ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)
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vol 67 / April, 2024
Article

DOI 10.17586/0021-3454-2016-59-3-181-188

UDC 621.391.2

MODEL AND ALGORITHM OF COMPLEX INFORMATION PROCESSING IN AZIMUTHAL CHANNEL OF PEDESTRIAN NAVIGATION SYSTEM

A. Y. Kaplin
Radioavionica Corporation;


M. G. Stepanov
Radioavionica Corporation; Professor


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Abstract. The problem of high-precision evaluation of current azimuth in pedestrian navigation system is considered. A well-defined model of azimuthal channel is formulated for navigation system consisting of digital magnetic compass, satellite navigation unit, and angular velocity sensor. An algorithm of complex processing of the channel information with the use of the basic variant of Kalman filter is proposed. The procedure of assessment and compensation for systematic error of magnetic compass is given special attention when azimuth value is determined. Results of a priory estimating of accuracy of azimuth channel information processing for various magnetic distortions and the sensors precision characteristics confirm the proposed approach.
Keywords: pedestrian navigation system, azimuthal channel, Kalman processing algorithm, angular velocity sensor, digital magnetic compass, satellite navigation unit

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