Patent Document ID: 9784582
Application ID: 14345170
Patent Flag: 1

Claim One:
1. A navigation module, for providing an integrated navigation solution for a device within a moving platform, the module comprising: a receiver for receiving absolute navigational information about the device from an external source, and producing an output of navigational information indicative thereof, an assembly of self-contained sensors comprising at least three accelerometers and at least three gyroscopes and capable of obtaining readings relating to navigational information about the device and producing an output indicative thereof, wherein said sensor readings may contain sensor errors, and at least one processor, coupled to receive and integrate the output information from the receiver and the sensor assembly, operative to produce a navigation solution for the device, wherein the navigation solution consists of estimated position, velocity and attitude, and programmed to: utilize a nonlinear error-state model, wherein the error-state model is without approximation, to reduce errors in the estimated position, velocity and attitude, whereby the processor predicts the errors in the position, velocity and attitude, and the sensor errors, and utilizes the nonlinear error-state model to relate: a) the errors in the estimated position and velocity, and b) the errors in the estimated attitude and the sensor errors; utilize the output information from the receiver to improve the estimation of the errors in the position and velocity, and whereby the relation of a) and b) indirectly improves the estimation of the errors in the attitude and sensor errors, wherein the device may be tethered or non-tethered to the moving platform; and produce a navigation solution compensated by the nonlinear error-state model.