Kalman Filter Adaptation for Use with Local and Global Navigation System

This paper formulates a scheme of Kalman filter adaptation for combining data from a local and global navigation system. It also includes the formulation of a model of nonlinear filter and describes the ability of it's adjustment and adaptation correction. The paper contains the algorithm of work of a navigation system, built on the theory. To test the efficiency of the algorithm there's been created an emulator, which allows to model a robot movement on the horizontal surface, the work of global navigation system beacons and the work of local navigation system. The filter parameters are calculated for different combinations of goniometrical and distance-measuring global navigation system.