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

Claim 0:
1. A method for estimating attitude and heading of a system, comprising:
obtaining inertial measurements from one or more inertial sensors;
obtaining raw carrier phase measurements from two or more Global Navigation Satellite System (GNSS) receivers communicatively coupled to respective GNSS antennas;
determining carrier phase double difference (CDD) measurements from the raw carrier phase measurements;
determining predicted CDD values based on statistical filter predicted states;
determining CDD measurement residuals and respective variances based on the CDD measurements and the predicted CDD values;
applying a wrapping function with limit of ±half of a GNSS carrier signal wavelength to the CDD measurement residuals to generate refined CDD measurement residuals;
validating the refined CDD measurement residuals to determine valid CDD measurements; and
estimating attitude and heading of the system using the valid CDD measurements and the inertial measurements.