Ensuring the accuracy of odometric terrain navigation systems based on the matching of feature route points and instrument trajectory

S.B. Berkovich, N.I. Kotov, A.Yu. Makhaev, A.V. Sholokhov

ANO “Institute of Engineering Physics”, Serpukhov, Moscow region, Russia;
naviserp5@iifmail.ru

Al’manac of Modern Metrology № 1 (41) 2025, pages 71–83

Abstract. The problem of autonomous parameter correction for odometric terrain navigation systems is considered. The correction is performed according to the principle of conditional alignment of the feature points of the object’s route with the so-called instrument trajectory. A functional is justified that determines the proximity of the current values of coordinates and course generated by the navigation system with the correspon­ding parameters of the feature points of the route. Algorithms for estimating the error vector parameters of the navigation system are proposed.

Keywords: autonomous terrain navigation, matching method, feature points of the route.

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