Appeal No. 1997-1215
Application No. 08/092,684
Kalman filter of the navigation system, will correct for the
error, however, it may take tens of seconds before
compensation for the error begins and several minutes before
the error is substantially eliminated from the
position estimates. These times are too long for real time
positioning in many applications.
Representative independent claim 1 is reproduced as
follows:
1. A method for detecting carrier signal cycle slip
errors in a position determining system which receives
navigation signals at a receiver from a plurality of
satellites, the method comprising the steps of:
(a) receiving, at the receiver, a navigational
signal from a satellite, said navigation signal including a
continuous carrier wave;
(b) counting cycles of said carrier wave over a time
>t;
(c) computing, from said time >t and said cycle
count, a first velocity of the receiver along a vector between
the receiver and said satellite;
(d) receiving a second velocity of the receiver from
an inertial reference unit;
(e) computing a component of said second velocity
along said vector;
3
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