行人导航问题中卡尔曼滤波的若干性质

IF 0.3 Q4 MECHANICS

Moscow University Mechanics Bulletin Pub Date : 2023-08-15 DOI:10.3103/S0027133023030020

Yu. V. Bolotin, A. V. Bragin

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引用次数: 0

摘要

研究了一种由两个脚踏捷联惯性导航系统组成的行人导航系统。在一个台阶的站立阶段，脚的零速度条件和脚之间的有限距离用于捷联惯导系统的修正。本文的目的是研究扩展卡尔曼滤波器的一些一致性。结果表明，这种一致性取决于误差方程的一种形式。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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On Some Properties of the Kalman Filter in the Pedestrian Navigation Problem

A pedestrian navigation system consisting of two foot-mounted strapdown inertial navigation systems (SINS)s 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.

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来源期刊

Moscow University Mechanics Bulletin MECHANICS-

CiteScore

0.60

自引率

0.00%

发文量

期刊介绍： Moscow University Mechanics Bulletin is the journal of scientific publications, reflecting the most important areas of mechanics at Lomonosov Moscow State University. The journal is dedicated to research in theoretical mechanics, applied mechanics and motion control, hydrodynamics, aeromechanics, gas and wave dynamics, theory of elasticity, theory of elasticity and mechanics of composites.