SYSTEM AND METHOD FOR MODEL-BASED VEHICLE NAVIGATION

Systems and methods for model-based vehicle navigation are provided. In one embodiment, a navigation system: a strapdown navigation processor; a propagator-estimator filter configured to input inertial sensor data and a navigation correction from the filter to generate a navigation solution including a vehicle speed estimate and a vehicle attitude estimate; a vehicle physical model configured to perform calculations using a kinetic equation of the rigid body. The model inputs 1) a vehicle state estimate from a navigation solution and 2) a platform input indicative of a force acting on the vehicle platform. The model outputs a set of three orthogonal predicted translational acceleration measurements based on the input. The filter includes a measurement equation associated with the model, and is configured to input the navigation solution and inertial sensor data, and to input and process the translational acceleration measurements as a navigation aid to generate the navigation correction. 本发明提供了用于基于模型的车辆导航的系统和