FIELD: medicine, pharmaceutics.SUBSTANCE: invention relates to compounds of general formulaand their pharmaceutically acceptable salts, which have action of antagonist of muscarine receptors. In formula (I) R1 is selected from group, which consists of (C1-C6)alkyl, (C3-C8)cycloalkyl, phenyl, benzyl and thiophenyl, optionally substituted with one or more substituents, selected from atoms of halogen, OH, oxo, SH, NH2, NO2, CN, CONHR5, CON(R5)2, NHCOR5, COR5, CO2R5, etc.； R2 represents H or (C1-C6)alkyl, optionally substituted with one or more substituents, selected from group, which consists of atoms of halogen, OH, oxo, SH, NH2, NO2, CN, CONHR5, CON(R5)2, NHCOR5, COR5, CO2R5, etc.； R3 represents H or is selected from group, which consists of (C1-C6)alkyl, (C3-C8)cycloalkyl, phenyl, thiophenyl, benzothiophenyl and pyridyi, optionally substituted with one or more substituents, selected from group, which consists of atoms of halogen, OH, oxo, SH, NH2, NO2, CN, CONHR5, CON(R5)2, CO2R5, etc.； R6 represents group of formula , where A stands for physiologically acceptable anion； R4 represents group of formula , where p is equal 0 or integer number from 1 to 4； q is equal 0 or integer number from 1 to 4； P represents heteroaryl, selected from oxadiazolyl, oxazolyl, triazolyl, benzoimidazolyl, thiazolyl and isoxazolyl, optionally substituted with one or more substituents, selected from group, which consists of atoms of halogen, OH, oxo, SH, NO2, CN, CON(R5)2, NH2, NHCOR5, CO2R5, etc.； W is selected from group, which consists of (C3-C8)cycloalkyl, phenyl, pyrazolyl, cyclohexyl, dihydrobenzofuranyl, benzothiophenyl, pyridinyl, thiazolyl, oxadiazolyl and thiophenyl, optionally substituted with one or more substituents, selected from group, which consists of atoms of halogen, OH, oxo, SH, NH2, NO2, CN, CONHR5, CON(R5)2, NHCOR5, COR5, CO2R5,etc.； R5 represents H or is selected from group, which consists of (C1-C6)alkyl, (C1-C6)halogenalkyl, (C2-C6)alkenyl and (C3-C8)cycloalkyl, op
