GPS composite navigation apparatus
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United States of America Patent
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Feb 11, 2014
Grant Date -
Aug 19, 2010
app pub date -
Nov 26, 2007
filing date -
Mar 22, 2007
priority date (Note) -
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Abstract
In a GPS composite navigation apparatus of a configuration having a GPS receiver, variation in an estimated position, an estimated velocity, and an estimated azimuth of a moving body when the moving body is not moving is resolved, and the GPS/INS integrated navigation system with good response characteristics from a stationary state to a moving state. A stationary detector for determining the stationary state of the moving body is provided, and when it is determined to be the stationary state by the stationary detector, a measurement model used for measurement-update of a Kalman filter is changed, while a changed amount of an error covariance matrix by the update is corrected.
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