Abstract: A navigation system for mounting on a human. The navigation system includes one or more motion sensors for sensing motion of the human and outputting one or more corresponding motion signals. An inertial processing unit coupled to one or more of motion sensors determines a first position estimate based on one or more of the corresponding signals from the motion sensors. A distance traveled is determined by a motion classifier coupled to one or more of the motion sensors, where the distance estimate is based on one or more of the corresponding motion signals processed in one or more motion models. A Kalman filter is also integrated into the system, where the Kalman filter receives the first position estimate and the distance estimate and provides corrective feedback signals to the inertial processor for the first position estimate.

Abstract: A system for calibrating the sensors of a redundant sensor system by calculating a first set of error signals based on differences between a combination of the outputs and known values and calculating a second set of error signals based on differences between the parity among preselected sensors and a predetermined value and calculating, from the first and second set of error signals, a plurality of calibration signals to be added to the output of the individual sensors which are in error so as to correct their outputs.