Patent ID: 8577607

Claim:
A method of stabilizing an inertial navigation system (INS), comprising the steps of: performing the following steps in any order: receiving data from an inertial navigation system having an inertial measurement unit (IMU); and receiving a finite number of carrier phase observables using at least one GPS receiver from a plurality of GPS satellites; performing the following series of calculations: calculating a phase wind up correction; correcting at least one of said finite number of carrier phase observables using said phase wind up correction; and calculating a corrected IMU attitude or velocity or position using said corrected at least one of said finite number of carrier phase observables; and performing a step selected from the steps consisting of recording said corrected IMU attitude or velocity or position, reporting said corrected IMU attitude or velocity to a user, and providing said corrected IMU attitude or velocity or position to another process that uses the corrected IMU attitude or velocity or position.