Aerospace Instrument-Making Annotation << Back Fault-tolerant system for motion control over water surface O.A. Frolova, V.P. Yl’yanov, A.Yu. Mishin A method for monitoring radio altimeter measurement data credibility is proposed. A complex altitude measuring system as a part of an inertial navigation system and a radio altimeter that provides for the highly accurate and credible control for vertical motion parameters is developed. Key words: Unmanned vehicle, guidance & control system, inertial navigation system, radio altimeter, data protection, Kalman filter. E-mail: kseniy_frolova@mail.ru