Some properties of the Kalman filter in the problem of walker navigation

A pedestrian navigation system consisting of two foot-mounted strapdown inertial navigation systems (SINS) is considered. The zero velocity conditions of the foot in the stance phase of a step and a limited distance between the feet are used for SINS corrections. The aim of the work is to study some consistency properties of the extended Kalman filter. It is shown that this consistency depends on a form of the error equations.