METHOD OF ESTIMATING NAVIGATION STATE IN CONDITIONS OF LIMITED POSSIBILITY OF OBSERVATION Russian patent published in 2019 - IPC G01C21/16 

FIELD: physics.

SUBSTANCE: invention relates to the field of navigational instrument making and can be used in systems of mobile transport systems assessment. To this end, a method of estimating a navigation state with multiple mobile carrier variables in accordance with a Kalman advanced filter method comprises the following steps: reading the measurements of at least one of the variables, processing (400) using an extended Kalman filter outputting the current evaluation state and a covariance matrix which limits the error area in the navigation state space, based on previous evaluation state, observation matrix, transient matrix and readings, wherein method is characterized by that step (310, 330) of transient matrix correction and observation matrices prior to use thereof in expanded Kalman filtering such that the corrected matrices meet the observability condition, which depends on at least one of the carrier state variables, wherein the observability condition is adapted such as to prevent the Kalman filter from reducing the size of the region at least along one unobserved axis of the state space, in which the observability condition, verified by corrected transient matrix and observation matrix, is zeroing of core of observability matrix associated with it, and in which correction includes following stages: calculation (301) of at least one primary basis of unobserved vectors based on previous evaluation state, for each corrected matrix, calculation (306, 308) of at least one matrix deviation associated with the matrix, based on the primary vectors basis, offset (330) of each corrected matrix on the associated matrix deviation to verify the observability condition.

EFFECT: technical result is higher accuracy.

7 cl, 8 dwg