Navigation system initialization with inertial data compensation

摘要

An example embodiment includes a method for initializing a navigation system. The method includes receiving inertial measurement data from an inertial measurement unit over time and storing the inertial measurement data in a buffer with an indication of a time of validity for the inertial measurement data. The method also includes receiving navigation data from an aiding source, the navigation data having a time of validity, and initializing a navigation solution with the navigation data. The method also includes summing inertial measurement data from the buffer to produce an inertial motion estimate for a time increment after the time of validity of the navigation data, applying at least one of coning or sculling compensation to the inertial motion estimate to produce a compensated inertial motion estimate, and propagating the navigation solution forward based on the compensated inertial motion estimate.