Autonomous velocity estimation and navigation

The present invention relates to measurement of a spatial velocity vector (vx, vy, vz), i.a. in order to make determination of a geographical position possible. A proposed spatial velocity meter (200) includes an inertial measurement unit (210), a direction-sensing module (220) and a velocity processor (230). The inertial measurement unit (210) registers acceleration parameters (a) and angular velocity parameters ( omega ) in three dimensions. The direction-sensing module (220) registers a natural reference signal (R). The velocity processor (230) receives the acceleration parameters (a), the angular velocity parameters ( omega ) and the natural reference signal (R), and based thereon, generates the spatial velocity vector (vx, vy, vz).