The problem of determining a vehicle’s attitude parameters is considered. The solution to this problem is based on integration of the data from a Strapdown Inertial Measurement Unit (SIMU) on MEMS sensors and two receivers of the Global Navigation Satellite System (GNSS) with spaced antennas with the aim to form phase measurements. The algorithms and errors of a GPS-aided inertial system––an Integrated Attitude and Navigation System (IANS)––in attitude determination of a moving vehicle are studied. Coprocessing of data is carried out with the use of an algorithm of an extended Kalman filter (EKF) with the feedback for the whole state vector of the system. A specific feature of the IANS considered here is that the data from the SIMU and GNSS Receiver Unit (RU) are integrated with primary phase measurements from two receivers with antennas spaced on a certain base. Resolution of phase measurement ambiguity is made possible due to the SIMU data. The results of the office studies of the data obtained during the sea tests of an SIMU prototype on MEMS sensors, developed by the CSRI Elektropribor, and a GNSS unit with two receivers (Ashtech G12 and Kotlin developed by the Russian Institute of Radionavigation and Time, JSC (RIRT)).

Decentralized integration of global positioning system (GPS), synthetic aperture radar (SAR), and terrain referenced navigation (TRN) system into an inertial navigation system (INS) is analysed in comparison to the centralized integration method in this paper. Many publications have shown different decentralized integration methods. The main advantage of the decentralized filter architecture is flexibility and modularity. Especially the federated no-reset filter has received considerable attention in literature because of improved fault detection and isolation (FDI) capability, which is an important feature in multi-sensor navigation systems. Fault detection capability of the federated no-reset filter is well-established. How- ever, this filter type combines sensor data in a suboptimal way and a loss of accuracy compared to the centralized Kalman filter is generally observed. Other publications mentioned this loss of accuracy, but did not give the amount of accuracy loss for SAR/TRN/GPS/INS systems.

In this paper additionally a slight modification of the federated filter is presented. Typically a GPS/INS filter tends to be overoptimistic due to long-term time- correlated atmospheric errors of the GPS pseudo-range measurements. A rather simple modification of the federated filter is given to take into account this overoptimistic behaviour. A covariance correction yields a more reasonable covariance of the GPS/INS local filter and an improved overall position estimation of the federated filter.

The article deals with a question of an object movement along a given curvilinear trajectory. With the help of recently presented new proof of transport theorem there was carried out a simplified development of an expression for speed of a vector of deviation changing from the given trajectory (9). On the base of (9) development of laws for object’s control of following a given curvilinear trajectory was fulfilled. The procedure of construction of laws for object’s following the given curvilinear trajectory presented in the work may be a base for working out algorithms of movement control on plane and 3D space with taking into consideration inertial properties of an object under control. The described procedure may be the first step in elaboration of algorithms for movement control with the help of backstepping method. A computation experiment has demonstrated a capacity of control laws for work (18, 19) during putting an object into curvilinear trajectory specified by polynomial curve and steering the object along this trajectory.

In this paper an Unscented Kalman filter based procedure is proposed for the bias estimation of attitude sensors of a pico satellite. As attitude sensors three axis magnetometers and the rate gyros are used. At the initial phase, biases of three orthogonally located magnetometers are estimated as well as the attitude and attitude rates of the satellite. During initial period after the orbit injection, gyro measurements are accepted as bias free since the precise gyros are working accurately and the accumulated gyro biases are negligible. At the second phase, estimated constant magnetometer bias components are taken into account and the algorithm is run for the estimation of the gyro biases that are cumulatively increased by time. As a result, six different bias terms for two different sensors are obtained in two stages where attitude and attitude rates are estimated regularly. For both estimation phases of the procedure Unscented Kalman Filter is used as the estimation algorithm.

This article presents the numerical approach to map-matching problem. The proposed solution is based on sequential Monte Carlo method, so called particle filtering. This algorithm can be adapted for implementation on real-time portable car navigation systems equipped with GPS or dead reckoning sensors. The algorithm reliability and accuracy performance was investigated using simulated data and data from real-world driving tests in urban environment.

The paper presents the statistic analysis of experimental data obtained during operation of navigational receivers of satellite radio-navigation systems (SRNS) in multipathing conditions. A signal-to-noise ratio and pseudorange measurement discrepancies are selected as parameters to be examined. The possibility of applying the methods of cluster analysis for identification and compensation of indirect ray is considered. The procedure is suggested for increasing the SRNS receiver positioning accuracy. The results of experimental check of this procedure in static mode are presented.

A comparative review of the existing design concepts of solid-state microgyros based on acoustic surface waves is presented. Such sensors have high shock and vibration resistance, and they compare favourably with the existing samples of micromechanical gyros. The article gives a brief introduction in the theory of acoustic surface wave propagation in inertial coordinate systems. Specifications of the mod- ern solid-state microgyros based on acoustic surface waves are compared, and actual problems and trends of their development are emphasized in the article.

The requirements to micromechanical gyroscopes shock tests are validating. The product of lowest natural frequency and shock impulse duration should be considered as main parameter of the applied shock. It is shown that if the values of this product are big it is possible to use quasistatic stress model. Also the shock impulse duration can be significantly shortened at conservation of the peak stress values that reduces the requirements to shock test bench.

The paper investigates dynamics and errors of a pendulous MEMS accelerometer under polyharmonic vibrations caused by the base oscillations. Vibrational dis- placement of accelerometer sensor equilibrium position is estimated.

The paper considers synthesis of stationary filters, i.e., the filters with constant gain matrix. These filters are shown to be unable to provide high quality of data process- ing over the total time interval up to the steady-state mode. SF optimization at t → ∞ degrades the processing quality in the initial period; when reduced, this error causes the growth of steady-state error. We propose a number of criteria for select- ing SF gain factors. The required processing quality is reached by using two-stage filters.

The paper considers a synthesis procedure for nonstationary filters for navigation data processing. The method combines benefits of Kalman and Wiener methods and provides comparatively simple correction algorithms, which are close to opti- mal. The idea is that Wiener method is used at the phase of problem statement and analysis, and the models to be further applied at the filter adjustment are simplified with approximate methods developed for frequency approaches. Then the duration of transients in the resulting algorithms, and the system readiness time is reduced as compared with stationary algorithms. The examples are given to demonstrate the efficiency of the proposed procedure.