Inertial/GNSS navigation system

The system has a sensor data acquisition unit including a signal acquisition unit and scanning unit (20) provided with an antenna structure (RA) configured to receive Global Navigation Satellite System (GNSS) digital signals. An analog-digital converter (2) is coupled to the antenna structure to deliver the signals to a sensor data processing unit (30). An inertial measurement unit (6) delivers inertial digital data issued from inertial sensors to the processing unit.