Abstract: A method and system for degimbalization of sensor outputs is provided. Data output from an embedded GPS inertial navigation system (EGI), which is mounted within a gimbaled system on a vehicle, is processed to provide degimballed navigation data. Generally, motion of the EGI is due to the vehicle motion and the gimbal motion. To provide navigation information relating solely to the vehicle, effects of the gimbal motion within the EGI outputs can be removed.

Abstract: A method for determining heave and heave rate for a vessel is described. The vessel includes an inertial navigation system (INS), and sensors for the INS being located at a point A of the vessel, the vessel having a zero heave reference point B, and the described method provides heave and heave rate at a point C of the vessel. The method includes determining reference coordinates for points A, B, and C of the vessel, generating a velocity signal representative of a velocity at a point on the vessel, generating a heave rate signal based upon the velocity signal, and generating a heave based upon the heave rate signal.

Abstract: A method for determining heave and heave rate for a vessel is described. The vessel includes an inertial navigation system (INS), and sensors for the INS being located at a point A of the vessel, the vessel having a zero heave reference point B, and the described method provides heave and heave rate at a point C of the vessel. The method includes determining reference coordinates for points A, B, and C of the vessel, generating a velocity signal representative of a velocity at a point on the vessel, generating a heave rate signal based upon the velocity signal, and generating a heave based upon the heave rate signal.

Abstract: A system for determining accurate inertial navigation data of a vehicle while moving must compensate for the orientation differences between an upper body and a lower body of the vehicle. These orientation differences are used to increase the accuracy of the aided inertial navigation solution. An odometer on the lower body is used to reduced errors in the inertial data arising from movement between the upper and lower bodies and errors in the odometer associated with vehicle pitch are reduced by sensing pitch changes with the inertial navigation data.

Abstract: A system for determining accurate inertial navigation data of a vehicle while moving must compensate for the orientation differences between an upper body and a lower body of the vehicle. These orientation differences are used to increase the accuracy of the aided inertial navigation solution. An odometer on the lower body is used to reduced errors in the inertial date arising from movement between the upper and low bodies and errors in the odometer associated with vehicle pitch are reduced by sensing pitch changes with the inertial navigation data.

Abstract: A system for determining accurate inertial navigation data of a vehicle while moving must compensate for the orientation differences between an upper body and a lower body of the vehicle. These orientation differences are used to increase the accuracy of the aided inertial navigation solution.