V.V. Matveev1, A.V. Kalikanov2, D.S. Streltsov3, A.N. Khomyachkova4, S.V. Telukhin5, I.A. Bekhler6

1,2,3,4,5,6 Tula State University (Tula, Russia)

1 matweew.valery@yandex.ru, 2 kalikanov.aleksei@mail.ru, 3 waydaytk@yandex.ru, 4 khoma05_19@mail.ru, 5 teluhinserg@yandex.ru, 6 behler21@bk.ru

The paper proposes an algorithm for correcting a strapdown inertial navigation system (SINS) using a positional odometer signal. A distinctive feature of the method is that the correction is performed directly in the inertial coordinate frame, which allows its integration into existing inertial rectangular coordinate computation algorithms without modifying them. A mathematical model and the SINS structure are presented. Quantitative accuracy estimates for the autonomous and corrected versions of the SINS are provided for a vehicle moving along a rectangular (“box-type”) trajectory.

Problem statement. In practice, various reference triads are used as algorithms for autonomous coordinate dead reckoning in a strapdown inertial navigation system (SINS): geographic (with fixed or free azimuth orientation), Earth (Greenwich), and inertial. The issues of odometric correction of a SINS with a geographic reference triad have been studied quite well. However, the issues of correcting a SINS operating in an inertial frame in autonomous mode using data from external sensors (e.g., an odometer) still remain insufficiently developed, which determines the problem of the present study.

Objective. To present a correction algorithm for a SINS that dead-reckons rectangular inertial coordinates from the readings of a positional odometer, making it possible to reduce coordinate dead-reckoning errors while preserving the structure of the main navigation algorithm.

Results. For the considered trajectory of 72.7 km length and 1.03 h duration, the error of the standalone SINS mode with navigation‑grade inertial sensors were about 2 km. With odometer correction and an odometer systematic error not exceeding 1 mm per tick, the dead‑reckoning error did not exceed 300 m.

Practical significance. The method is intended for use in navigation systems of ground vehicles (manned and unmanned) when correcting SINS using odometer data. The results can also be used in aviation applications to improve the accuracy of flight navigation equipment through the use of optical odometers.

The research was carried out at the expense of a grant from the Russian Science Foundation "Conducting basic scientific research and exploratory scientific research by small individual scientific groups" (regional competition) No. 25-29-20077, https://rscf.ru/project/25-29-20077 / by topic: "Development of algorithms for orientation and navigation of mobile objects of various bases based on new kinematic parameters and methods of integrating measurement information."

The authors also express their gratitude to the Government of the Tula region for providing a grant in the form of subsidies (Agreement No. 30-2025-000527 dated 04/03/2025).

Matveev V.V., Kalikanov A.V., Streltsov D.S., Khomyachkova A.N., Telukhin S.V., Bekhler I.A. Algorithm for correction of a strapdown inertial navigation system using positional odometer data // Radioengineering. 2026. V. 90. № 9. P. 167−177. DOI: https://doi.org/10.18127/j00338486-202609-18

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