FIELD: radio engineering.
SUBSTANCE: first version of the disclosed method involves multiplication of the formed correlation matrix of inertial measurement errors Q and the correlation matrix of measurement errors W by corresponding weight coefficients. When calculating predicted values of the state vector dx and the correlation matrix of its errors, the matrix is inverted using a corresponding formula. Elements of the correlation matrix of state vector errors are compared with a given threshold value. If at least one element exceeds the given threshold value, then the state vector of the current step is calculated using calculated values of the matrix of state vector errors of the previous step. If at least one element exceeds the threshold a variance matrix calculated at the previous step is returned. The second version of the disclosed method involves multiplication of the formed correlation matrix of inertial measurement errors Q and the correlation matrix of measurement errors W by corresponding weight coefficients. When calculating predicted values of the state vector dx and the correlation matrix of its errors, the matrix is inverted using a defined formula. Elements of the correlation matrix of state vector errors are compared with a given threshold value. If at least one element exceeds the given threshold value, then the state vector of the current step is calculated using calculated values of the matrix of state vector errors of the previous step. If at least one element exceeds the threshold a variance matrix calculated at the previous step is returned.
EFFECT: more accurate location a mobile object.
2 cl, 7 dwg
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