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<article article-type="research-article" dtd-version="1.3" xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xml:lang="ru"><front><journal-meta><journal-id journal-id-type="publisher-id">novtexmech</journal-id><journal-title-group><journal-title xml:lang="ru">Мехатроника, автоматизация, управление</journal-title><trans-title-group xml:lang="en"><trans-title>Mekhatronika, Avtomatizatsiya, Upravlenie</trans-title></trans-title-group></journal-title-group><issn pub-type="ppub">1684-6427</issn><issn pub-type="epub">2619-1253</issn><publisher><publisher-name>Commercial Publisher «New Technologies»</publisher-name></publisher></journal-meta><article-meta><article-id pub-id-type="doi">10.17587/mau.27.97-105</article-id><article-id custom-type="elpub" pub-id-type="custom">novtexmech-1924</article-id><article-categories><subj-group subj-group-type="heading"><subject>Research Article</subject></subj-group><subj-group subj-group-type="section-heading" xml:lang="ru"><subject>ДИНАМИКА, БАЛЛИСТИКА, УПРАВЛЕНИЕ ДВИЖЕНИЕМ ЛЕТАТЕЛЬНЫХ АППАРАТОВ</subject></subj-group><subj-group subj-group-type="section-heading" xml:lang="en"><subject>DYNAMICS, BALLISTICS AND CONTROL OF AIRCRAFT</subject></subj-group></article-categories><title-group><article-title>Позиционирование беспилотных транспортных средств при движении с огибанием рельефа местности на основе сильносвязанной навигационной системы</article-title><trans-title-group xml:lang="en"><trans-title>Guaranteed-Accuracy Positioning of Terrain-Following Unmanned Vehicles Using Tightly Coupled Integration of Satellite and Correlation-Extremal Navigation Systems</trans-title></trans-title-group></title-group><contrib-group><contrib contrib-type="author" corresp="yes"><name-alternatives><name name-style="eastern" xml:lang="ru"><surname>Соколов</surname><given-names>С. В.</given-names></name><name name-style="western" xml:lang="en"><surname>Sokolov</surname><given-names>S. V.</given-names></name></name-alternatives><bio xml:lang="ru"><p>С. В. Соколов, д-р техн. наук, проф.</p><p>Москва</p></bio><bio xml:lang="en"><p>Sokolov S. V., Head of the Department</p><p>Moscow, 111024</p></bio><email xlink:type="simple">s.v.s.888@yandex.ru</email><xref ref-type="aff" rid="aff-1"/></contrib><contrib contrib-type="author" corresp="yes"><name-alternatives><name name-style="eastern" xml:lang="ru"><surname>Погорелов</surname><given-names>В. А.</given-names></name><name name-style="western" xml:lang="en"><surname>Pogorelov</surname><given-names>V. A.</given-names></name></name-alternatives><bio xml:lang="ru"><p>В. А. Погорелов, д-р техн. наук, доц.</p><p>г. Ростов-на-Дону</p></bio><bio xml:lang="en"><p>V. A. Pogorelov</p><p>Rostov-on-Don, 344003</p></bio><email xlink:type="simple">vadim.pogorelov.rnd@gmail.com</email><xref ref-type="aff" rid="aff-2"/></contrib></contrib-group><aff-alternatives id="aff-1"><aff xml:lang="ru">Московский технический университет связи и информатики<country>Россия</country></aff><aff xml:lang="en">Moscow Technical University of Communications and Informatics<country>Russian Federation</country></aff></aff-alternatives><aff-alternatives id="aff-2"><aff xml:lang="ru">Донской государственный технический университет<country>Россия</country></aff><aff xml:lang="en">Don State Technical University (DSTU)<country>Russian Federation</country></aff></aff-alternatives><pub-date pub-type="collection"><year>2026</year></pub-date><pub-date pub-type="epub"><day>06</day><month>02</month><year>2026</year></pub-date><volume>27</volume><issue>2</issue><fpage>97</fpage><lpage>105</lpage><permissions><copyright-statement>Copyright &amp;#x00A9; Commercial Publisher «New Technologies», 2026</copyright-statement><copyright-year>2026</copyright-year><copyright-holder xml:lang="ru">Commercial Publisher «New Technologies»</copyright-holder><copyright-holder xml:lang="en">Commercial Publisher «New Technologies»</copyright-holder><license xlink:href="https://mech.novtex.ru/jour/about/submissions#copyrightNotice" xlink:type="simple"><license-p>https://mech.novtex.ru/jour/about/submissions#copyrightNotice</license-p></license></permissions><self-uri xlink:href="https://mech.novtex.ru/jour/article/view/1924">https://mech.novtex.ru/jour/article/view/1924</self-uri><abstract><p>В настоящее время комплексирование спутниковых навигационных систем (СНС) и корреляционно-экстремальных навигационных систем (КЭНС) беспилотных транспортных средств (БТС) осуществляется на принципах раздельной или, в лучшем случае, слабой интеграции, когда их измерения обрабатываются различными навигационными алгоритмами на основе методов стохастической фильтрации с последующей коррекцией неизбежных рассогласований различными методами оптимизации. Для подобного подхода характерны как большие вычислительные затраты, ввиду необходимости параллельной реализации алгоритмов обработки измерений СНС и КЭНС и последующего решения задачи оптимизации, так и критичность точности позиционирования к возрастанию уровня интенсивности помех радиоизмерений. В связи с этим предлагается решение задачи повышения точности позиционирования БТС на основе принципа сильносвязанной интеграции, предполагающего представление вектора координат БТС и высоты рельефа подстилающей поверхности в виде единого навигационного вектора, динамическая оценка которого осуществляется общим стохастическим фильтром. Подобная обработка измерений помимо резкого сокращения вычислительных затрат обеспечивает устойчивое и высокоточное оценивание навигационных параметров БТС в условиях интенсивных помех как естественного, так и искусственного происхождения. Приведены результаты численного эксперимента, иллюстрирующие эффективность предложенного подхода.</p></abstract><trans-abstract xml:lang="en"><p>Currently, the integration of satellite navigation systems (SNS) and correlation-extremal navigation systems (CENS) for unmanned vehicles (UVs) is implemented based on principles of separate or, at best, weakly coupled integration, where their measurements are processed by different navigation algorithms (stochastic filters) with subsequent correction of inevitable discrepancies using various optimization methods. This approach is characterized by both high computational costs due to the need for parallel implementation of SNS and CENS measurement processing algorithms and subsequent optimization problem solving, as well as critical dependence of positioning accuracy on increasing levels of radio measurement interference. In this regard, a solution is proposed to improve the positioning accuracy of UVs based on the principle of tightly coupled integration, which involves representing the UV’s coordinate vector and the terrain elevation of the underlying surface as a single navigation vector, estimated by a common stochastic filter. Such measurement processing, in addition to significantly reducing computational costs, ensures robust and high-precision estimation of UV navigation parameters under conditions of intense interference of both natural and artificial origin. The results of a numerical experiment illustrating the effectiveness of the proposed approach are presented.</p></trans-abstract><kwd-group xml:lang="ru"><kwd>спутниковая и корреляционно-экстремальная навигационные системы</kwd><kwd>сильносвязанная интеграция</kwd><kwd>стохастическая фильтрация</kwd></kwd-group></article-meta></front><back><ref-list><title>References</title><ref id="cit1"><label>1</label><citation-alternatives><mixed-citation xml:lang="ru">Jin S., Xu G. Global Navigation Satellite Systems: Signal, Theory and Applications. Cham: Springer, 2022. 426 p.</mixed-citation><mixed-citation xml:lang="en">Jin S., Xu G. Global Navigation Satellite Systems: Signal, Theory and Applications, Cham, Springer, 2022, 426 p.</mixed-citation></citation-alternatives></ref><ref id="cit2"><label>2</label><citation-alternatives><mixed-citation xml:lang="ru">Groves P. D. Principles of GNSS, Inertial, and Multisensor Integrated Navigation System (3rd ed.). 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