Abstract: An aided inertial navigation system and method for navigating a mobile object having constraints comprising an inertial measurement unit, a processor, and an error correction device. The inertial measurement unit provides acceleration data and/or angular velocity data of the mobile object. The processor is adapted to receive the acceleration data and/or angular velocity data, and to provide output data with position output indicative of position of the mobile object. The error correction device receives as input, state and dynamics information and auxiliary input data including map information associated with the path, speed data, wheel-angle data and discrete data. The error correction device provides as output, state corrections to the processor that enhance accuracy of the position output. The state corrections are used by the processor to estimate position of the mobile object based on the constraints to the mobile object and the map information associated with the path.

Abstract: An aided inertial navigation system and method for navigating a mobile object having constraints comprising an inertial measurement unit, a processor, and an error correction device. The inertial measurement unit provides acceleration data and/or angular velocity data of the mobile object. The processor is adapted to receive the acceleration data and/or angular velocity data, and to provide output data with position output indicative of position of the mobile object. The error correction device receives as input, state and dynamics information and auxiliary input data including map information associated with the path, speed data, wheel-angle data and discrete data. The error correction device provides as output, state corrections to the processor that enhance accuracy of the position output. The state corrections are used by the processor to estimate position of the mobile object based on the constraints to the mobile object and the map information associated with the path.