To provide an inertia navigation system which shares a constitution between AHRS and INS, correcting temperature drift errors of a gyrosensor without using a thermometer, and correcting errors of the gyroscope sensor and errors of an accelerometer without using attitude/direction data to be references. AHRSとINSで構成を共通化し、温度計を使わずジャイロの温度ドリフト誤差を補正し、基準となる姿勢・方位データを使わずジャイロセンサ誤差と加速度計誤差を補正する慣性航法装置。 - 特許庁