Position and velocity estimation system for adaptive weighting of GPS and dead-reckoning information

摘要: An embodiment of the present invention is a combined GPS and dead-reckoning (DR) navigation sensor for vehicle in which pair modifications are made to an otherwise conventional Kalman filter. Process noise adapted cope with scale factor errors associated odometer turning rate sensors, correlated measurement error processing added. When only two Doppler measurements (PRRs), or three awkward three-satellite geometry, available, DR growth can nevertheless be controlled. The correlations filter covariance propagation update equations explicitly accounted for. Errors induced by selective availability periods minimized these modifications.