Abstract: An inertial navigation system and method are provided. The system includes a plurality of three-axis sensors and a controller operatively coupled to the plurality of three-axis sensors. The method includes the controller: receiving an output from each of a plurality of three-axis sensors; determining a plurality of solutions, each of the plurality of solutions based on the output of one of the plurality of three-axis sensors; applying a Gaussian curve to the plurality of solutions; weighting each of the plurality of solutions based on a position on the Gaussian curve of each of the plurality of solutions, thereby determining a plurality of weighted solutions; calculating a roll, a pitch, and a heading of a device based on the plurality of weighted solutions; and iteratively repeating the receiving, determining, applying, weighting, and calculating.

Abstract: Various systems benefit from suitable mechanisms and methods for dealing with sensor inaccuracy. For example, various attitude and heading reference system (AHRS) approaches may benefit from systems and methods for providing multiple strapdown solutions. A system can include a plurality of three-axis sensors configured to measure physical quantities (e.g. acceleration, rotational rate), from which can be computed roll, pitch, and heading for a device.