US 12,013,472 B2
System and method for fusing dead reckoning and GNSS data streams
Christian Reimer, San Francisco, CA (US); Guillaume Decerprit, San Francisco, CA (US); Richard Deurloo, San Francisco, CA (US); Sebastien Carcanague, San Francisco, CA (US); and Joseph Angelo, San Francisco, CA (US)
Assigned to Swift Navigation, Inc., San Francisco, CA (US)
Filed by Swift Navigation, Inc., San Francisco, CA (US)
Filed on Dec. 1, 2022, as Appl. No. 18/073,304.
Application 17/860,779 is a division of application No. 17/554,993, filed on Dec. 17, 2021, granted, now 11,550,067.
Application 18/073,304 is a continuation of application No. 17/860,779, filed on Jul. 8, 2022, granted, now 11,662,478.
Claims priority of provisional application 63/126,765, filed on Dec. 17, 2020.
Prior Publication US 2023/0105097 A1, Apr. 6, 2023
Int. Cl. G01S 19/49 (2010.01); G01S 19/25 (2010.01); G01S 19/43 (2010.01); G01S 19/54 (2010.01)
CPC G01S 19/49 (2013.01) [G01S 19/258 (2013.01); G01S 19/43 (2013.01); G01S 19/54 (2013.01)] 20 Claims
OG exemplary drawing
 
11. A method for determining a positioning solution of a body comprising:
at a first frequency:
receiving sensor data;
correcting for an error in the sensor data;
determining a sensor positioning solution of the body by integrating a sensor mechanization model to update a prior positioning solution;
at a second frequency that is less than the first frequency;
receiving satellite signals at a GNSS (global navigation satellite system) receiver of the body;
determining a GNSS positioning solution of the body using the satellite signals;
determining a motion state of the body; and
fusing the sensor positioning solution of the body with the GNSS positioning solution of the body to determine the positioning solution of the body;
wherein a constraint applied in determining at least one of the sensor positioning solution and the GNSS positioning solution depends on the motion state of the body.