Inertial navigation system with a plurality of Kalman filters and vehicle equipped with such a system

摘要

An inertial system (500) is provided. The system includes at least one inertial sensor (504,506), a processing unit (508) and a plurality of Kalman filters (512) implemented in the processing unit. The Kalman filters receive (514) information from the at least one inertial sensor, and at most one of the plurality of Kalman filters has processed zero velocity updates on the last cycle. The plurality of Kalman filters is used to optimize system response and performance during periods of intermittent motion.