Loosely-coupled integration of global navigation satellite system and inertial navigation system
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United States of America Patent
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Oct 14, 2014
Grant Date -
Apr 29, 2010
app pub date -
Oct 23, 2009
filing date -
Oct 23, 2008
priority date (Note) -
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status (Latency Note)
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Abstract
Techniques for loosely coupling a Global Navigation Satellite System (“GNSS”) and an Inertial Navigation System (“INS”) integration are disclosed herein. A system includes a GNSS receiver, an INS, and an integration filter coupled to the GNSS receiver and the INS. The GNSS receiver is configured to provide GNSS navigation information comprising GNSS receiver position and/or velocity estimates. The INS is configured to provide INS navigation information based on an inertial sensor output. The integration filter is configured to provide blended position information comprising a blended position estimate and/or a blended velocity estimate by combining the GNSS navigation information and the INS navigation information, and to estimate and compensate at least one of a speed bias and a heading bias of the INS navigation information.
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