Patent ID: 8725327

Claim:
A navigation system comprising: a receiver to receive location signals, correlate said received signals with generated signals to track said location signals and produce signal components based on said correlation; a plurality of sensors to provide sensor measurements pertaining to said navigation system; and a navigation unit to control said receiver to track said location signals and to produce a navigation solution based on said sensor measurements and said signal components, wherein said navigation unit includes a processor including: an extended filter module to determine estimates of navigation information based on at least said signal components and measurements of said sensors; a navigation module to determine navigation results based on said sensor measurements and to apply said estimates to said determined navigation results to produce said navigation solution; an inertial compensation module to receive navigation solution information and produce compensation adjustments for said signal components to compensate for errors within said sensor measurements due to gravity, wherein said inertial compensation module includes a transfer function including a plurality of poles residing on real and imaginary axes of a complex plane to bound an inertial error growth rate of said sensors, and wherein magnitudes of distances from an origin of said complex plane for said poles of said transfer function are based on ratios of gravity to a planet dimension; and a regulator module to receive navigation solution information and produce control adjustments for said signal components to control reliance by said navigation unit on said estimates and said determined navigation results for determining said navigation solution; wherein said compensation and control adjustments are applied to said signal components provided to said navigation unit to control an amount of contribution of said estimates and said determined navigation results to said navigation solution, and navigation solution information is provided to said receiver to control generation of said generated signals for tracking of said location signals.