US 11,914,054 B2
System and methods for estimating attitude and heading based on GNSS carrier phase measurements with assured integrity
Zdenek Kana, Dubnany (CZ); Radek Baranek, Litovel (CZ); Jindrich Dunik, Plzen (CZ); Jussi Raasakka, Brno (CZ); and Milos Sotak, Kosice-Saca (SK)
Assigned to Honeywell International s.r.o., Prague (CZ)
Filed by Honeywell International s.r.o., Chodov (CZ)
Filed on Apr. 29, 2021, as Appl. No. 17/244,418.
Claims priority of provisional application 63/076,649, filed on Sep. 10, 2020.
Prior Publication US 2022/0075082 A1, Mar. 10, 2022
Int. Cl. G01S 19/47 (2010.01); G01S 19/45 (2010.01); G01S 19/54 (2010.01); G01C 21/16 (2006.01); G01C 21/20 (2006.01); G01S 19/41 (2010.01); G01S 19/53 (2010.01); G01S 19/40 (2010.01)
CPC G01S 19/47 (2013.01) [G01S 19/45 (2013.01); G01S 19/54 (2013.01); G01C 21/165 (2013.01); G01C 21/20 (2013.01); G01S 19/40 (2013.01); G01S 19/41 (2013.01); G01S 19/53 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for estimating attitude and heading of a system, comprising:
obtaining inertial measurements from one or more inertial sensors;
obtaining raw carrier phase measurements from two or more Global Navigation Satellite System (GNSS) receivers communicatively coupled to respective GNSS antennas;
determining carrier phase double difference (CDD) measurements from the raw carrier phase measurements;
determining predicted CDD values based on statistical filter predicted states;
determining CDD measurement residuals and respective variances based on the CDD measurements and the predicted CDD values;
applying a wrapping function with limit of ±half of a GNSS carrier signal wavelength to the CDD measurement residuals to generate refined CDD measurement residuals;
validating the refined CDD measurement residuals to determine valid CDD measurements; and
estimating attitude and heading of the system using the valid CDD measurements and the inertial measurements.