Moving platform ins range corrector (mpirc)

A method for combining different forms of navigational information, or a subset thereof, for producing a navigation solution of a first module, wherein the first module is operative to combine the navigational information and enabled to communicate to at least one second module operative to combine different forms of navigational information or a subset thereof, the method comprising:

• a) obtaining readings from a sensor assembly of self-contained sensors within the first module, wherein the readings relate to navigational information of the first module, and producing an output indicative thereof;
• b) obtaining absolute navigational information of the module from external sources, and producing an output indicative thereof;
• c) receiving and/or transmitting signals used to estimate ranging information between the first module and the at least one second module, receiving and/or transmitting navigation state, and producing aiding signals indicative thereof;
• and
• d) providing at least one processor for processing the sensor assembly readings, the absolute navigational information, and the aiding signals to produce a navigation solution relating to the first module, wherein the at least one processor is capable of utilizing the aiding signals to enhance the navigation solution when the absolute navigation information is limited, degraded or denied.