The BOKZ family instruments have been designed for precise determination of spacecraft triaxial attitude control parameters in real time based on images of the arbitrary starry sky segments. ... Since 1999 twenty one star instruments of the BOKZ family have been launched to the nearterrestrial orbits onboard the International Space Station and ten Russian spacecraft of various types. The development of three more modifications – BOKZ-л, BOKZ-л24 Х BOKZ-2л is completed. ...