METHOD AND APPARATUS FOR RELIANCE UPON CENTRIPETAL ACCELERATION TO MITIGATE ERROR IN AN INERTIAL NAVIGATION SYSTEM

A method, apparatus and computer program product provide for error mitigation in an inertial navigation system (INS) based upon centripetal acceleration experienced by a vehicle that carries the INS. In the context of a method, the centripetal acceleration experienced by a vehicle carrying the INS that is making a turn is determined. The method also includes determining a velocity of the vehicle in reliance upon the centripetal acceleration. Based on the velocity determined in reliance upon the centripetal acceleration, the method further includes updating one or more filters of the INS to correct a velocity estimate provided by the INS.