INTEGRATED INERTIAL VMS NAVIGATION WITH INERTIAL ODOMETER CORRECTION

摘要

A system for determining accurate inertial navigation data of a vehicle (1) while moving must compensate for the orientation differences between an upper body and a lower body of the vehicle (1). These orientation differences are used to increase the accuracy of the aided inertial navigation solution. An odometer on the lower body is used to reduce errors in the inertial date arising from the movement between the upper and low bodies and errors in the odometer associated with vehicle pitch are reduced by sensing pitch changes with the inertial navigation data.