Abstract: The invention relates to a navigation system for a vehicle, in particular for a land vehicle, having at least one single-axis gyro for the vehicle vertical axis (z axis), having two accelerometers in the horizontal vehicle plane (x axis, y axis), and having a vehicle-axis velocity measurement device, for example, a distance-travelled sensor. In addition, supporting signal devices, in particular a satellite receiver and/or a map, are available as well as a controller, which uses a suitable Kalman filter to determine the vehicle position and/or the direction of travel from the measured and stored signals. The Kalman filter is assigned at least one partial filter, of which a first partial filter is used for dynamic levelling and/or a second partial filter is designed as a position filter which provides track calibration, position calibration and sensor calibration.

Abstract: A filter arrangement for generating an estimate of a measured variable influenced by disturbances, by means of a filter effecting a weighting of measuring signals characterized by means (50) for achieving a measure of the disturbance and means (52) for changing the weighting of the measuring signal in dependence on the measure of the disturbance. In this way, values of the measured variable which appear during the occurrence of the disturbance are not considered with the filtering or are considered with less weighting. In a tape-suspended restrained meridian gyro a characteristic oscillation of the system serves as the measure for the disturbance.