Vestnik Moskovskogo Universiteta. Seriya 1. Matematika. Mekhanika
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Vestnik Moskovskogo Universiteta. Seriya 1. Matematika. Mekhanika, 2023, Number 3, Pages 56–61
DOI: https://doi.org/10.55959/MSU0579-9368-1-64-3-9 (Mi vmumm4541) 		 
This article is cited in 1 scientific paper (total in 1 paper)

Mechanics

Some properties of the Kalman filter in the problem of walker navigation

Yu. V. Bolotin, A. V. Bragin

Lomonosov Moscow State University, Faculty of Mechanics and Mathematics
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DOI: https://doi.org/10.55959/MSU0579-9368-1-64-3-9
Abstract: A pedestrian navigation system consisting of two foot-mounted strapdown inertial navigation systems (SINS) is considered. The zero velocity conditions of the foot in the stance phase of a step and a limited distance between the feet are used for SINS corrections. The aim of the work is to study some consistency properties of the extended Kalman filter. It is shown that this consistency depends on a form of the error equations.
Key words: SINS, pedestrian navigation, correction, extended Kalman filter.
Received: 11.01.2023
English version:
Moscow University Mechanics Bulletin, 2023, Volume 78, Issue 3, Pages 80–85
DOI: https://doi.org/10.3103/S0027133023030020
Bibliographic databases:
Document Type: Article
UDC: 531.01
Language: Russian
Citation: Yu. V. Bolotin, A. V. Bragin, “Some properties of the Kalman filter in the problem of walker navigation”, Vestnik Moskov. Univ. Ser. 1. Mat. Mekh., 2023, no. 3, 56–61; Moscow University Mechanics Bulletin, 78:3 (2023), 80–85
Citation in format AMSBIB
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\by Yu.~V.~Bolotin, A.~V.~Bragin
\paper Some properties of the Kalman filter in the problem of walker navigation
\jour Vestnik Moskov. Univ. Ser.~1. Mat. Mekh.
\yr 2023
\issue 3
\pages 56--61
\mathnet{http://mi.mathnet.ru/vmumm4541}
\crossref{https://doi.org/10.55959/MSU0579-9368-1-64-3-9}
\elib{https://elibrary.ru/item.asp?id=53868407}
\transl
\jour Moscow University Mechanics Bulletin
\yr 2023
\vol 78
\issue 3
\pages 80--85
\crossref{https://doi.org/10.3103/S0027133023030020}
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