
CONTENTS
N.V. Mikhailov, V.F. Mikhailov 
An ambiguity resolution method for the GPS phase measurements at the spaceship relative navigation 
9 
Considered is the method of ambiguity resolution for satellitebased GPS phase measurements, which takes into account the specific character of the problem of spacecraft relative navigation. This method provides for obtaining a fixed and a floating solution. Distinction of the proposed fixed solution consists in its layout into two stages and in more efficient arrangement of the integer search of phase measurement periods. At the first stage of the fixed solution the most probable value of the phase period integer is retrieved. At that, the exhaustive search of the period integer is not performed. High speed of this stage implementation is provided by the fact that the domain, in which searching is executed, is being continuously narrowed as far as new "candidates" for a more probable value are found. The second stage serves for estimating a posterior probability of a determined value of the period integer. It is essential that the estimation of a posterior probability is formed stepby step in the course of exhausting searching for possible values of the period integer. Moreover, the value of an estimate of posterior probability monotonely decreases while new integer values are being registered. Owing to such a method it becomes possible to abandon an uncertain fixed solution without complete calculation of its posterior probability and exhaustive search of all possible phase period values.

Gerd Boedecker 
Precision aircraft attitude determination with multiantennae GPS receivers 
21 
A.Ye. Pelevin 
Parameter identification for a model of marine vehicle at the active control periodic motion 
29 
The method for a vehicle model parameters identification under active control providing for its motion periodic nature has been proposed. It has been shown that using the vehicle motion features some additional equations can be obtained that connect the parameters being identified. These equations can be effectively used when estimating the model parameters under external disturbances condition. The application of this approach to the parameters identification of a survey vessel model has been presented.

I.Ye. Gutner, L.D. Zhuravlev, Ye.N. Zvorykin, A.A. Molochnikov, M.V. Orlov 
Calculation of the current glide slope angle for the aircraft landing on the aircraftcarrier deck 
40 
Using spherical trigonometry method, the equation was obtained which describes the law of generation of the aircraft commanded glide slope α_{(=ILU)} (materialized as a green ray of indicating light) relative to the rocking aircraftcarrier deck. A block diagram of algorithm for generation of the stated angle is worked out. This angle provides stabilization of the prescribed glide slope α_{(=GS)} relative to the deck averaged position with account for the aircraftcarrier static angles of trim and roll. Then the commanded glide slope α_{} and hooktoeye distance compensation angle of the aircraft are smoothly followed according to cosine law. The use of the obtained law of generating the current angle α_{} commanded to stabilization drive increases the glide slope stabilization accuracy, decreases deflection of the aircraft hook to aircraftcarrier deck touchdown point from the designed one and, therefore, increases safety of the aircraft landing upon the aircraftcarrier.

I.A. Terentyev 
Functional diagnosis and testing of a gimbal inertial navigation system servosystem 
49 
The paper presents the basic concept and results of INS servo system diagnostic system development. The diagnostic system consists of functional and test parts which are realized in all of modes of operation. The functional diagnostic in gyroscopic stabilization mode is based on instrument control of dynamic misalignment and informational control of INS invariant behavior  cosine angle of ESG angular momentums. The test control corresponds control of shift velocity tryout in servo system command channel. The concept of twolevel informational control is justified. Such informational control must show instrumental failures and informational abnormalities in INS operation.

D.O. Taranovsky 
Bench calibration of pendulous floated accelerometers of a shipborne inertial navigation system 
56 
The results of development of a pendulum pulserebalance accelerometer unit (AU) calibration procedure is presented. For AU used on mobile objects with a smaller acceleration range, development of a procedure for calibration in the AU operating range of angles is relevant.
For calibration the AU is mounted on a singleaxis turntable which provides the possibility for the AU to be fixed in two opposite positions at an angle of 45 ^{o} relative to the axis of rotation.
The distinctive features of the proposed calibration technique are as follows:
 calibration is performed in the operating range of acceleration for exclude the errors due to the AU model inadequacy. That is typical for the pulserebalance accelerometer when calibrated in the range of ±g,
 the parameters are evaluated jointly with the AU installation errors using the statistical estimation methods to smooth over the measurement errors,
 an iterative procedure is used to exclude the model inadequacy in the case of large installation errors.
AU interchangeability assurance method for gimbal inertial navigation system is considered.
The experimental results presented provide support for the efficiency of the proposed calibration technique.

2nd Russian Multiconference on Control Problems (2RMCCP2008) 
66 
26th Conference in memory of N.N.Ostryakov
Abstracts of the papers
Session Gyro Sensors of Navigation and Control Systems
S.F. Konovalov, J.B.Seo 
Magnetic field distribution in the annular gap of a torque sensor of a Qflex type accelerometer 
67 
V.Ya. Raspopov, D.M. Malyutin, R.V. Alaluev, Yu.V. Ivanov 
Accelerometer of increased accuracy for an unmanned aerial vehicle 
 
V.E. Dzhashitov, V.M. Pankratov, A.V. Golikov 
Computer research and educational lecture courses in the engineering mechanics, general and applied theory of gyros 
68 
M.A. Barulina, V.E. Dzhashitov, V.M. Pankratov 
Increasing micromechanical accelerometer accuracy by means of using reversible thermal control system on Peltier coolers 
70 
A.I. Panferov, V.K. Ponomarev, L.A. Severov, N.A. Ovchinnikova 
Estimation of micromechanical gyroscope parameters 
71 
L.A. Severov, Ye.V. Ivanova, A.A. Tyrtychny 
Kinematics and dynamics of micromechanical gyroscope based on ring resonator 
 
D.V. Rozentsvein 
Applied shock influence on micromechanical gyroscope operation 
 
A.S. Kovalev, Ye.V. Logovskaya 
Analysis of micromechanical gyroscope errors when operating on a highdynamic vehicle 
73 
S.G. Romanenko, S.L.Levin, T.V. Panich 
Precessional motion of electrostatic gyroscope rotor under space conditions 
74 
S.N. Belyaev, A.G. Scherbak 
Investigation of process of a hyperfine film coating thermal spraying on spherical knots of gyrodevices 
 
G.I. Yemelyantsev, B.Ye. Landau, S.L. Levin, B.V. Odintsov, S.G. Romanenko 
Increasing accuracy of a strapdown attitude reference system on electrostatic gyroscopes with the use of automatic specification of the drift model factors during space operation 
 
A.P. Buravlev, V.M. Kuzin, B.Ye. Landau, V.V. Sumarokov 
Gimballess electrostatic double electrode suspension gyroscope 
75 
V.I. Zavgorodny, B.V. Odintsov 
Influence of electromagnetic fields on the parameters of a gimballess electrostatic solid rotor gyroscope 
 
D.O.Yakimovsky 
Gyroscope drive control under starting conditions 
76 
S.A. Vasyukov, G.F. Drobyshev 
Simulation of impact electrostatic suspensions 
 
Session Gyroscopic and Integrated Inertial Satellite Systems
M.V. Konash, V.P. Golikov, A.A. Golovan, N.B. Vavilova 
Integration algorithm for the SINS on micromechanical sensors with SNS according to the restart pattern 
77 
L.P. Nesenyuk, D.V. Volynsky, B.A. Blazhnov, G.I. Yemelyantsev, A.P. Stepanov, I.V. Semenov, D.A. Radchenko, D.I. Lychev 
Integrated inertial satellite attitude and navigation system with a micromechanical inertial unit. Results of testing on a motor vehicle 
 
A.M. Boronakhin, L.N. Oleinik, N.S. Filipenya 
Smallsized integrated rail track fault detection system 
78 
Ye. I. Somov 
Design and flight calibration of the astroinertial spacecraft sensing system 
 
V.Z. Gusinsky, Yu. A. Litmanovich, I.A. Terentyev 
Information check in the diagnostic system for the shipborne INS on uncontrolled gyros 
79 
Yu. A. Litmanovich, A.A. Stolbov 
One method of error model linearization for the INS on uncontrolled gyros 
80 
S.A. Chernikov, Li Ming 
Damping of gyro system resonance oscillations by the active feedback dynamic damper 
 
A.V. Polushkin, L.Ya. Kalihman, D.M. Kalihman, S.F. Nahov, R.V. Yermakov, D.A. Belyakov, S.N. Shatskov, V.A. Lomov, A.D. Shapran 
A generalpurpose hardware for the computer check of a wide class of inertial devices: development results 
 
V. Yu. Lapin, V.S. Lobanov, V.N. Zboroshenko, N.V. Tarasenko 
Development of a scaleddown table simulator for investigation and execution of algorithms for attitude and stabilization systems of futuretechnology spacecrafts 
82 
Session Navigation Data Processing and Motion Control
A.I. Naumov, V.A. Merkulov 
Informativity analysis procedure for models of the terrain height field in the correlationextreme navigation problem 
82 
S.A.Kosyachenko, A.I. Naumov 
Sequential search algorithm of the correlationextreme navigation at estimation of coordinate and velocity errors 
83 
S.M. Yelsakov, V.I.Shiryaev 
Provision of accuracy in determination of unmanned aircraft coordinates at landing 
84 
O.A. Stepanov, A.B. Toropov 
Comparison of suboptimal linear algorithms with the optimal algorithm in nonlinear navigation problems 
 
Yu.P. Ivanov, L.S. Krashenko 
Algorithm of spectralMarkov nonlinear filtering of navigation signals

85 
V.A. Vasilyev, O.A. Stepanov, A.V. Osipov 
Application of fuzzy logic when solving nonlinear navigation estimation tasks

86 
A.V.Chernodarov, A.I.Shigin 
Checkup and state estimate of strapdown inertial navigation systems by reliability level

 
G.V. Bezmen, N.V. Kolesov 
Functional diagnosis of dynamic systems with the use of a fuzzy technical state model

87 
S.B. Berkovich, N.I. Kotov, A.V. Sholokhov, R.N. Sadekov, V.A. Liventsev 
Estimation of precision factors of the integrated autonomous terrain navigation systems in view of possible errors in the external correction information

 
Yu.P.Ivanov, A.N.Zhuravlev 
Study of the spectral method of reliability estimation of an airborne vehicle flight safety

88 
Ye.V. Shevtsova 
Application of the theory of bursts in the navigation data processing tasks

89 
K.Ye. Afanasyeva, V.I. Shiryaev 
Guaranteed estimation by the information on the group of entities

89 
M.V.Drozdov 
Identification of influences and diagnostics of a spacecraft state by the signals of accelerometers as microacceleration meters

91 
N.N. Scheglova 
Diagnostics of unsafe sections at monitoring of longlength structures

 
M.B.Rozengauz 
Operation correctness estimation for algorithms and systems with the use of fuzzy measure

92 
Yu.P.Ivanov, V.G.Nikitin, M.V.Fomin 
The integrity estimation method for a satellite navigation system in view of the equipment reliability

93 
M.B. Bogdanov, A.V. Prokhortsov, V.V. Savelyev, V.A. Smirnov, A.A. Chepurin 
The method of increasing accuracy of the navigation problem solution in satellite radio navigation systems

 
V.M. Nikiforov 
Synthesis problems of terminal regulators for dynamic system motion control with consideration for pure time delay 
95 
V.G. Borisov, G.N. Nachinkina, B.V.Pavlov, A.M. Shevchenko 
New algorithmic aids and software for designing aircraft flight control systems

96 
A.V. Pesterev, L.B. Rapoport 
Invariant set estimation in the stabilization problem of the wheeled robot motion along a curved path

97 
A.V.Timofeev, O.A. Derin 
Threedimensional sensor on the basis of stereoscopic vision and laser rangefinder

98 
A.V. Nebylov, V.A. Nebylov 
The current anisotropy analysis of the disturbed sea surface for the hydroplane landing mode optimization

 
A.I. Grekov, Yu.P. Ivanov, A.V. Loparev, A.V. Nebylov 
Prediction of the vessel guide screw baring moments at heavy sea

99 
S.A. Brodsky, A.V. Nebylov, A.I. Panferov 
Optimization of the sensor systems for elastic vehicles and structures control

100 
A.N.Mikryukov, A.I. Naumov 
Algorithmic provision for integration of the strapdown inertial and reliefmetric correlationextreme navigation systems

 
A.V. Grinenkov, T.A. Silina 
Integration algorithms for the information incoming from the outputs of heterogeneous undersea observation channels 
101 
Session Electronics and Computer Engineering of Onboard Systems
V.A. Zimin, N.A. Lookin 
History of development of the onboard computer engineering for the rocket and space complexes developed at Science and Production Association of Automatics

102 
S.G. Bobkov 
Advanced computer systems based on RapidIO standard

 
I.V.Karabanov, M.A. Linnik 
The highprecision module of hydroacoustic navigation system for slant range determination

103 
N.A.Lookin 
Optimum architectures of onboard functionspecific processors for correlationextreme navigation systems of highlymaneuverable flying vehicles

104 
A.V. Nebylov, A.V. Samokish, K.D. Smolin, P.A. Sumbarov 
Formal language for designing onboard computer systems

105 
S.V. Kalin, V.I. Klepikov, Yu.N.Dudorov, D.S.Podkhvatilin 
Basic information technology of the integrated modular control systems

106 
V.V. Balashov, A.G. Bakhmurov, D.Yu. Volkanov, R.L. Smelyansky, M.V. Chistolinov, N.V. Yuschenko, G.T. Mamontov, P.V. Yukhta 
Experience of software environment DIANA application to simulation and integration of onboard computer systems 
107 
A.N. Godunov, P.Ye. Nazarov, I.I. Khomenkov 
Operating realtime system ORTS Baget 3.0

108 
Yu.N.Dudorov, V.I. Klepikov, V.S. Strizhevsky 
Functionality of the certifiable software development environment

109 
A.N. Godunov, A.I. Gryuntal 
The realtime software of Baget computer family

110 
S.V. Kalin, V.I. Klepikov, Yu.N.Dudorov, D.S.Podkhvatilin 
Analytic redundancy in distributed control systems

 
N.V. Kolesov, A.A. Sokolov, M.V. Tolmacheva 
Diagnostics tools design principles for realtime systems

111 
O.K. Yepifanov, M.V. Orlov 
Nonlinearity compensation of the mechanical characteristic of multipolar erection torque motors being part of gearless followup motor

112 
International Public Association
The Academy of Navigation and Motion Control
Official information
The 26th General Meeting of the Academy of Navigation and Motion Control 
113 
L.N. Shalimov, S.F. Deryugin, L.N. Belsky 
Academician N.A. Semikhatov and his role in designing rocket and space technology and in developing applied science. To the 90th birth anniversary (1918  2002) 
116 
New books
About D.M. Kalihman's book "Precision controllable test benches for dynamic tests of gyroscopic devices" 
119 
Information
Russian and international conferences, symposia and exhibitions 
121 
Centrifuges as the main means for setting a constant linear acceleration in the range above 1 g 
125 
Abstracts of the published papers 
127 
