Patent ID: 7171303

Claim:
A navigation apparatus for generating at least one high-accuracy navigation parameter (P, V, A) comprising: a relative sensor system ( 200 ) adapted to register relative movements of the apparatus and in response thereto produce at least one relative data signal (Δv, Δθ), a radio receiver system ( 100 ) adapted to receive navigation data signals (RF GNSS ) from a plurality of external signal sources and based thereon produce at least one tracking data signal (I GNSS , Q GNSS ), the radio receiver system ( 100 ) including a central processing unit ( 140 ) adapted to receive the at least one tracking data signal (I GNSS , Q GNSS ), receive the at least one relative data signal (Δv, Δθ), and based on the received signals produce the at least one navigation parameter (P, V, A), a common clock unit ( 300 ) adapted to produce a first clock signal (CL 1 ) to form a sampling basis in the radio receiver system ( 100 ) and a second clock signal (CL 2 ) to form a sampling basis in the relative sensor system ( 200 ), and a common software module ( 400 ) adapted to realize at least one function ( 130 , 140 ) of the radio receiver system ( 100 ) and at least one function ( 230 ) of the relative sensor system ( 200 ), the common software module ( 400 ) includes the central processing unit ( 140 ), and the central processing unit ( 140 ) comprises a Kalman filter, said Kalman filter is adapted to receive the at least one tracking data signal (I GNSS , Q GNSS ), receive the at least one relative data signal (Δv, Δθ), and based on the received signals, produce a composite tracking return signal (S comp-tr ) and a composite relative return signal (S comp-rel ), feed back the composite tracking return signal (S comp-tr ) within the radio receiver system ( 100 ), and feed back the composite relative return signal (S comp-rel ) to the relative sensor system ( 200 ).