{"schema_version":"1.0","canonical_url":"https://patentable.app/patents/US-9791575","patent":{"patent_number":"US-9791575","title":"GNSS and inertial navigation system utilizing relative yaw as an observable for an ins filter","assignee":null,"inventors":[],"filing_date":"2016-01-27T00:00:00.000Z","publication_date":"2017-10-17T00:00:00.000Z","cpc_codes":["G01S","B62D","G01C","G01C","G01S"],"num_claims":20,"abstract":"A GNSS/INS navigation system includes an INS filter that uses relative yaw values as an observable for attitude updates. The system calculates the relative yaw values based on carrier phase measurements, e.g., phase windup measurements, of GNSS signals received at a system GNSS antenna. The use of the relative yaw values as an observable in the INS filter allows the system to improve estimates of associated biases, and also to continue to estimate the associated biases in low dynamic environments."},"analysis":{"summary":null,"layman_explanation":null,"technical_analysis":null,"business_analysis":null,"faqs":null,"topics":[],"tech_cluster":null},"seo":{"title":"GNSS and inertial navigation system utilizing relative yaw as an observable for an ins filter","description":"A GNSS/INS navigation system includes an INS filter that uses relative yaw values as an observable for attitude updates. The system calculates the relative yaw values based on carrier phase measuremen","keywords":[]},"attribution":{"source":"Patentable","source_url":"https://patentable.app","canonical_url":"https://patentable.app/patents/US-9791575","license":"CC-BY-4.0-like","license_terms":"AI-generated analysis on this page (summary, layman_explanation, technical_analysis, business_analysis, faqs) may be reused with attribution and a visible link back to the canonical URL above. Patent abstracts, claims, and bibliographic data are USPTO public domain.","required_link":"https://patentable.app/patents/US-9791575","citation_suggestion":"Patentable. \"GNSS and inertial navigation system utilizing relative yaw as an observable for an ins filter\" (US-9791575). https://patentable.app/patents/US-9791575","copyright_holder":"Nomic Interactive Technology LLC"},"links":{"html":"https://patentable.app/patents/US-9791575","json":"https://patentable.app/api/llm-context/US-9791575","site":"https://patentable.app","llms_txt":"https://patentable.app/llms.txt"},"generated_at":"2026-06-06T16:30:42.378Z"}