Method of determination of the parameters of the inertial navigation of a carrier and the inertial navigation.

摘要

Method of determining the parameters of the inertial navigation of a carrier, comprising the steps of: - embodiment of the inertial measurements (s1) of movement of the carrier, the measurements which may include inertial errors, - estimation (s2) of a state comprising the parameters of the inertial navigation and the inertial errors, the method being characterized in that it comprises the following steps implemented when the wearer moves on a substantially planar surface, an uncertainty on the flatness is limited by an upper limit (δ) known: - comparison (s3) of a parameter of navigation according to the vertical component with a predetermined auxiliary data item (y), - determination (s4) of a lack of precision (r) associated with said auxiliary data item (y) as a function of the upper limit (δ) which is known, and resetting) - (s5 of the state as a function of the comparison (s3) and the inaccuracy (r).