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METHOD FOR COMBINING CONTINUOUS AND DISCONTINUOUS INERTIAL INSTRUMENT MEASUREMENTS AND INERTIAL NAVIGATION SYSTEM USING THE SAME
METHOD FOR COMBINING CONTINUOUS AND DISCONTINUOUS INERTIAL INSTRUMENT MEASUREMENTS AND INERTIAL NAVIGATION SYSTEM USING THE SAME
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机译:连续和不连续惯性仪器测量与惯性导航系统相结合的方法
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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.
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