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Abstract

An adaptive learning controller (ALC) for use with an inertial navigation system (INS). To correct quadratic position errors which result from acceleration bias errors, the ALC produces a position correction signal. The position correction signal is generated by twice integrating an acceleration correction signal produced by the ALC. The ALC receives signals which indicate a current system state based on the corrected position signal and the velocity bias signal. The ALC also receives a failure signal determined by comparing the corrected position signal to predetermined failure criteria, these criteria relating to excursions of the corrected position signals beyond acceptable error limits.

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First Claim