Using inertial navigation systems to monitor the motion of a train

The article deals with the possibility of creating an algorithm for a complimentary inertial navigation system based on micromechanical sensors with the correction from the global navigation satellite system and the speed sensor (odometer). Instead of the traditional solution based on the Kalman filtering, the article proposes an alternative algorithm to correct SINS's errors. The article presents the results of testing of the described algorithm for CompaNav-3 system, which was tested at the JSC “VNIIZhT” experimental ring in the city of Shcherbinka.