Whenever there is a need for continuous navigation, radio-technical systems are usually integrated with inertial navigation systems (INS) or dead-reckoning systems (DR). Due to large dimensions and power consumption, as well as high prices, INS systems have been traditionally applied in high-end or military applications. Recently an unprecedented decrease of all the above mentioned factors have been witnessed, making inertial navigation suitable for a wider set of applications. However, the dead-reckoning method is still the preferred choice in low-cost land navigation systems.

The system presented in the paper is designed according to the scheme of compensation and processes navigation data with use of a Complementary Extended Kalman Filter (CEKF). The INS/TACAN/ALT system works with a feed-forward correction, i.e. there is no feedback to INS and its errors are corrected externally. The structure of system is shown in the Fig. 1…