Methods and equipment for vehicle navigation

Abstract

The invention relates to a method, system, apparatus, or means for reading computer tapes and vehicle navigation systems. One configuration involves calculating the vehicle's first orientation relative to the reference frame in the first stage; based on data from the vehicle's inertial navigation system (INS), calculating the INS orientation in the second stage after the first; based on the calculated INS orientation and the vehicle's first orientation, calculating the vehicle's second orientation in the second stage; and imposing constraints on the vehicle's calculated second orientation to generate an updated second orientation. And based on the second updated direction of the vehicle, calculate the updated direction of INS. The invention also relates to many applications concerning the use of vehicles on public roads (e.g., automobiles).