ИСТИНА

This paper gives an overview and elaboration of the latest results obtained by the authors of this paper in the field of quaternion and biquaternion models and algorithms of strapdown and platform inertial navigation systems. The previous accomplishments were presented at the 20 th -23 rd , 25 th and 26 th Saint Petersburg International Conferences on Integrated Navigation Systems. The proposed models and algorithms increase the efficiency of the analytical study of the properties of inertial navigation and the accuracy of the autonomous calculation of the orientation and navigation parameters of moving objects.