Method and apparatus for detecting and compensating for the gps antennas lever arm in an integrated gps / coupled navigation system

摘要

This invention reduces the error growth associated with vehicle Dead Reckoning (DR) systems utilizing heading rate sensors (15) by compensating for the lever arm or offset between the Global Positioning System (GPS) antenna (11) and the center of rotation of the vehicle. When turning at moderate speeds, the error induced in the GPS heading by this lever arm can be the dominant error effect. Accordingly, the present invention recognizes this source of error and further describes a method and apparatus for estimating and compensating for the error effect of this lever arm.