FIELD: aviation.
SUBSTANCE: in order to implement the present invention, the following is additionally introduced into the self-supporting INS: the calculation unit of the terrain height increment partial derivative from the path velocity, the third comparison unit and the partial derivative from the terrain surface height increment calculation unit, and the additional covariance matrix calculation sub-units and the comparison sub-units are introduced.
EFFECT: elimination of errors due to additional measurement of the terrain height increments, depending on the aircraft ground speed and the further joint estimation of the coordinates and ground speed measurements errors.
1 dwg
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