Mathematics & Physics 2015, 8(4), 385–393 УДК 692.7.052 Coordinate and Time-frequency Support of a Spacecraft Flight by Means of Autonomic Navigation Using Sigma-point Kalman Filter Algorithm Vladimir A. Filimonov∗ Vyacheslav V. Shavrin† Vladimir I. Tislenko‡ Aleksey P.Kravets Vitaliy Yu. <...> Lebedev Vadim N. Shkolniy Research Institute of Radiotechnic Systems Tomsk State University of Control Sytems and Radioelectronics Lenina, 40, Tomsk, 634050 Russia Received 20.09.2015, received in revised form 26.10.2015, accepted 11.11.2015 There are investigated errors of a spacecraft current coordinate and velocity estimates, time-frequency scale bias of the board receiver reference oscillator. <...> The receiver is a component of the autonomic navigation system using signals of global navigation systems GLONASS or GPS. <...> Estimates are formed by the navigation calculator on the bases of pseudo range and pseudo velocity measurements taken in the regime of navigation signals delay and Doppler frequencies tracking under the condition of the receiver noise. <...> Analysis of estimations accuracy is done by the Monte-Carlo method while spacecraft moves along a high elliptic orbit. <...> Keywords: autonomic navigation system, spacecraft, coordinate estimation, on board time scale bias, sigma-point Kalman filter, statistic simulation. <...> Introduction and preliminaries There has been constantly growing interest to the space autonomic navigation systems (ANS). <...> These systems utilize the signals of the global navigation space systems (GNSS). <...> One of them is the geometric factor reaching tens and hundreds for spacecrafts (SC) put on geostationary or high elliptical orbits (GEO or HEO); next is the low level of the ratio of the carrier power to the noise power per bandwidth unit (C/N0) up to 40 dB-Hz or less; the problem is also the deficit of the navigation spacecrafts number under observation [2]. <...> Modern ANS receivers are designed to receive not only GLONASS signals but also GPS (Navstar), Galileo, Compass, which allows to solve some problems including the number of navigation spacecrafts within the interval of observation. <...> At the first stage is formed the vector of observation z(tk), that consist ∗filimonov90va@gmail.com †svv281088@gmail.com ‡wolar1491@yandex.ru ⃝ Siberian Federal University. <...> All rights reserved c <...>