Patent Document ID: 20040138813
Application ID: 10693261
Patent Flag: 0

Claim One:
1. A method for determining a dynamical quantity of a receiver of signals conveying information useful in estimating the dynamical quantity, the method comprising the steps of: a) providing a single-point solution, by solving for the dynamical quantity of the receiver using a single-point solution having as an input the information useful in estimating the dynamical quantity being determined; b) providing a plurality of different motion models for modeling the motion of the receiver; and c) providing a first value of the dynamical quantity formed by combining one or more filter solutions each based on a different one of the motion models, the combining based on weights that take into account the likelihood of the suitability of each motion model, with the likelihood determined on the basis of agreement of the first value of the dynamical quantity compared with a second value of the dynamical quantity as indicated by a single-point solution.