A low cost autonomous navigation system which disposes with accelerometers used in the conventional gimballed and strapdown inertial systems is described. The navigation system provides longitudinal and lateral vehicular specific force measurements in the locally level plane irrespective of the vehicle pitch, roll, and yaw motions. The navigation system provides longitudinal and lateral velocities in locally level geography coordinates along with vehicle position, altitude and attitude information. The system minimizes the number of sensors and system complexity, thus reducing errors, while providing a rapid method of north calibration. The system is composed of an unbalanced, pendulous, two axis gimbal system with a two degree of freedom leveling gyroscope and a heading gyroscope.


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