| 摘要 |
<p>The invention relates to a method for determining inertial navigation parameters of a carrier, including the following steps: taking inertial measurements (S1) of the movement of the carrier, the measurements possibly including inertial errors, estimating (S2) a state including the inertial navigation parameters and the inertial errors, the method being characterised in that it includes the following steps, implemented while the carrier is moving over a substantially even surface in which uncertainty regarding the evenness thereof is limited by a known upper bound (d): comparing (S3) a navigation parameter according to the vertical component with a predetermined auxiliary datum (Y), determining (S4) an inaccuracy (R) associated with said auxiliary datum (Y) according to the known upper bound (d), and resetting (S5) said state according to the comparison (S3) and the inaccuracy (R).</p> |
