The analysis of methods of integration of global navigation satellite systems and inertial measurement complexes in conditions of degradation of the quality of satellite navigation signals is carried out. The classification of architectures of integrated systems based on the level of interaction of components is developed. . A modified algorithm of adaptive Kalman filtering is proposed, which ensures stable operation with partial loss of satellite measurements, the accuracy of navigation systems, also aimed at increasing the economy of air transportation due to fuel savings and time spent on flight. It is experimentally established that the use of deep integration allows to reduce the positioning error by 35-60% in comparison with traditional schemes of weak integration at the signal degradation level of 60-80%. The effectiveness of using nonlinear filters (UKF, CKF) to compensate for nonlinear effects when working in complex signal conditions has been proven.
integrated navigation system, GNSS, inertial navigation, signal degradation, Kalman filter, deep integration, adaptive filtering
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