GNSS-based Attitude Determination (AD) of a mobile object using the readings of the Global Navigation Satellite Systems (GNSS) is an active area of research. Numerous attitude determination methods have been developed lately by making use of various sensors. However, the last two decades have witnessed an accelerated growth in research related to GNSS-based navigational equipment as a reliable and competitive device for determining the attitude of any outdoor moving object using data demodulated from GNSS signals. Because of constantly increasing number of GNSS-based AD methods, algorithms, and techniques, introduced in scientific papers worldwide, the problem of choosing an appropriate approach, that is optimal for the given application, operational environment, and limited financial funding becomes quite a challenging task. The work presents an extensive literature survey of the methods mentioned above which are classified in many different categories. The main aim of this survey is to help researchers and developers in the field of GNSS applications to understand pros and cons of the current state of the art methods and their computational efficiency, the scope of use and accuracy of the angular determination.

A computational algorithm is developed for estimating accurately the attitude of a robotic arm which moves along a predetermined path. This algorithm requires preliminary input data obtained in the static mode to yield phase observables for the precise, 3-axis attitude determination of a swinging manipulator in the dynamic mode. Measurements are recorded simultaneously by three GPS L1 receivers and then processed in several steps to accomplish this task. First, artkconv batch executable converts GPS receiver readings into RINEX format to generate GPS observables and ephemeris for multiple satellites. Then baseline vectors determination is carried out by baseline constrained Least-Squares Ambiguity Decorrelation (LAMBDA) method that uses double difference carrier phase estimates as input to calculate integer solution for each baseline. Finally, attitude determination is made by employing alternatively Least-squares attitude determination (LSAD) in the static mode and extended Kalman filter in the dynamic mode. The algorithm presented in this paper is applied to recorded data on Mitsubishi RV-M1 robotic arm in order to produce attitude estimates. These results are confirmed by another set of Euler angles independently evaluated from robotic arm postures obtained along the predefined trajectory.

The article presents technical solutions for the implementation of a high-precision satellite positioning system when performing mine surveying in an open pit. A system was put into commercial operation at one of the fields of JSC "Sokolovsko-Sarbayskoe mining and processing production association" (JSC "SSGPO") this year. The project was funded by the Science Committee of the Ministry of Education and Science of the Republic of Kazakhstan through grants for scientific and technical projects 2018–2020 and was co-financed by a private partner, JSC "SSGPO". All work was carried out jointly with the Subsidiary Limited Liability Company "Institute of Space Engineering and Technology". The technology of differential correction of GNSS signals in the form of base stations of differential correction (BSDC) allows solving the problems of high-precision satellite positioning. The main task assigned to the continuously operating base station is the collection of code and phase data from GPS/GLONASS satellites and the distribution of this data to users (services of JSC "SSGPO" and specialists of contracting organizations performing mine surveying and geodetic work at the field). Development of a mobile module and the rationale for its inclusion in the BSDC is provided in this work.

Данная статья посвящена разработке имитационной модели пассивной радиолокации определения координат летательных аппаратов. Для решения задачи радиолокации летательный аппаратов, основанная на использовании спутников ГНСС, необходимо было сначала оценить энергетический потенциал спутникового сигнала, отраженного от летательного аппарата. В данной работе под имитационным моделированием понимается такой подход к моделированию сложных систем, позволяющий разработать единую метамодель, объединяющую в целостную совокупность модели объектов и процессов их взаимодействия на основе единого информационно-событийного пространства в единой дискретной шкале времени, и реализовать полученную метамодель в электронно-эквивалентной форме на электронной вычислительной машине. Одной из основных задач исследования сложных радиотехнических систем путем моделирования является выбор принципов моделирования, которые должны позволить осуществить построение моделируемой системы в соответствии с поставленными целями и задачами исследования таким образом, чтобы модель адекватно отражала процессы и закономерности поведения исследуемой системы с необходимой степенью достоверности и детализации. Одним из наиболее продуктивных методик разработки программно-технического комплекса имитационного моделирования является объектно-ориентированное моделирование. Использование объектно-ориентированного моделирования позволяют объединить множество моделей объектов и процессов сложной системы в единую имитационную метамодель, которая затем реализуется в электронно-эквивалентном виде на компьютере.