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Abstract

A system operating in a dead reckoning mode accumulates relative yaw measurements, i.e., measurements of rotation about a z-axis, made by one or more over mechanization update intervals and produces dead reckoning mechanization update values. The system accumulates the values over a turn rate accumulation period, calculates a yaw rate and determines if the yaw rate exceeds a turn rate threshold. If so, the system directs an INS filter to perform a zero yaw rate update at the start of a next mechanization update interval, to correct for the z-axis drift errors of the gyroscopes based on the sensed rotation in the relative yaw measurements over the previous mechanization update interval. The system then sets the z-axis drift errors to zero. If the system determines that the yaw rate exceeds the turn rate threshold, the zero yaw rate update is not performed at the start of the next mechanization update interval.

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First Claim