The current development process especially of small unmanned aircraft systems from automatic to semi-autonomous or even fully autonomous behaviour demands for reliable and precise navigation solutions as well as robust control strategies. For a truly autonomous system adequate as well as secure reactions towards nonlinearities arising for example from unknown environmental conditions or system dam-ages are a prerequisite. An adaptive flight control system, which has to cancel the undesirable effects of such disturbances depends on constantly available accurate navigation data. To satisfy these boundary conditions, it is sensible to stronger intertwine the development process of miniaturised navigation systems and adaptive flight controllers. As the controller design and its validation is based on nonlinear simulations, it is advisable to model the integrated navigation system and its low-cost components in a detailed way, so that its distinct dynamic properties can already be taken into account during the development process of the controller. In this context, a tightly coupled integrated navigation scheme is presented, where the characteristics of the sensor components are identified and modelled using the Allan variance analysis. This information can be used during the validation process of the proposed adaptive flight control system, which is based on the concept of nonlinear dynamic inversion combined with artificial neural networks. This paper gives an overview on how miniaturised navigation systems can be modelled and utilised for adaptive flight control schemes of small unmanned aircraft.

Automatic landing system for unmanned aerial vehicles is built on a short-range radio navigation system, which is supplemented with MEMS-based strapdown in-ertial navigation system, laser range finder and air data system. Complex process-ing of different sensors information permits to provide required accuracy of navigation solution. Results of practical verification of radio range finder accuracy are listed.

Results of the integrated inertial-satellite navigating system with the enhanced availability of satellite measuring design are presented. The system characteristic, description of the informational modes, software architecture is resulted. Problems of a filtering and correction at non-uniform receipt of data of various configurations are considered, structurally-algorithmic solutions of these problems are of-fered. Results of mobile trials, software flight approbation, results of seminatural trials are described.

Hierarchical thermal models of strapdown inertial navigation system with fiber-optical gyros and accelerometers, fig.1-4, 7-9, tabl.1 are constructed and researched. Models of thermal drift of gyros and accelerometers on experimental output signals are constructed and identified. Approaches to minimization and algorithmic com-pensation of thermal drift, fig. 5, 6, 10, formulas (1)-(5) are developed. Temperature calibration on signals of thermal sensors on the basis of the constructed mathematical models thermal compensation is conducted, minimization of drift of gyros, fig. 11, 12 formulas (6) - (8), tabl.2 is realized.

Heading determination algorithm using the two GNSS receivers is proposed, where ambiguity of phase measurements is resolved simultaneously for all the measurements taken at different times. Unlike the traditional algorithms, here the solution does not re-quire simultaneous observation of four or more satellites. Test results obtained with various sectors of visibility using single-frequency receivers are presented. Recommendations on antenna module location and orientation are given.

GNSS development created numerous methods of compensating errors caused by multipath propagation of signals. One of them is the method of extra-long coherent accumulations. The basic idea behind the method is to coherently process the signal on a time span longer than one GNSS information symbol (20 ms). Knowledge of modulating symbols in the navigation message is mandatory to implement the method. The paper proposes to precompute the modulating symbols using navigation data available in the user's receiver.

This paper presents a novel approach to INS velocity aiding in autonomous pedestrian navigation systems with body-mounted IMU. The proposed solution uses a ki-netic model of human gate as a virtual velocity sensor. In this paper we show how an understanding of INS error dynamics and knowledge of human motion help to curb the divergence of INS computed horizontal velocity and tilt errors. Heading and heading gyro drift cannot be corrected with this method and require some addi-tional procedures. This algorithm can be adapted for implementation on real-time pedestrian navigation systems equipped with 6 DOF IMU. The algorithm accuracy performance was investigated using data from indoor walking tests.

The paper proposes and analyzes the technical solutions developed for a principally new downhole tool not containing navigation grade gyros to be used within a mobile inclinometric station. MEMS inertial sensors are selected using comparative analysis of their instrumental errors, methodical errors of the proposed gyroscopic algorithm, and desired accuracies. The key advantage of a new downhole tool is that gyroinclinometer needs no initial alignment by gyrocompassing. The procedure of gyroinclinometer initial alignment in local frame is proposed. Сriteria to select the reference frame are elaborated by minimizing the errors of relative positioning of well tops. Results from the station bed tests are presented. Wellbore trajectory measurements using ADXRS150 MEMS gyros by Аnalog Devices and Eptron gyros by Elektropribor are comparatively estimated.

The analysis methods and techniques of estimation accuracy of global models of the gravitational field of the earth of geopotential spherical harmonics presented. Тhe various methods of obtaining a priori and a posteriori estimates of accu-racy examined and classified. Using different methods is illustrated by numerical ex-amples for the nine models, including models created in recent years, with new methods of space geodesy. The main requirements to the database and software to evaluate the errors of gravity field models.

Some questions of the durability guaranteeing for the micromechanical gyroscopes functioning under the uniform accelerations, linear and angular vibrations, impact actions are examined. The information about microgyroscopes state of the art is given and the trends of their development are analyzed. It is shown that the use of elastic systems with several inertial bodies is the predominant direction in the micromechanical gyroscopes design.

Topological analysis of the singular states at the gyromoment clusters (GMCs) by multiply schemes based on four and six gyrodines, is developed and explicit tuning laws for such GMCs are suggested.