
CONTENTS
ï.á.Stepanov 
Linear Optimal Algorithm for Nonlinear Navigation Problems 
11 
The nonlinear problems of navigational data processing, the essence of which consists in estimation of time invariant vector, are considered. In the framework of Bayesian approach a linear optimal (minimum variance) algorithm is suggested. Such algorithm minimizes the root mean square criterion using linear (relative measurements) estimates. The peculiarities of the algorithm and its interrelation with the algorithm based on linearization are discussed. The efficiency of the proposed algorithm is shown.

V.M.Slyusar (KPI, Ukraine) 
Current Issues of Designing SINS Attitude Algorithms. Part 3. Algorithms Analysis and Synthesis with Account for Gyros Frequency Response Effect 
21 
The paper develops the mathematical basis and techniques for deriving attitude algorithms, which are tailored to the frequency response of any type of gyros used. The results presented in the paper make it possible the following algorithm design problems to be treated: (1) to estimate attitude vibrational errors when gyros exhibit complex frequency responses; (2) to prove and specify gyros characteristics when developing new SINS; (3) to account for a known gyro function in the derivation of the algorithm coefficients; (4) to clarify and overcome the main practical limitations involved in such an algorithm design. The results of algorithm errors simulation are presented which support the conclusion that problems of algorithm dynamical tuning are of great importance.

V.Z.Gusinsky, O.I.Parfenov 
Dual Autocompensation of ESG Drift 
37 
Dry friction moments in gimbal axes are among the drift sources of electrically suspended gyroscopes mounted into the gimbal. They result in errors of gimbal servo systems (rotor and housing axis misalignment) and therefore in rotor drifts being also the drift source of such ESG as error torques related to such a misalignment always exist in real gyros.The paper offers a method for autocompensation of the moments acting on ESG mounted into the gimbal. It consists in mounting of optical angular sensor following the rotor position, inclined at a calculated angle, in the gyro housing rotating around its axis. This adds coning motion to the housing rotation.The method does not require any additional mechanical devices. Such a dual autocompensation at the same time modulates the housing moments both related and unrelated to the gyro rotor and housing axis misalignment. Deduction of expression for calculation of rotor and housing axis misalignment angle is given, namely: A > Omega/w, where A is a misalignment angle, Omega  earth rotation rate,
w the gyro rate.

S.V.Smolentsev 
Positioning the Mobile Users of GSM Cellular Networks 
41 
Review of various methods for determination of mobile telephone subscriber coordinates in GSM networks is given. Coordinates determination principles are considered, examples of service realization in present GSM networks are given, problems and prospects of such systems development are shown.

V.N.Tarasov 
Hysteresis Synchronuous Motors of Precision Gyroscopes 
54 
Results of using ac electronic motor and hysteresisreluctance motor in precision gyroscopic devices are compared in relative units with the help of control algorithms designed.
It is demonstrated that with comparison in relative units of gyroscopic device drift changes at power supply interruption the results obtained are practically the same for both driving gear types.

V.E.Dzhashitov, V.M.Pankratov (Precision Mechanics and Control Institute, RAS, Saratov) 
Choice of Parameters of Elastic Curvilinear Conductors for Aerospace Sensors on the Basis of Definition of Their Natural Oscillations Frequency 
66 
In many classes of modern sensors of air and space instrumentmaking (extrasmall pressure sensors, floatedtype and micromechanical gyroscopes and others) methods of thinfilm technology are reshaped bridge measuring circuits. The elastic bonding contact pads of these schemes paired to contacts of a body by elastic conductors. These conductors have the composite curvilinear form, and the design of such measuring circuit represents a dynamic oscillating system with distributed parameters. Object of research  developed in Research institute of physical measurements from Penza, firm "Korpus" from Saratov, Central Scientific and Research Institute "Elektropribor" from St. Petersburg and other firms, the sensors of air and space instrument making operating in conditions of vibrational effects, and in designs which one are contained considered dynamic oscillating systems.
The purposes of work are:
1. Construction and research of mathematical models for calculation of natural frequencies (and control by them) curvilinear conductors of sensors of air and space instrumentmaking.
2. Choice, on the basis of knowledge of natural frequencies, parameters of conductors ensuring in conditions of external vibrations, drift from resonant modes and, there by, allowing to avoid destruction of a measuring circuit of sensors.
Mathematical model (1) (28) is constructed, (fig. 1, 2) and algorithms are developed for calculation of natural oscillations frequency of considered dynamic oscillatory system with curvilinear elastic conductors. The supporting software is developed for realization of the constructed mathematical model and algorithms, allowing is automated to solve tasks in view.
On the basis of constructed model (1) (28) and the developed general technique, calculations of natural oscillations frequency of curvilinear gold conductors of a variable and constant curvature (fig. 3, 4 and the table) when the ends of conductors base (fig. 2) on the elastic bases a membrane and pressure seal are made.
The opportunity of the decision of problems of calculation and the analysis of natural oscillations frequency of considered dynamic oscillatory systems as functions of geometrical and physical parameters and characteristics of these systems is shown.
The opportunity of the decision and return problems, for example, problems of a choice of geometrical parameters of the oscillatory system providing set natural oscillations frequency is shown.

1st Russian Multiconference on Control Problems 
78 
25th Conference in memory of N.N.Ostryakov
Abstracts of the papers
Session Sensors of Navigation and Control Systems
M.A.Barulina, V.E.Dzhashitov, V.M.Pankratov, M.A.Kalinin, á.á.Papko

Complex Mathematical Finite Element Model for a Micromechanical Accelerometer with Account for Temperature and Dynamic Effects

80

í.I.Evstifeev

Elastic Suspensions of Inertial Bodies in Precision Devices

81

ô.á.Andreeva, S.V.Bagaeva, Ya.A.Nekrasov, Ya.V.Beliaev

Quadrature Interference Suppression in Micromechanical Gyroscope Using the Electrodes above the Fingers Area

81

V.D.Aksenenko, S.I.Matveev, Yu.V.Shadrin

Features of Digital Signals Processing in Micromechanical Gyro

82

V.í.Achildiev, V.N.Drofa, V.M.Rublev

Application of Measurement Units Based on Micromechanical Sensors

82

R.L.Voskoboinikov

ThreeAxes Gyromotor  Gyroscope on Autoexcited Rotating Electromagnetic Fields

83

A.G.Tscherbak, S.N.Beliaev, á.S.Udovikov

Microflow Processes Control during Welding of Gyrodevices' Precision Units

83

V.G.Peshekhonov, B.Ye.Landau

ESGbased Strapdown Attitude System for LowOrbit Spacecraft

83

á.P.Buravlev, V.M.Kuzin

Theoretical and Experimental Study of Power and Accuracy Parameters of Gimballess ESG Suspension

83

á.á.Belash, P.Yu.Petrov, D.V.Trunov

ESG Rotor RunUp Digital Unit: Development and Tests Results

84

S.í.Dyugurov, B.E.Landau, T.V.Panich

Dynamic Referencing for ESG Body Frames in Spacecraft Attitude Strapdown Inertial System

84

S.F.Konovalov, å.L.Mezhirizky

ForceRebalanced Accelerometer Designed to Measure Accelerations up to 100 g

85

G.á.Pankratov, V.N.Kitaev, M.V.Mikhailov, V.N.Perebatov, V.G.Vorobiov

Vibrating Accelerometer with Metal Sensing Element

85

S.á.Vasukov, G.F.Drobyshev

Mathematical Model of a Cylindrical Electrostatic Suspension as a System of Charged Conductors

85

S.á.Vasukov, G.F.Drobyshev

Experimental Method to Determine Hydrodynamic Parameters of Floating Pendulous Accelerometer with Electrostatic Suspension

86

V.Z.Gusinsky, O.I.Parfenov

Drift Autocompensation for ESG Mounted in the Gymbal

86

S.V.Kruze, S.N.Lepe, á.V.Molchanov, Ye.F.Polikovsky

Calibration of Laser Gyros' Triad

87

Yu.Yu. Broslavets, M.A.Georgieva, á.á.Fomichev

Lockin in Laser Gyroscope under Transverse Higher Order Modes Generation

87

á.V.Molchanov, á.Yu.Stepanov, M.V.Chirkin

Selection of Mirror Substrates for Optical Resonators of Laser Gyros

88

Ye.V.Korotitsky, á.V.Romanov, D.á.Romanov

Gyrocompass çëì1ò

88

Session Gyroscopic Systems
Yu.N.Artemenko, Yu.G.Egorov, á.á.Parshchikov, S.V.Smirnov

Inertial Attitude System of Radio Telescope Mirror System

89

V.P.Golikov, S.V.Larionov, á.V.Trebukhov, Yu.V.Bolotin, V.V.Tikhomirov, S.A.Trubnikov

Gimballed INS Calibration Algorithms

89

V.P.Golikov, S.V.Larionov, á.V.Trebukhov, á.á.Golovan

Results of Gimballed INS FullScale Initial Alignment Tests on Mobile Platform Using Data from the Ship Complex

90

á.P.Kolevatov, S.G.Nikolaev, Yu.A.Dolgusheva, N.V.Malgin

TwoMode AHRS on ThreeComponent FOG: Algorithmic Compensation of Errors Caused by Thermal Gradient

90

S.G.Nikolaev

SINS Calibration Using the System Error Model

90

Ya.I.Binder

Increasing the Angular Position Accuracy for the Boreholes of Random Orientation in DG Mode

91

A.V.Zamorsky

Means of Initial Orientation in Azimuth for Land Mobile Objects

91

V.á.Pogorelov, ô.V.Klodina

On Initial Orientation of Unslaved Gyrostabilized Platform

91

L.D.Silayev, Ye.F.Komarov, ï.N.Nikiforova

Mathematical Error Model for Gyrostabilized Platform for ISN

92

V.í.Nikiforov, Yu.V.Trunov, V.A.Nemkevich, á.I.Sapozhnikov, á.V.Naumenko

Terminal Control of Gyrostasbilized Platform Motion by Solution of Inverse Dynamics Problem

92

Ye.I.Somov

Local Dynamic Parameters of Gyrodin Systems with Account for Elasticity of Gyrodin Structure Their Fixation on the Spacecraft Body

93

Session Navigation Data Processing and Motion Control
Inertial Satellite Systems
á.á.Fomichev, á.B.Kolchev, ë.Yu.Schastlivets, P.V.Larionov, V.B.Uspensky

On Efficient Assessment of Motion Parameters Primary Errors in Integrated InertialSatellite Navigation System

93

í.B.Bogdanov, á.V.Prohortsov, V.V.Savelyev, B.V.Suhinin, á.á.Chepurin

Ways to Determine Attitude Parameters Using Satellite Navigation Systems

94

Nonlinear Data Processing
V.á.Merkulov, á.I.Naumov

Estimating the Coordinates Correction Error by Search Algorithm for CorrelationExtreme Navigation

94

ï.á.Stepanov, á.B.Toropov

Application of Suboptimal Kalman Type Algorithms to a Class of Nonlinear Problems. Efficiency Comparison

95

ï.á.Stepanov, ï.S.Amosov

Efficiency Investigation of Neural Networks and MonteCarlo Method for Nonlinear Navigation Problems

95

Identification, Control and Diagnostics
S.P.Dmitriev, á.V.Osipov, D.á.Koshaev

Detection and Elimination of Informational Failures Effects in Navigation Systems

96

T.V.Podladchikova

Noise Statistic Parameters Identification in Designing Navigation Filters Using Data from Dissimilar Measurement Information Sources

96

á.V.Osipov

Fuzzy Logic in Navigation Data Processing

97

í.Ye.Kostyaev, V.V.Savitsky, N.Yu.Tikhomirov

Optimal Algorithm for Data Secondary Processing in ShortRange Sonar Mode with Account for the Probing Beam Scanning

97

í.B.Rosenhaus

A Method to Estimate Results of Navigation Complexes Diagnostics Using Fuzzy Measure

98

Special Data Processing and Control
á.Ye.Gorodetsky, V.V.Dubarenko, á.Yu.Kuchmin

Gyroscopic Guide in Radiotelescope Guidance System

99

B.V.Griasev, V.V.Savelyev, V.A.Smirnov

Errors in LOS Stabilization and Guidance System Caused by the Platform Linear Displacement and Method for Their Compensation

100

S.Ye.Somov

Dynamics of Initial Modes of Elastic Geostationary Satellite with PulseWidth Control for Motors and Rotor RunUp in Moment Gyroscopic Stabilizer

100

I.Ye.Gutner, L.D.Zhuravlev, Ye.N.Zvorykin, á.á.Molochnikov, í.V.Orlov

Generation Algorithm for Current Glide Slope Angle Relative to the Aircraft Carrier Deck to Be Commanded to Stabilization Drive

100

Yu.í.Sazykin, ï.ï.Barabanov, L.P.Barabanova

Methods and Algorithms of Topographic Referencing

101

á.í.Boronakhin, V.I.Gupalov, N.S.Filipenia

Inertial Methods and Means for Rail Track Diagnostics

102

S.Yu.Yermakov, á.S.Smirnov

Solving the Navigation Tasks Using Standard Acoustic Antennas of Submarine Sonar Complex

102

í.S.Vinogradov

Analytical Expression for Gradient Computation Using the Maximum Abscissas in the Object Broadband Noise Correlation Function Determined by Acoustic Signal Multipath Propagation in Water

103

Adaptive and Robust Methods
á.P.Kurdiukov, í.í.Chaikovsky

Software Support for Anisotropic Analysis and Synthesis Tasks

104

G.í.Bakan, á.V.Sholokhov

On Building the Robust Algorithm for Guaranteed Estimation of Linear Controlled System States

104

S.á.Brodsky, á.V.Nebylov, á.I.Panferov

Parameters Control and Stabilization of Elastic Vibrations for Complex Objects and Structures

105

Ye.I.Somov

Robust Digital Gyromoment Stabilization of Elastic Spacecraft Motion

105

Control Problems
S.N.Vasilyev, á.V.Lakeev, N.N.Maksimkin

Study of Dynamic Features for Formations and Systems with Variable Structures

106

á.Ye.Barabanov, D.V.Romaev

Helicopter Autopilot Using TV Observations

106

V.V.Baranov, S.S.Vladimirova, á.S.Fursov

Image Processing Methods in Real Time to Control the Mobile Robot

107

V.B.Uspensky

Kinematic Models for Solid Body Rotation and Their Application to Navigation and Attitude Control

107

Ye.G.Zhanzherov, á.R.Ziatdinov, I.á.Kashina

Methods to Control Aeroballistic Aircraft Motion

107

Session Electronics and Computing Devices of Onboard systems
Computing Systems and Complexes: Organization Principles. Design Theory. Simulation
N.A.Lookin

Optimization Synthesis of FunctionSpecific Processors' Architecture for Onboard Computation Systems: Theory and Application

108

N.V.Kolesov, í.V.Tolmacheva

Planning the Computation Process in Marine Navigation Complexes

109

í.V.Tolmacheva

Information System for Planning, Monitoring and Analysis of Computation Process in Navigation Complex

109

á.V.Nebylov, á.V.Samokish, K.D.Smolin, P.á.Sumbarov

Using SIMULINK for Simulation of Onboard Computing Devices

110

D.á.Parashchenko, á.á.Shalyto, F.N.Tsarev

AutomataBased Programming for Simulation of Group Motion Control of an UAV Class

110

Complexes, Systems and Units Hardware Support
I.V.Kruzhaev, Ya.V.Antimirov

SmallSized Onboard Control Computing Complex: Development and Application Results

111

V.í.Antimirov, V.V.Telitsyn

Preparation for Pulse Action Tests of Complex Computing Systems

111

D.V.Aksenenko

Systems Design for Digital Processing of ESG Signals

112

Ya.V.Antimirov, M.B.Trapeznikov, I.V.Kruzhaev

Structure Optimization of Optical Correction Channel Subsystem

113

S.G.Shestakov, R.Ye.Lysak

Development of Miniature Onboard Computer Resistant to Ionizing Radiation

113

M.G.Maksimov, á.N.Shevchenko

Computerized Adjusting and Control of ESG Embedded Thermostabilization System

113

Session Metrology in Navigation and Motion Control.
Traceability Methods and Means
S.B.Berkovich, N.I.Kotov, A.V.Sholokhov, V.A.Liventsev

Periodically Corrected Land Navigation Systems: Estimating Data Adequacy with Account for External Data Induced Errors

114

A.S.Buravlev, S.B.Orlov, Yu.N.Kirilichenko, K.V.Krinkin

Automated Test Bench for FOG Tests and Acceptance Inspection

115

N.á.Kaldymov, L.Ya.Kalihman, D.M.Kalihman, á.V.Polushkin

System Spektr Modernization and Development of Methods to Control Frequency and Gyromotors Vibration Levels Registration

115

K.V.Koreshkov, á.V.Popov, á.I.Skalon, L.á.Chertkov

Study of Krechet Test Bench Characteristics in Dynamic Mode

116

K.V.Koreshkov, A.V.Popov, á.I.Skalon, L.á.Chertkov

Virtual Measuring Devices to Estimate Oscillation Test Bench Characteristics in Dynamic Mode

116

E.I.Tsvetkov

Adaptive Measurements with Correction Applied

117

.á.Granovsky, á.I.Skalon

A MEMS Metrological Problem and Methodological Base for Its Solution

117

ï.B.Basun, M.D.Kudriavtsev, N.L.Yavorovskaya

Object Modelling to Ensure Monitoring of HighPrecision Parts of Navigation Equipment during Their Manufacturing

118

V.V.Korchevsky

Acoustic Emission to Control Dimensional Stability of Precision Devices

119

V.N.Ostrovsky, ô.N.Siraya, N.L.Yavorovskaya

Metrological Assurance for Product Quality: Process Approach

119

á.M.Barabash, á.V.Belov, V.V.Vasilyev, V.á.Granovsky, ô.N.Siraya

Analysis of Experimental Data Obtained during Tests of Appassionata type NC to Compare and Explain Methods for NC Accuracy Control

120

International Public Association
The Academy of Navigation and Motion Control
Official information
èèII General Meeting of the Academy of Navigation and Motion Control

121 
Papers abstracts

122 
Information
Joint Conference on control applications in Munich (CCA/CACSD/ISIC2006)

125

Russian and international conferences, symposiums and exhibitions

128

Abstracts of the papers published

131

List of the materials published in the journal Gyroscopy and Navigation in 2006

133

