Raytheon Systems Limited

Jonathan Andrew Blenkharn

Sebastian Samuel Lounes Green

Michael Stephen Richard Hill

An iterative method for navigation of a vehicle includes receiving a set of satellite navigation data for the vehicle, a validity time of the set of satellite navigation data, and a series of sets of inertial navigation data. The method also includes processing the received set of satellite navigation data together with a current position, velocity and attitude value of the vehicle and a previous prediction of error states to generate an estimated position, velocity and attitude and a prediction of error states. The method further includes carrying out a catch up process and, for subsequently received sets of inertial navigation data, iteratively using each received set of inertial navigation data and the new updated position, velocity and attitude value of the vehicle to calculate a new updated position, velocity and attitude value of the vehicle.

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Harlow, United Kingdom

Jonathan Andrew Blenkharn