DETERMINING ACCURACY OF SMOOTHED NAVIGATION SOLUTION USING FILTERED RESETS

Systems and methods for determining accuracy of a smoothed navigation solution using filtered resets are provided. In certain embodiments, a navigation system includes one or more inertial devices configured to detect motion of the system and generate inertial data; and one or more aiding devices configured to generate aiding device measurement data. Further, the navigation system includes one or more processors configured to generate an un-smoothed navigation solution based on the inertial data and the aiding device measurement data, wherein the un-smoothed navigation solution includes an un-smoothed navigation error estimates for a state variable. Further, the one or more processors are configured to calculate a smoothed navigation error estimate for the state variable based on the un-smoothed navigation error estimate. Moreover, the one or more processors are configured to determine whether to provide a smoothed filter reset based on the smoothed navigation error estimate and the un-smoothed navigation solution.