{
  "$type": "site.standard.document",
  "description": "The present invention relates to a method and a system for inertial navigation applying Extended Kalman Filter (EKF). Upon detecting degraded quality of inertial sensor data provided by an inertial sensor device and concerning at least one inertial axis, a noise estimate used by the EKF for the…",
  "path": "/patents/1391989",
  "publishedAt": "2025-10-08T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C21/16",
    "MURATA MANUFACTURING CO [JP]"
  ],
  "textContent": "The present invention relates to a method and a system for inertial navigation applying Extended Kalman Filter (EKF). Upon detecting degraded quality of inertial sensor data provided by an inertial sensor device and concerning at least one inertial axis, a noise estimate used by the EKF for the inertial sensor data is temporarily increased from a first noise estimate value to a second noise estimate value. The noise estimate concerns the at least one inertial axis or the inertial sensor associated with the inertial sensor data, and the second noise estimate value is greater than the first noise estimate value. Upon detecting normalization of quality of the at least one type of inertial sensor data, the temporarily increased noise estimate value used by the EKF calculation is reset back to the first noise estimate value after a predetermined delay period after detecting said normalization of quality.",
  "title": "UTILIZATION OF SENSOR ERROR FLAGS FOR DATA ESTIMATION AND DATA RELIABILITY ESTIMATION IN INERTIAL NAVIGATION"
}