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Tight integration of satellite and strapdown inertial navigation systems is used for automo tive vehicles and complicated by the necessity to design adequate models of the object of research. A universal stochastic model adequately reflecting the processes of arbitrary motion of a ground vehicle is synthesized in a canonical form. The model can be used for realization of tightly coupled inertial satellite navigation systems. The results of simulation modelling are given, which confirm the effi ciency of the synthesized model.

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