| 摘要 |
A first strapdown navigation unit (2) generating a first state vector (X2u) whose components give position, attitude and speed values of a carrier with a small instantaneous error. The method includes actions consisting of: generating by means of a second navigation unit (1), a second state vector (X1u) whose components give position, attitude and speed values of the said carrier with a small long-term error; combining the first and second state vector to obtain an error observation vector (deltaY); generating an error estimate vector (ˆ deltaX2u) from the error observation vector (deltaY), by means of a filter (5); combining the error estimate vector (ˆ deltaX2u) thus obtained with the first state vector (X2u) so as to obtain an estimated vector (ˆ X2u) of the carrier position, attitude and speed values with a small instantaneous error and a small long-term error.
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