Patent ID: 8229606

Claim:
A system for estimating at least one of position, attitude, and heading of a vehicle, the system comprising: at least three gyroscopes configured to output a signal indicative of inertial angular rates around three mutually orthogonal axes of the vehicle; at least three accelerometers configured to output a signal indicative of accelerations along three mutually orthogonal axes of the vehicle; a triaxial magnetometer configured to output a signal indicative of a projection of ambient magnetic field on three mutually orthogonal axes of the vehicle; a sensor configured to output a signal indicative of vehicle altitude; a differential pressure sensor configured to output a signal indicative of airspeed of the vehicle; and a device configured to receive the signals to estimate at least one of the position, the attitude, and the heading of the vehicle, wherein the device is configured to estimate the attitude of the vehicle based in part on the signal indicative of vehicle altitude, and wherein the signal indicative of vehicle altitude is used to estimate the attitude of the vehicle.