Tether systems are a promising line of development of space technologies. They can be used for various purposes, including those for return of small payloads from low- Earth orbits as, for example, in experiment YES2 which was carried out by the European Space Agency on the space vehicle (SV) "Foton-M3" in September, 2007. The key element on which the success of tether system deployment depends is qualitative navigational tracking of an experiment. In the report the navigational tracking system of tether system deployment created at Samara State Aerospace University which was placed on the space vehicle "Foton-M3" is described. The navigational system consisted of two navigational antennas, a fixed-frequency two-system (GPS/ GLONASS) satellite radio navigation receiver and a magnetometer. The results of processing of the measurements received from the navigational tracking system during the YES2 experiment are discussed. These results made it possible both to estimate the SV "Foton-M3" motion during the YES2 experiment and to make indirect conclusions about real tether system deployment and tether cutting. This work was supported by grant of Russian Foundation for Basic Research (№ 09-08-00842-а).

This paper represents results of research of possibility of application of molecular electronic technology for the solution of a problem of high-precision detection of a direction on the geographical north. Work of molecular electronic transducers is based on reversible oxidation- reduction reactions to electrodes and on the diffusion of free carrier of charge of electrolyte in the condition of induced convection, arising under the influence of external acceleration (Fig. 2,3, Tab.l). The method of modulation of a signal of the molecular electronic sensor of angular motion is offered. It is based on rotation of sensor around gravitational vector and axe of sensitivity is perpendicular to the gravitational vector (Fig.l). Amplitude and phase of a signal give the information about the magnitude of projection of rate of rotation of the Earth on datum latitude and about the direction on the geographical north. And this direction coincides with the maximum of registrable projection of rate of rotation of the Earth (Fig. 6, 7). The calculated values of required quantities perfectly coincide with their true values within an error (Tab.2). The obtained data corresponds to level of the best modern gyrocompasses. Thus, on the basis of the developed experimental model serial products can be created, which will be capable to solve problem of detection of azimuth of meridian successfully. These devises can be included in various navigation systems.

A nonlinear estimation problem often encountered in processing navigation data is considered. The linear optimal estimator (LOE) that minimizes the root mean- square (RMS) criterion in the class of linear estimates for this nonlinear estimation problem is investigated. The equivalent linear models for nonlinear measurements have been introduced for the LOE and the Cramer-Rao Bound. The features of the LOE in comparison with the Bayesian nonlinear optimal estimator (NOE), which corresponds to the conditional mean, are studied. Some examples are considered to illustrate the results obtained.

The characteristics of surface acoustic waves propagating in rotating piezoelectric crystal media are examined (see formulas (1) - (7)). The principles of angular motion sensors (gyroscopes) construction based on ultrasonic vibrations are considered. The connection between ultrasonic surface wave and the attendant electric field is analyzed (see figures 2 - 9). The particular crystallographic cuts and directions in some medias are discovered, where propagating surface wave is not con- ducted by the electric field (see figures 2 - 9). The possibility of revealed effects’ application in construction of angular motion gyroscopes’ sensitive elements is showed (see figures 10, 11).

Perm Scientific-Industrial Instrument Making Company has gained a large experience in development of fiber-optic gyroscopes (FOG) and strapdown inertial navigation systems (SINS) based on these gyroscopes. First success was achieved in 2003 with good results in the first testing of the dual mode gyro horizon heading indicator on fiber-optic gyroscope DUS 500. Further significant advance in development of FOG SINS was made after development of a three-axis FOG BVOG120/3. Currently various designs of IMU have been thought out to provide comfortable conditions for inertial sensors operation. Algorithmic temperature compensation of inertial sensors’ bias errors was introduced. Applied algorithms compensate changes of systematic errors of the system due to temperature alteration inside the inertial measurement unit in the range from -40 to +55°С. Testing of systems has shown that gyrocompassing error does not exceed 0,1°⋅secϕ and the heading angle drift is less than 0,06°/h.

In the report the design of а two-coordinate micromechanical angular rate sensor (RS) on the basis of the vibrating gyroscope of R-R type is presented. The gyro- scope constructed under the scheme "sandwich" uses a magnetoelectric activator of torsional fluctuations of a silicon sensitive element and a contour of a feedback on channels of measurement consisting of capacitor's pick-off and magnetoelectric torque. The design features of the device provide its operability in gas-filled volume at atmospheric pressure. Algorithms of digital systems of resonant adjustment of the device and maintenance of constancy of amplitude of angular rate of fluctuations of a pendulum, and also systems of compensation for a zero signal and formation of the output signals constructed on the microcontroller are presented. The reasons of occurrence of zero signals of the gyroscope, connected with imperfection of manufacturing elastic suspension a pendulum and magnetic systems are analyzed, recommendations under their compensation by adjustment of magnetic system of the activator torsional fluctuations, completion of elastic elements and introduction of a compensating signal in a contour of a feedback are given. The results of calculations of elastic micromechanical system, modeling of movement of a gyroscope are presented at various kinds of formation of a contour of a feedback and experimental researches of the developed micromechanical angular rate sensor with a magnetoelectric feedback.

Results of mathematical and physical simulation of directivity patterns of phased arrays are given. The mechanism of formation of one of components of velocity measurement error, connected with field characteristics of applied arrays is examined. The error estimation is given.