GNSS and inertial navigation system utilizing relative yaw as an observable for an ins filter
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United States of America Patent
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Oct 17, 2017
Grant Date -
Jul 27, 2017
app pub date -
Jan 27, 2016
filing date -
Jan 27, 2016
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Abstract
A GNSS/INS navigation system includes an INS filter that uses relative yaw values as an observable for attitude updates. The system calculates the relative yaw values based on carrier phase measurements, e.g., phase windup measurements, of GNSS signals received at a system GNSS antenna. The use of the relative yaw values as an observable in the INS filter allows the system to improve estimates of associated biases, and also to continue to estimate the associated biases in low dynamic environments.
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