Abstract: A sole means global navigation apparatus adapted for use on an aircraft includes a GPS receiver to provide GPS measurement data and an inertial sensor system adapted to provide inertial translational and rotational data which during time periods is independent of the GPS position data. A navigation system coupled to both of the GPS receiver(s) and the inertial sensor system determines a navigation solution as a function of both the condition of the GPS satellite data and the uncertainty in the Inertial data. An augmentation system coupled to the navigation solution determining system is used to increase the accuracy and/or integrity of the GPS/inertial sensor, thereby achieving style means navigation requirements.

Abstract: An inertial measurement system for determining the attitude and rate of change of attitude of a vehicle such as an aircraft is disclosed. Redundancy of the inertial measurement system may be accomplished by utilizing a global positioning system having three receivers and a set of antennas strategically disposed on the vehicle. The global positioning system having receivers may be utilized for accomplished failure detection and isolation of the inertial measurement system rather than providing a redundant inertial measurement system. Failure detection of the IMUs may be accomplished with only dual antenna/receiver configuration.