Patent ID: 8340905
Filing Date: 2012-12-25
Classification: G01C,G05D

Abstract:
1. An apparatus for guiding a vehicle comprising a tangible computer readable storage medium, which comprises: a computer readable program code component stored on the computer readable medium and configured to cause: at least temporary reception of GNSS-signals of a global positioning system using a primary antenna of a primary survey-grade GNSS-receiver and a secondary antenna of a secondary GNSS-receiver mounted to the vehicle; a generation of physical data indicative of respective physical parameters of at least part of the vehicle measured by a plurality of physical sensors; de-biasing of the physical data; determination of a position and velocity of the vehicle by applying a recursive statistical estimator to the de-biased physical data and an output of the primary and secondary GNSS-receivers; and estimating a bias in a sensor measurement for the vehicle determined from at least some of the plurality of physical sensors by subtracting a transformed roll estimate determined from the GNSS signals from the sensor measurement.