Aerospace Instrument-Making Annotation << Back Helicopter terrain-following integrated navigation and control system. I. Mathematical models and algorithms M.N. Krasilshchikov, D.A. Kozorez, K.I. Sipalo, S.V. Skryabin The problem of the helicopter onboard navigation and control integrated system architecture, algorithms and software design is considered. The discussed system operates at the terrain-following mode and uses specific module (unit), consisting of multi channel GPS/GLONASS receiver, inertial strapdown system, altimeter and millimeter-wave radar. All sets of the mathematical models and algorithms needed for integrated system operation are given.