Patent attributes
A navigation system that provides a position estimate. In one embodiment, a method includes integrating an acceleration estimate in each of three dimensions. Subtracting a GPS velocity in each of the dimensions from the integrated acceleration estimate in each dimension to determine a velocity noise error in each dimension. Filtering the velocity noise error in each dimension. Adding the filtered velocity noise error to the integrated acceleration estimate in each dimension to obtain a velocity estimate in each dimension. Integrating the velocity estimate in each dimension to determine an integrated velocity estimate in each dimension. Subtracting a GPS position in each dimension from the integrated velocity estimate in each dimension to determine a position noise error in each dimension. Filtering the position noise error in each dimension and adding the filtered position noise error in each dimension to the integrated velocity estimate to obtain a position estimate in each dimension.
