. An algorithm for balancing the first harmonics of such anomalies for the metallic cylindrical resonator is proposed. The technology is based on the immersion of resonator parts into the chemical bath. The balancing is performed by removing masses at certain locations of the resonator surface by the electrochemical etching. The required law of mass removal from the resonator surface is achieved by analytically evaluated angles and depths of its inclined immersion into the bath (Fig. 1). To remove the harmonic number N it is necessary to immerse the resonator into the bath N times with its sequential rotation by the angle 2π/N around the symmetry axis. The proposed technique is precise and at the same time simple to implement. The surface mass removal algorithm can be generalized to balancing of other types of resonators, for instance, the hemispherical resonator.

The technique and equipment for ground tests of the small satellite separation from the base spacecraft are considered. Results from numerical simulations and seminatural modeling conducted in order to find the angular velocities of the microsatellite model during its separation at the test bench are provided.

We consider a cylindrical cavity wave solid-state gyroscope (Fig. 1) with the combined excitation resulting from the simultaneous action of parametric and positional excitation. The gyro electromechanical model is proposed V.F. Zhuravlev [6] and presented in the form of equations (2). Oscillation wave pattern is investigated using Krylov-Bogolyubov asymptotic averaging method. Stability of steadystate oscillation mode is studied, and the formula for foundation angular velocity is derived.

Modern underwater acoustic (UWA) modems, besides receiving-transmitting data, can measure signal propagation time and evaluate the distance between the transmit-ter and the receiver. Such capabilities can be exploited for synchronization of UWA sensor networks, where sensing and actuation must be coordinated across multiple nodes, UWA positioning and navigation of autonomous underwater vehicles. How-ever, such problem as the accuracy of propagation time measurement, especially in highly reverberant environment, as well as the evaluation of clock skew on interact-ing modems, have been investigated rather poorly. One of the objectives consists in experimental evaluation of the precision of propagation time measurements between UWA modems communicating in reverberant environments (Fig.5), as well as in demonstration of the modems built-in tools providing opportunities for precise esti-mation of the modems clock skews (Fig.6). Another objective is to demonstrate a “comfortable” way for clock synchronization of UWA network nodes directly during payload data exchange (Fig.1). Experiments were carried out during CommsNet13 sea trials, CMRE, La Spezia.

The article describes the gravimetric survey conducted in Russia at 60 deg latitude from Archangelsk to Kamchatka, considers the features and results of the research. Airborne gravity data from gravimeters installed in air laboratories are compared with the modern Earth gravitational models EGM2008 and EIGEN-6C3. It is shown that modern models have maximum errors near the inshore geotectonic structures of Kamchatka peninsula.

A new free-fall absolute ballistic gravimeter ABG-VNIIM-1 was fabricated at the D.I. Mendeleyev Research Institute for Metrology (VNIIM). For this gravimeter we have developed an original mechanical system of ballistic unit, a compact iodine-stabilized in frequency Nd:YVO4/KTP diode-pumped solid-state laser at the wavelength of 532 nm and the laser interferometer. The path of free fall of the test body in a vacuum chamber is about 10 cm. The electronic system for the fast acquisition of the length and time intervals during the free fall is based on the NI PXI platform. A special software GROT was developed to control of all the systems and to evaluate the measured gravity acceleration. A passive vibration isolation of the reference reflector in the laser interferometer is based on the seismometer. The gravimeter ABG-VNIIM-1 was tested at the gravimetric site "Lomonosov-1" in Lomonosov branch of VNIIM. The estimated total instrumental uncertainty of ABG VNIIM-1 was determined to be 2·10-8 m s-2. The typical residuals in the least square evaluation of the trajectory of the test body in a single drop at the site "Lomonosov-1" are from 0.3 to 0.8 nm.