Geodesic
Combined use of strapdown inertial navigation systems and odometers from the standpoint of mechanics of inertial navigation systems. Part 1
Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 2 (2015), pp. 69-72 
A. A. Golovan; I. V. Nikitin. Combined use of strapdown inertial navigation systems and odometers from the standpoint of mechanics of inertial navigation systems. Part 1. Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 2 (2015), pp. 69-72. http://geodesic.mathdoc.fr/item/VMUMM_2015_2_a15/
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     author = {A. A. Golovan and I. V. Nikitin},
     title = {Combined use of strapdown inertial navigation systems and odometers from the standpoint of mechanics of inertial navigation systems. {Part} 1},
     journal = {Vestnik Moskovskogo universiteta. Matematika, mehanika},
     pages = {69--72},
     year = {2015},
     number = {2},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/VMUMM_2015_2_a15/}
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Voir la notice de l'article provenant de la source Math-Net.Ru

The navigation problem of a land vehicle is studied when a strapdown inertial navigation system and an odometer are used. The analysis is done from the viewpoint of mechanics of aided inertial navigation systems. Different functional schemes of integration are analyzed. In the second part of the paper, a mathematical description of integration algorithms will be given.

[1] Golovan A.A., Parusnikov N.A., Matematicheskie osnovy navigatsionnykh sistem, v. I, Matematicheskie modeli inertsialnoi navigatsii, 2-e izd., ispr. i dop., Izd-vo MGU, M., 2010

[2] Golovan A.A., Parusnikov N.A., Matematicheskie osnovy navigatsionnykh sistem, v. II, Prilozheniya metodov optimalnogo otsenivaniya k zadacham navigatsii, 2-e izd., ispr. i dop., MAKS Press, M., 2012