Abstract: The present invention is directed to methods, systems, and computer program products for determining a fluid flow estimate vector based on sensor measurements, from one or more inertial sensors, wherein the sensor measurements are indicative of a force on a vehicle. The force on the vehicle may be determined based on the received sensor measurements and a fluid flow estimate vector may be determined corresponding to the determined force based on an inverted Fluid Flow to Force mapping function, wherein the mapping function is trained based on one or more training datasets and the fluid flow estimate vector is indicative of a fluid flow affecting the vehicle. The fluid flow estimate vector may be used to increase the accuracy of inertial navigation techniques, wherein the fluid flow estimate vector may be used with an estimate of the prevailing wind to estimate a ground velocity vector from which a vehicle position estimate may be determined.

Abstract: A computer-implemented method for determining attitude of an aircraft for navigation, in particular for autonomous or semi-autonomous aircrafts for use in GNSS-denied or jammed environments. The method comprises obtaining an indication of aircraft acceleration from an accelerometer, obtaining an indication of aircraft angular velocity from a gyroscope, and obtaining an indication of fluid velocity around and/or over the aircraft. Based on these indications, the upwards direction in body frame may be determined for the aircraft, wherein the upwards direction is defined relative to Earth's horizon. The attitude of the aircraft may then also be determined for navigation, based on the identified upwards direction in the aircraft body frame.

Abstract: The present invention is directed to methods, systems, and computer program products for determining a fluid flow estimate vector based on sensor measurements, from one or more inertial sensors, wherein the sensor measurements are indicative of a force on a vehicle. The force on the vehicle may be determined based on the received sensor measurements and a fluid flow estimate vector may be determined corresponding to the determined force based on an inverted Fluid Flow to Force mapping function, wherein the mapping function is trained based on one or more training datasets and the fluid flow estimate vector is indicative of a fluid flow affecting the vehicle. The fluid flow estimate vector may be used to increase the accuracy of inertial navigation techniques, wherein the fluid flow estimate vector may be used with an estimate of the prevailing wind to estimate a ground velocity vector from which a vehicle position estimate may be determined.