Patent ID: 8380433

Claim:
An apparatus comprising: an integration filter for a sensor-assisted global navigation satellite system (GNSS) receiver of a satellite, wherein a state definition and a system equation of said integration filter is the same as those of a stand-alone GNSS position engine, but a plurality of measurements from said INS can be added in a measurement equation of said integration filter to have a blended navigation information; a GNSS measurement engine for providing GNSS measurement data to said integration filter; an inertial measurement unit (IMU); and an inertial navigation system (INS) block for calculating navigation information using a plurality of inertial sensor outputs, wherein integration filter processes an INS user velocity data from said INS in said measurement equation of said integration filter using a method comprising: a plurality of INS measurements in a local navigation coordinate are included in said measurement equation such that said INS measurements are a function of velocity variables of an integration filter state with a plurality of measurement noises.