Patent ID: 7979231

Claim:
A method for estimation of inertial sensor errors, the method comprising: receiving first inertial output data from a master inertial measurement unit (IMU) mounted on a host platform, the first inertial output data comprising a change in velocity (delta V) and a change in angle (delta theta); receiving second inertial output data from a remote IMU mounted on the host platform at a predetermined fixed distance from the master IMU, the second inertial output data comprising a delta V and a delta theta; comparing the first inertial output data with the second inertial output data to determine a difference between the delta V of the first inertial output data and the delta V of the second inertial output data, and to determine a difference between the delta theta of the first inertial output data and the delta theta of the second inertial output data; and applying the determined differences between the delta V of the first inertial output data and the delta V of the second inertial output data, and between the delta theta of the first inertial output data and the delta theta of the second inertial output data, to estimate inertial sensor errors in the remote IMU.