Honeywell International Inc.

James B Broderick

Lawrence C Vallot

Thomas A Ryno

Doug Weed

Doug M Weed

A navigation system comprises a GNSS receiver that receives GNSS signals on multiple tracking channels, an INS that generates inertial data, and a processor. A micro jump detection and correction module comprises an oscillator micro jump detector that monitors estimates of C/Nin all tracking channels, and detects a micro-jump event when there is an abrupt decrease of C/Nin all tracking channels. An offsets module defines a plurality of carrier NCO command offsets to search over signal Dopplers in all available tracking channels after the micro jump event is detected, and sends the carrier NCO command offsets to the GNSS receiver to be added to nominal carrier NCO commands. The micro jump detector selects a tracking channel with the highest C/Nafter carrier NCO command offsets are added to nominal carrier NCO commands, computes corrections for clock error estimates, and sends the corrections for the clock error estimates to a GNSS/inertial Kalman filter.

Vector tracking loop operability through oscillator micro-jump event

A system and method for aligning an inertial reference system, which is coupled to a moveable body, is provided. The method includes obtaining unaided navigation state information from an unaided source, and obtaining aiding state information from an aiding source. The unaided navigation state information is generated by the unaided source using navigation information provided by an inertial reference, and the aiding state information is generated by the aiding source using navigation information provided by at least one external reference. The method also includes determining an unaided navigation solution using the unaided navigation state information, and determining an aided navigation solution using a combination of the unaided and aiding state information. As a default, the method provides the unaided navigation solution for navigating the movable body. When the aided navigation solution provides a better solution for navigating the movable body, the unaided navigation solution is replaced with the aided navigation solution.

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Maple Grove, MN, United States of America

James B Broderick