Patent ID: 8600671

Claim:
A method for generating a navigation solution, comprising: generating, by an inertial navigation solution unit, an inertial navigation solution using a set of inertial sensor measurements; generating a set of global positioning system receiver measurements; directing an output of the antenna selection process to a digital processing unit configured to operate in an acquisition mode and a signal tracking mode; positioning system receiver measurements comprising a first set of measurements obtained from signals received by a first set of antennas and processed through a first front end processing chain and a second set of measurements obtained from signals received by a second set of antennas and processed through a second front end processing chain, an output of the first front end processing chain and an output of the second front end processing chain further processed through an antenna selection process; generating a set of measurement residuals from the set of global positioning system receiver measurements; generating a set of global positioning system receiver measurements with navigation correction from the set of measurement residuals; generating, by a blended global positioning system and inertial navigation system navigation solution unit, a blended global positioning system and inertial navigation system navigation solution by combining the set of global positioning system receiver measurements with navigation correction and the set of inertial sensor measurements; computing, by a processor, a raw global positioning system navigation correction by computing a difference between the inertial navigation solution and the blended global positioning system and inertial navigation system navigation solution; computing, by the processor, a global positioning system correction by applying a limit with an optimal limiter on the raw global positioning system navigation correction; and adding, by the processor, the inertial navigation solution and the global positioning system correction to form a global positioning system-aided navigation solution; receiving a request to remove a correction from a set of navigation solutions; removing the correction from a correction storage unit; and identifying a set of corrections for the set of navigation solutions and converting, by an earth centered inertial frame to navigation frame conversion, the set of corrections from an earth centered inertial reference frame to a navigation reference frame.