Mathematics & Physics 2017, 10(1), 22–35 УДК 519.213 Synthesis of Integrated One-stage Tracking Algorithm for GNSS and INS Based Attitude Estimation Alexander I.Perov∗ National Research University "MPEI" Krasnokazarmennaya, 14, Moscow, 111250 Russia Received 10.06.2016, received in revised form 14.09.2016, accepted 20.11.2016 In this article, the theory of optimal filtering of information processes is used to synthesize optimal onestage estimation algorithm for the object orientation angles. <...> The algorithm uses signals of the satellite navigation and inertial systems. <...> The block diagram of an integrated single-stage filtration system for object orientation angles is presented. <...> Keywords: satellite radio navigation system, attitude determination, tracking, optimal algorithm, synthesis, inertial-satellite system. <...> Introduction Satellite navigation systems are now widely used for a variety of technical problems, including extracting information from phase of the received signals [1, 2]. <...> One such application is to determine the object orientation angles from the satellite radio navigation system signals received at spaced-apart points [3, 4]. <...> The approach is based on the fact that the signals coming from the navigation satellite in two spaced-apart points have a phase shift that depends on the angle between the base line connecting the two receiving points and the direction of arrival of the navigation satellite signal. <...> By measuring this angle and knowing the direction on the navigation satellite, it is possible to determine the angle of orientation of the base line. <...> Further, the phase difference is formed which carries information about the angle between the base line and the direction of arrival of the navigation satellite signal. <...> The main problem is that the measured phase difference differs from the true phase difference (that is proportional to the difference of arrival times of signal phase front at the receiving points) by an integer number of periods of high-frequency radiation. <...> That is, there is an ambiguity of phase measurement. <...> To resolve this problem various algorithms of phase measurement were proposed [5–18]. <...> A one-stage algorithm for determining of object orientation angles using navigation satellites signals was proposed. <...> All rights reserved c – 22 – Alexander I.Perov Synthesis of Integrated One-stage Tracking Algorithm for GNSS and INS Based . . . required parameters are <...>