ADAPTING SUB-OPTIMAL KALMAN FILTER IN THE PROBLEM OF THE SINS ALIGNMENT
In this paper, several known schemes for constructing sub-optimal Kalman filters are considered and an alternative scheme is proposed, the state of which is confirmed by the tests. In addition, application issues related to the SINS alignment on a moving base using the satellite navigation system and the Kalman filter are considered, namely ensuring the linear nature of the error model, adapting to unstable measurement noise caused by a delay in the navigation decision of the satellite navigation system.