Mathematical Models and Algorithms of the Onboard Multiposition Integrated Inertial-Satellite Motion Detection System

The report outlines the problems of assimilation of navigation information delivered by spaced on-board sensors for satellite positioning of a moving object (technological platform) combined with three-component specific force vector meters (3D newtonometers). The main mathematical constructions follow the "state–measurement" paradigm and are focused on solving the inverse problems of determining the movement of technological platform as a solid body. An ellipsoidal system and other coordinate systems that determine solutions are selected as the base coordinate system. Algorithms for calculating kinematic parameters and spatial orientation of technological platform, characteristics of motion causality - forces and moments are presented. A numerical solution to the problem of vector gravimetry is proposed. An original digital test stand of the system for assimilating integrated satellite and inertial navigation information has been developed.