{"title":"行人导航问题中卡尔曼滤波的若干性质","authors":"Yu. V. Bolotin, A. V. Bragin","doi":"10.3103/S0027133023030020","DOIUrl":null,"url":null,"abstract":"<p>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.</p>","PeriodicalId":710,"journal":{"name":"Moscow University Mechanics Bulletin","volume":"78 3","pages":"80 - 85"},"PeriodicalIF":0.3000,"publicationDate":"2023-08-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"On Some Properties of the Kalman Filter in the Pedestrian Navigation Problem\",\"authors\":\"Yu. V. Bolotin, A. V. Bragin\",\"doi\":\"10.3103/S0027133023030020\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p>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.</p>\",\"PeriodicalId\":710,\"journal\":{\"name\":\"Moscow University Mechanics Bulletin\",\"volume\":\"78 3\",\"pages\":\"80 - 85\"},\"PeriodicalIF\":0.3000,\"publicationDate\":\"2023-08-15\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Moscow University Mechanics Bulletin\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://link.springer.com/article/10.3103/S0027133023030020\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q4\",\"JCRName\":\"MECHANICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Moscow University Mechanics Bulletin","FirstCategoryId":"1085","ListUrlMain":"https://link.springer.com/article/10.3103/S0027133023030020","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"MECHANICS","Score":null,"Total":0}
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.
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.
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