Forming a trajectory of a map-matching navigation system by the criterion of minimum coordinate errors

The problem of forming a trajectory of an object that has got a minimum sum of the root-mean-square error of the coordinates is considered. The desired trajectory is formed from short movements of the object between the nodes of the navigation map. The contribution of each object movement to the total error is determined by the relative location of the nodes, the in-formativeness of navigation field and the rate of increase of the coordinate errors of a map-matching navigation system. It is calculated with the use of the covariance channel of the Kalman filter. The use of numerical methods for solving transportation problems is proposed to find the optimal object trajectory. Among them preference is given to the A-star method. A numerical example of a trajectory formation with minimal errors of coordinates is given for a map-matching navigation system.