Patent ID: 11914054
Assignee: HONEYWELL INTERNATIONAL INC.
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 6:
7. A system, comprising:
one or more inertial sensors configured to capture inertial measurements;
a first Global Navigation Satellite System (GNSS) receiver communicatively coupled to a first GNSS antenna, wherein the first GNSS receiver is configured to receive signals from a plurality of GNSS satellites;
a second GNSS receiver communicatively coupled to a second GNSS antenna, wherein the second GNSS receiver is configured to receive signals from a plurality of GNSS satellites; and
at least one processor communicatively coupled to a memory, the one or more inertial sensors, the first GNSS receiver, and the second GNSS receiver, wherein the at least one processor is configured to:
obtain the inertial measurements from the one or more inertial sensors;
obtain raw carrier phase measurements from the first GNSS receiver and the second GNSS receiver;
determine carrier phase double difference (CDD) measurements from the raw carrier phase measurements;
determine predicted CDD values based on statistical filter predicted states;
determine CDD measurement residuals and respective variances based on the CDD measurements and the predicted CDD values;
apply a wrapping function with limit of ±half of a GNSS carrier signal wavelength to the CDD measurement residuals to generate refined CDD measurement residuals;
validate the refined CDD measurement residuals to determine valid CDD measurements; and
estimate attitude and heading of the system using the valid CDD measurements and the inertial measurements.