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Abstract

A method of dynamic, real-time generation of a blended output from a plurality of sensors is provided. The method includes, at a frame rate, periodically storing samples from the plurality of sensors; band pass filtering the stored samples separately for each of the plurality of sensors over a time scale characteristic of a type of error for the plurality of sensors; storing the filtered samples; at an accumulation rate, iteratively updating a covariance matrix based on a selected number of filtered samples, removing data from the covariance matrix for any of the plurality of sensors that have failed; and calculating, based on the covariance matrix, changes to real-time coefficients to be applied to the outputs of each sensor of the plurality of sensors; and at the frame rate, applying the changes to the real-time coefficients; and calculating the blended output for the plurality of sensors based on the real-time coefficients.

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First Claim