Patent ID: 9638543
Date: 2017-05-02
CPC Classifications: G01C

Claim:
1. A method to estimate a bias affecting an inertial sensor used in navigation of a vessel, the method comprising: monitoring a plurality of rate-of-turn samples, from the inertial sensor, in a sequence over time, wherein each of the plurality of rate-of-turn samples includes a substantially identical actual bias value as is included in each of the plurality of other rate-of-turn samples; estimating the bias as a weighted average of the plurality of rate-of-turn samples; determining an adjusted rate-of-turn sample by subtracting the bias from an instant rate-of-turn sample of the plurality of rate-of-turn samples; outputting the adjusted rate-of-turn sample; calibrating the inertial sensor based on the adjusted rate-of-turn sample to provide motion information that is within a range of actual motion affecting the inertial sensor or a portion of the inertial sensor.