Patent attributes
A method comprises: obtaining a GPS measurement; obtaining a first IMU measurement; obtaining a second IMU measurement; applying a first particle filter to the GPS measurement and the first IMU measurement to obtain a first position solution; applying a second particle filter to the GPS measurement and the second IMU measurement to obtain a second position solution; calculating a first sensor weight of the first position solution based on a likelihood function; calculating a second sensor weight of the second position solution based on the likelihood function; resampling the first position solution based on the first sensor weight to obtain a first resampled position solution; resampling the second position solution based on the second sensor weight to obtain a second resampled position solution; and calculating a final position estimate based on the GPS measurement, the first resampled position solution, and the second resampled position solution.
