Systems and methods for compensating nonlinearities in a navigational model

摘要

Systems and methods are provided for compensating nonlinearities in a navigational model. In one embodiment, a system comprises an inertial measurement unit configured to measure inertial motion of a vehicle and an aiding source configured to provide observational measurements of vehicle motion. Further, the system comprises a navigation computer coupled to the inertial measurement unit and the aiding source, wherein the navigation computer is configured to calculate a predicted state and an error covariance data based on the measured inertial motion received from the inertial measurement unit and the observational measurements from the aiding source and calculate variance increments based on attitude uncertainty in the predicted state. Also, the navigation computer is configured to add the variance increments into a process noise covariance matrix for the predicted state and calculate an update for the vehicle motion based on the predicted state, the error covariance data, and the observational measurements.