Patent ID: 7502688

Claim:
A navigational method of determining a position and heading of an object, comprising: calculating the position and the heading of the object based on an output of a velocity detecting device and an output of a yaw rate detecting device; estimating, based on a carrier phase and a pseudorange received from a global positioning satellite, (1) an error of the velocity detecting device, (2) an error of the yaw rate detecting device, (3) a position error and a heading error of the object, and (4) an integer-valued bias of a carrier, wherein the estimating step includes estimating a relative range and/or a relative angle between a known landmark and the object based on an angle measured by an angle measuring device provided on the object and stored position data of the known landmark; and calculating an observation error based on the estimated relative range; and updating the position and the heading of the object based on the estimated position error and the estimated heading error.