Patent ID: 9625262
Date: 2017-04-18
CPC Classifications: G01C

Claim:
1. A navigation system comprising: at least one inertial sensor configured to detect motion of the system and generate inertial data; at least one aiding device configured to generate aiding device measurement data; at least one processing unit configured to generate an un-smoothed navigation solution based on the inertial data and the aiding device measurement data, the un-smoothed navigation solution inclusive of state variable error resets for a state variable; wherein the at least one processing unit is further configured to sum the state variable error resets for the state variable into a cumulative sum of the state variable error resets for the state variable; wherein the at least one processing unit is further configured to high pass filter the cumulative sum of the state variable error resets for the state variable; wherein the at least one processing unit is further configured to subtract the high pass filtered cumulative sum of the state variable error resets for the state variable from the un-smoothed navigation solution to generate a smoothed navigation solution; and wherein the at least one processing unit is configured to provide the smoothed navigation solution to at least one of: