The invention concerns a method for improving determination of inertial navigation parameters (1) of a carrier (1) moving along modelizable kinematic movement components, the method including the following steps: (a) selecting, taking into account a kinematic model (13) of the carrier (1), at least one movement component whereby integration (11) of the inertial measurements (20) is assumed to give a predetermined value, (b) integrating (11) the inertial measurements (20) in accordance with the selected component(s), (c) determining (14) based on the component(s) a variation between the integration (11) obtained at step (b) and the predetermined value of step (a), (d) estimating on the basis of the variation(s) thus obtained a global inertial error resulting from internal errors associated with said modelizable components, and values to be updated of variable parameters of the kinematic model (13), (e) correcting said inertial navigation based on the thus determined global inertial error. The invention also concerns an inertial navigation system for implementing said method.
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