US Patent 7454290 GPS/INS vehicle attitude system

Systems are provided to increase the robustness of a low-cost GPS system by coupling it with an INS system, and by using one-satellite attitude determination in conjunction with the traditional multiple-satellite method. The system has demonstrated accuracy and robustness approaching needed standards for automobile control systems. The applications of this system are abundant, including real-time vehicle system ID, slip angle estimation, position estimation by GPS and dead reckoning, as well as sophisticated control systems.