Patent ID: 7706976
Filing Date: 2010-04-27
Classification: G01P,G01S

Abstract:
1. A method of determining speed and heading of a rover having one degree of freedom and having an indefiniteness in heading while operating at substantially low speed, said method comprising the steps of: (A) determining a rover position coordinates using at least one source of a radio position measurements; (B1) storing an initial rover point in a memory block; wherein each said rover point comprises a time Epoch and a rover position determined at said time Epoch; wherein each said pair of said statistically different rover points comprises two rover positions separated by a statistically significant distance; and wherein said memory block further comprises an N point circular buffer, N being an integer; (B2) determining whether a subsequent rover point is a statistically different rover point by calculating a distance between said subsequent rover position and a previous rover position; (B3) if said calculated distance is greater than a first predetermined threshold, making a decision to calculate and to store said subsequent rover point in said N point circular buffer; (B6) determining whether a current rover point is a statistically different rover point by calculating a distance between said current rover position and a newest stored rover's position that meets a heading spacing requirement; (B7) if said calculated distance is greater than said first predetermined threshold, making a decision to calculate and to insert said current rover point in said N point circular buffer; (B8) if said calculated distance is greater than said first predetermined threshold, making a decision to discard a first stored rover point; and (C1) if a distance between at least two stored rover positions exceeds a second predetermined threshold D