An inertial navigation system using loose coupling hybridization of inertial measurements by utilizing measurements supplied by a satellite-positioning receiver which utilizes signals sent by a plurality of satellites distributed across at least two separate satellite subsets and calculates at least two navigation solutions, each navigation solution being calculated by means of signals sent by the satellites of one of the subsets. The inertial navigation system includes a hybridization module using each of the at least two calculated navigation solutions. A satellite failure detector is configured to compare the hybrid navigation solutions and where applicable detect incoherence between said hybrid navigation solutions. The hybridization module is configured to stop execution of hybridization following detection of incoherence between the hybrid navigation solutions when the origin of the incoherence cannot be determined.
Inertial navigation system using hybrid navigation via integrated loose coupling