The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 17, 2017
Filed:
Jan. 27, 2016
Applicant:
Novatel Inc., Calgary, CA;
Inventor:
Michael Bobye, Calgary, CA;
Assignee:
NovAtel Inc., Calgary, Alberta, CA;
Attorneys:
Primary Examiner:
Int. Cl.
CPC ...
G01S 19/47 (2010.01); G01C 21/18 (2006.01); G01S 19/53 (2010.01); B62D 6/00 (2006.01);
U.S. Cl.
CPC ...
G01S 19/47 (2013.01); B62D 6/003 (2013.01); G01C 21/18 (2013.01); G01S 19/53 (2013.01);
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.