Aerospace Instrument-Making Annotation << Back STATE NOISE COVARIANCE SEARCH METHOD IN THE PROBLEM OF ESTIMATING THE SINS ERROR AT THE RATE Yu.G. Egorov, V.I. Mkrtchyan A method of automatic search for the covariance matrix of state noises is considered to obtain an optimal estimate of the SINS heading error using the Kalman filter. The criterion of optimal estimation is chosen. The search algorithm is synthesized and a detailed description of its im-plementation in practice is given. The differences in the projections of the SINS ground speed relative to the signals of the global navigation satellite system (GNSS) are used as measurements. The results of testing the method on synthetic data are presented. Keywords: SINS, GNSS, Kalman filter, optimal estimation, heading. DOI: 10.25791/aviakosmos.1.2021.1196 Pp. 03-11.