METHOD FOR COMBINING CONTINUOUS AND DISCONTINUOUS INERTIAL INSTRUMENT MEASUREMENTS AND INERTIAL NAVIGATION SYSTEM USING THE SAME

摘要

The invention is related to a method and an inertial navigation system for combining continuous signal output from a first inertial sensor (14) with discontinuous signal output from a second inertial sensor (12) . The first inertial sensor (14) acquires continuous data with respect to a navigation frame of reference for a parameter used in inertial navigation and the continuous data is processed to produce estimated values of the parameter. The second inertial sensor (12) acquires discontinuous data with respect to a case frame of reference indicative of the parameter with respect to a case (25) containing the second inertial sensor (12) . The discontinuous data is processed to produce measurements of the parameter at selected times,- and the estimated values of the parameter and the measurements of the parameter are processed at selected times with a Kalman filter to provide corrections to the estimated values of the parameter at the selected times.