
CONTENTS
Ralf Monikes, Oliver Meister, Armin Teltschick, Jan Wendel, Gert F. Trommer 
Performance comparison of a fixedinterval smoother and a Kalman filter for GNSS/INS integration 
3 
This paper compares several approaches of GNSS/INS integration. Tightly coupled and loosely coupled approaches are discussed as well as an approach that tightly integrates differential GNSS and inertial navigation with carrier phase ambiguity resolution. Hence, centimetre accuracy can be achieved with a tightly coupled system. The approach can be combined with a smoother which improves the overall system performance by means of postprocessing. Measurement results show that the presented smoothing algorithm can overcome problems of poor satellite availability. It is possible to recover the trajectory during GNSS outages even together with a lowcost MEMS inertial navigation system.

A.V. Chernodarov, A.P. Patrikeyev, A.Yu. Platonov, V.L. Budkin, V.P. Golikov, S.V. Larionov 
Parametric identification for errors models of integrated navigation systems in real time mode and from data of onboard recording devices 
17 
Problems that arise during use of integrated navigation systems (INS) are considered. The proposed solutions permit us to take into account any changes in dynamic and accuracy characteristics of sensors by means of the appropriate coefficients of the models of errors. Under actual conditions of INS operation, the determination of current values of the parameters of the models of sensors and of an estimation filter rely on identification procedures. The results of fullscale experiments are given, which corroborate the expediency of parametric identification of the models of INS errors in real time and from flight data.

A.D. Barabanov, V.A. Osipov, V.A. Tupikov, L.S. Turnetsky 
On the navigation support of the remotely piloted helicopter deck landing 
32 
The article is considered to the problem of the providing the remotelypiloted helicopter's (RPH) deck landing. The conditions of the landing at the heavy sea are analyzed. The factors that complicate the landing are determined. The hardware composition of the landing complex, algorithms of solving the tasks of that system and estimates of these algorithms' accuracy are given. There are offered ways of the optimization of these algorithms that provides the increasing of automatized RPH deck landing's reliability and safety.

S.P. Dmitriev, A.V. Osipov 
Consideration of errors peculiarities for the marine integrated navigation systems under accuracy control by mathematical metrology methods 
42 
The paper considers the peculiarities of the statistical models which is used at present for solution of navigation problems. It is shown that these peculiarities does not allowed in mathematical metrology. It is proposed the form of accuracy requirements and an test procedure for testing these requirements. It is presented results for certainty assessment of experiences and the field of application of mathematical metrology.

D.A. Koshaev 
Information inspection and recovery of navigation complexes at the diversity of fault types and uncertainty of their models 
47 
Diversity of types of information faults in navigation complexes makes the development of algorithms for fault detection and isolation to be realized in the onboard computer complicated. Moreover, a complete list of possible types of faults may be unknown. Two algorithms are suggested to overcome these difficulties. The first algorithm presumes a set of types of faults to be known. It employs an augmented Kalman filter (AKF) that estimates a group of possible faults and allows the amount of computations to be reduced. It has been shown that the results of the AKF application allow derivation of a posteriori probabilities and estimates of particular faults as well as estimates of additional errors in navigation parameters caused by faults. These estimates can be used to recover the faulty system. The second algorithm does not require knowledge about types of faults and is intended to detect the system of the complex that has errors, anomalous in level and behavior, and to compensate for these errors. The efficiency of the algorithms developed is supported by the results of simulation and bench tests of the navigation complex including more than one inertial system.

G.M. Vinogradov, N.A. Temlyakov, I.V. Balabanov, T.V. Balabanova, V.I. Stepin 
Investigation of the elastic suspension design for the dynamically tuned gyroscope of GVK16 type 
60 
Is shown, that the design elastic suspensions dynamically tuned gyroscope of a type GVK16 causes, in case of force influence on the part of a rotor in a direction of an axis of own rotation gyroscope, same (tension or compression) longitudinal deformation of its elastic elements. The theoretical substantiation of influence of longitudinal force on working angular rigidity of elastic elements having variable cross section is received. With the purpose of reception of the approached analytical decision the account with an elastic element of constant section is carried out which has shown, that the tension force reduces, and the compressing force increases its working angular rigidity.

L.A. Severov, N.A. Ovchinnikova 
The generalized dynamics model for micromechanical gyroscopes of RR type 
68 
Dynamics model as a sixdegreeoffreedom system has been developed for a wide class of micromechanical gyroscopes of RR type having sensors in the form of rotor. Interaction dynamics of the sensor rotary and translational motions has been analysed. The generalized model obtained makes it possible to analyse both twodimensional and onedimensional micromechanical gyroscopes with regard to possible asymmetry of the parameters.

Yu.P. Belous, I.I. Nedzelsky 
Automation of actions estimation for the marine navigation system operators being trained at the simulator SolyarisUTTH 
76 
The work is developed for the designers of training simulators intended for professional training of humanmachine system operators and is devoted to the training level estimation of marine navigation system operators being trained at multipurpose specialized simulator SolyarisUTTX.

O.K. Epifanov, V.V. Khrushchov 
Threephase inductor torque motors with the minimum torque pulsations 
82 
the paper contains an analysis of four types of threephase inductor ôorgue motors. expressions for starting and cogging torgues are obtained. It was found any conditions of neglible values cogging torgue.

A.G. Shcherbak, S.N. Belyaev, A.S. Udovikov 
Process techniques and methods for plastic behavior adjustment at the pressure welding of gyro device precision assemblies 
96 
Presented are the process flow diagram and the calculated procedure for diffusion welding of gyro device assemblies, which provide adjustment and control of plastic behavior. Examples are given for their practical use when welding real assemblies of an electrostatic gyro and a gravity variometer.

Brief note
Ye.Yu. Alekhova 
Testing of Poisson's equations numerical solution algorithms 
102 
Algorithms that enable one to calculate precise readings of gyro sensors for the angular motion that simulates the change in the orientation of an object and possible angular vibration are formed. In parallel, the precise orientation of the object is determined. The algorithms are proposed to be used for the operational development and testing of onboard algorithms designed for the calculation of orientation in strapdown inertial navigation systems. The results of the operation of two different onboard algorithms are demonstrated by way of examples.

International Public Association
The Academy of Navigation and Motion Control
Official information
D.P. Lukianov is 75 years old 
107 
The 24th General Meeting of the Academy of Navigation and Motion Control 
109 
Information
V.G. Peshekhonov 
Unique gyro has provided for the general relativity check 
111 
O.A. Stepanov 
The 6th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2007) 
114 
B.R. Andrievsky 
9th IFAC Workshop on Adaptation and Learning in Control and Signal Processing (ALCOSP 2007) 
117 
Russian and international conferences, symposia and exhibitions 
121 
Abstracts of the published papers 
127 
List of the materials published in the journal Gyroscopy and Navigation in 2007 
131 
