Method and apparatus, in order to the accuracy of position estimates - supported in a satellite navigation system to be improved, with the use of the speed data of an inertia reference unit

摘要

The method involves receiving, from a constellation of navigation satellites, navigation signals at a mobile receiver (e.g. an autonomous mining truck) 210 located at a first position and computing at 302 a first position estimate PE for the receiver at a first time; a second position estimate for a second position at a second time; and a third position estimate for a third position at a third time; receiving a first velocity vector from the receiver's inertial reference unit 304 for elapsed time between the first and second time; and computing a refined value for the third position estimate based on the first, second and third position estimates, the first and second velocity vectors and the elapsed times. IMAGE