| 摘要 |
Embodiments of the invention provide methods of calibrating a blending filter based on extended Kalman filter (EKF), which optimally integrates the IMU navigation data with all other satellite measurements (tightly-coupled integration filter). In one embodiment a coordinate transformation matrix using a latest position fix is created. The state variables (for user velocity) are transformed to a local navigation coordinate. The state variables of said integration filter is estimated. A blended calibrated position fix is the output of the method.
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