Abstract. Navigation satellite signals play a key role in determining the spatial position of moving objects and in refining the outputs of inertial navigation systems. In recent years, it has become increasingly necessary to solve motion control problems under conditions of weak or unstable navigation satellite signals. Unstable signals from navigation satellites can be caused by natural and artificial interference, environmental factors such as dense urban environments, powerful electromagnetic sources such as power lines, and other factors. The historical development of navigation systems, which contributes in particular to improving the quality of the navigation solution, involves a progressive increase in the degree of integration between inertial and satellite navigation systems. Loosely coupled, tightly coupled, and ultra-tightly coupled navigation systems have long been successfully used in practice. The problem of deep integration of inertial and satellite navigation systems to improve the quality of the navigation solution under interference is considered. The feasibility of a linear navigation filter for a correction system that is invariant to vehicle motion is demonstrated, on the basis of which a computationally distributed, deeply integrated radio-inertial-satellite navigation system can be built. The block diagram of a computationally distributed, deeply integrated radio-inertial-satellite navigation system is presented, and a list of parameters that must additionally be supplied by the GNSS receiver to the navigation filter, compared to existing solutions, is defined. A method for high-rate conversion of raw radio navigation observables in the GNSS receiver software is proposed. A model for reference signal errors is proposed, including the variable and constant phase components as well as the frequency of the reference signals. Formulas for calculating estimation of pseudorange, pseudorange rate, and pseudorange acceleration are derived for generating corrections in the filter, which should, among other things, improve the quality of the navigation solution obtained from satellite observations under conditions of unstable satellite signals.

Keywords: navigation filter, inertial navigation systems, satellite navigation systems, Kalman filter, navigation data

For citation: Tazba A. M., Shevchik A. A., Aleksandrov A. A. Deep integration of inertial and satellite navigation systems using a linearized Kalman filter. Aerospace Engineering and Technology. 2026. Vol. 4, no. 2, pp. 346–356. (In Russ.) https://doi.org/10.52467/2949-401X-2026-4-2-346-356; https://elibrary.ru/ceathe   

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