A textbook is offered for use in the educational process in the departments of astronomical specialties, geodesy and geodynamics. The material was compiled in accordance with the curriculum of the Department of Celestial Mechanics, Astrometry and Gravimetry of the Physics Department of Moscow State University named after M.V. Lomonosov. The basis is the content of a special course, which is read by the author of the manual for senior students of the department over the past 20 years.