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

Claim 15:
16. 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 single difference (CSD) measurements from the raw carrier phase measurements;
determine an estimate of clock bias between the first GNSS receiver and the second GNSS receiver based on the CSD measurements;
determine predicted CSD values based on statistical filter predicted states;
determine CSD measurement residuals and respective variances based on the CSD measurements and the predicted CSD values;
apply a wrapping function with limit of ±half of a GNSS carrier signal wavelength to the CSD measurement residuals to generate refined CSD measurement residuals;
validate the refined CSD measurement residuals to determine valid CSD measurements; and
estimate attitude and heading of the system using the valid CSD measurements and the inertial measurements.