16Th Saint Petersburg International Conference on Integrated Navigation Systems, Icins 2009, Date: 25 May 2009 through 27 May 2009, Sponsors: American Institute of Aeronautics and Astronautics (AIAA);et al.;Institute of Electrical and Electronics Engineers (IEEE);International Public Association - Academy of Navigation and Motion Control (ANMC);Russian Foundation for Basic Research;Scientific Council of the Russian Academy of Sciences on the Problems of Motion Control and Navigation