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Hybrid inertial navigation system based on a kinematic model

  • US 8,165,795 B2
  • Filed: 12/07/2005
  • Issued: 04/24/2012
  • Est. Priority Date: 12/07/2004
  • Status: Active Grant
First Claim
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1. A method intended to determine the inertial navigation parameters (18) of a carrier (1) moving along with modelizable kinematic movement components and comprising an inertial navigation system without motion external information, in which the inertial navigation system performs the steps consisting of:

  • (a) providing inertial measurements (20), which can include an error, known as the inertia error, which results in determining these parameters inaccurately (18),(b) choosing, by the inertial navigation system, on a kinematic model (13) of the carrier (1), at least one movement component according to which the integration (11) of the inertial measurements (20) is assumed to give a predetermined value,(c) integrating (11) measurements (20) according to the chosen component or components,(d) determining (14), according to these components, a difference between the integration (11) obtained at step (c) and the predetermined value from step (b),(e) estimating, as a function of the difference or differences thus obtained, an overall inertia error resulting from the inertia errors associated with the said modelizable components, and the values of the variable parameters of the kinematic model that are to be updated (13), and(f) correcting said inertial navigation parameters as a function of the overall inertia error thus determined.

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