Aerospace Instrument-Making Annotation << Back Correction of Navigation Systems Using Adaptive Nonlinear Kalman Filter Kupriyanov A.O., Selezneva M.S., Neusypin K.A. The inertial navigation system corrected using information from a satellite navigation system is considered. The errors of the navigation systems are estimated using an adaptive nonlinear Kalman fi lter. The correction of the inertial navigation system readings is performed in the output signal. Adaptive modifi cations of the nonlinear Kalman fi lter are investigated. A modifi cation of the adaptive nonlinear Kalman fi lter equipped with a self-organization algorithm for constructing a model of inertial navigation system errors is developed. In comparison with other considered modifi cations of the nonlinear Kalman fi lter, the presented algorithm is capable of operating under conditions of short measurement samples. The demonstration of the effi ciency of the adaptive modifi cation of the nonlinear Kalman fi lter is carried out using the analysis of the fl ight experiment results. Keywords: inertial navigation system, satellite navigation system, correction, nonlinear Kalman filter , self-organization, short measurement sample. DOI: 10.25791/aviakosmos.1.2025.1454 Pp. 22-31.