Patent ID: 9593952
Date: 2017-03-14
CPC Classifications: G01C,G01S

Claim:
1. A method for tuning an integration filter of a navigation system having a global navigation satellite system (GNSS) unit and an inertial measurement unit (IMU), the method comprising the steps of: (a) receiving, at a processor of the navigation system, GNSS measurements from the GNSS unit of the navigation system; (b) detecting, at the IMU of the navigation system, IMU measurements; (c) receiving, at the processor, the IMU measurements from the IMU of the navigation system; (d) providing filter parameters to the integration filter of the navigation system, wherein the filter parameters are parameters of the system and measurement models of the integration filter; (e) fine tuning the filter parameters of the integration filter through: (f) repeating all of the above steps (a)-(e) using the updated fine-tuned filter parameters; and (g) using the fine-tuned filter parameters in the integration filter to obtain a navigation estimate.