Developed by Scientific Research Institute of the automatisation technics of Minradioprom. Chief designer - G.A.Burlakov. Development works started under the Decisions of the Special Commission of the Presidium of the USSR Soviet Ministry on military-industrial questions dated June 29, 1977 and August 27, 1981. Mass production of the system organized at the Minsk Electromechanical Plant (currently GNPO Agat), but later transferred to Penza, former Minradioprom factory. In service since 1986. Polyana-D4 is a substantial remake of 9S468M1 Polyana-D1, development by NIIAA.