Patent ID: 8131462

Claim:
A method for guiding a vehicle comprising: at least temporarily receiving 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; generating physical data indicative of respective measured physical parameters of at least part of the vehicle, the measured physical parameters being measured by a plurality of physical sensors; de-biasing the physical data; applying a recursive statistical estimator to the de-biased physical data and an output of the primary and secondary GNSS-receivers to determine a position and velocity of the vehicle; estimating a bias in the physical data, or a quantity derived therefrom, generated by one or more of the plurality of physical sensors; comparing the bias estimate with a previous bias estimate for the same temperature; and storing the bias estimate in a bias versus temperature table if the difference of the comparison is within a predetermined threshold.