Method and apparatus for GPS positioning, filtering and integration
First Claim
1. A two-stage filter for processing navigation data, including:
- a navigation processor for computing point position and/or bias estimates from input pseudorange data; and
a smoothing filter for receiving and smoothing the point position and/or bias estimates output from the navigation processor.
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Abstract
A method and apparatus for processing data from a positioning or navigation system, such as global positioning system (GPS) navigation system data. In preferred embodiments, the invention is a method and apparatus for estimating position based on GPS measurements and optionally, measurements from other types of navigation sensors combined with GPS navigation system data. The apparatus of the invention includes a point position estimator (which preferably approximates a maximum likelihood estimator) for processing data from a positioning or navigation system to generate point position estimate data, and a smoothing filter for smoothing the point position estimate data. The smoothing filter can be a linear Kalman filter.
145 Citations
32 Claims
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1. A two-stage filter for processing navigation data, including:
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a navigation processor for computing point position and/or bias estimates from input pseudorange data; and a smoothing filter for receiving and smoothing the point position and/or bias estimates output from the navigation processor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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27. A two-stage filter for processing navigation data, including:
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a navigation processor for computing point position estimates from input range data; and a smoothing filter for receiving and smoothing the point position estimates output from the navigation processor.
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28. A two-stage filter for processing navigation data, including:
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a navigation processor for computing point position estimates from input range difference data; and a smoothing filter for receiving and smoothing the point position estimates output from the navigation processor.
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29. A method for processing navigation data, including the steps of:
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(a) computing point position and/or bias estimates from input pseudorange data; and (b) after step (a), smoothing the point position and/or bias estimates. - View Dependent Claims (30, 31, 32)
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Specification