Abstract: Inertial measurement method and apparatus for a mobile entity perform a filtering process for an angular velocity signal, an alignment process where an approximate initial attitude angle is calculated from acceleration and angular velocity signals and then precisely adjusted, an angular velocity/acceleration bias calculation process where angular velocity bias is calculated by subtracting Earth's angular velocity from the angular velocity signal and an acceleration bias is calculated by subtracting gravitational acceleration from the acceleration signal, an attitude angle calculation process where an angular velocity is calculated by subtracting Earth's angular velocity and the angular velocity bias from the angular velocity signal, and an attitude angle is calculated by integrating the angular velocity, a location movement amount calculation process where acceleration is calculated by subtracting the gravitational acceleration and the acceleration bias from the acceleration signal, and calculate a location m

Abstract: Inertial measurement method and apparatus for a mobile entity perform a filtering process for an angular velocity signal, an alignment process where an approximate initial attitude angle is calculated from acceleration and angular velocity signals and then precisely adjusted, an angular velocity/acceleration bias calculation process where angular velocity bias is calculated by subtracting Earth's angular velocity from the angular velocity signal and an acceleration bias is calculated by subtracting gravitational acceleration from the acceleration signal, an attitude angle calculation process where an angular velocity is calculated by subtracting Earth's angular velocity and the angular velocity bias from the angular velocity signal, and an attitude angle is calculated by integrating the angular velocity, a location movement amount calculation process where acceleration is calculated by subtracting the gravitational acceleration and the acceleration bias from the acceleration signal, and calculate a location m