Loop integration control system

An In-Loop Integration Control System comprising means for receiving and storing a state vector measurement input, said state vector measurement being defined in terms of time, position, velocity and acceleration, means operatively connected to said receiving and storing means for receiving said acceleration term of said state vector measurement and for computing therefrom an estimate of a next actual measurement, means for providing systematic error terms for use within said system, means operatively connected between said systematic error term providing means and said computing means for combining the outputs therefrom thereby producing a corrected estimate of the next actual measurement, means operatively connected to said combining means for storing said corrected estimate of said next actual measurement, means for providing the next actual measurement, means operatively connected between said next actual measurement providing means and said storing means for comparing the outputs therefrom thereby producing sequential error measurements, means operatively connected to said comparing and error measurement producing means for comparing two of said sequential error measurements and producing an output therefrom, means operatively connected to said comparing means for generating an adaptive gain signal from said output, means operatively connected to said adaptive gain signal generating means for combining said adaptive gain signal with a plurality of polynomial equations thereby producing a plurality of adaptive gain multipliers, means operatively connected between said comparing and error measurement producing means and said combining and multiplier producing means for computing correction terms therefrom, means operatively connected between said correction term computing means and said input storing and receiving means for combining said correction terms with said input state vector measurement to produce an updated state vector measurement which replaces said input state vector measurement in said system and said system continually comparing said corrected estimate of said next actual measurement with said next actual measurement maintaining the difference therebetween at zero.