A computerized method generates unbiased estimates of parameters such as position, velocity, and acceleration of a vehicle. The method assigns initial vehicle states. Unbiased vehicle state estimates are obtained using a model incorporating a unique parameterization of the vehicle motion and state dynamics,...http://www.google.de/patents/US7181323?utm_source=gb-gplus-sharePatent US7181323 - Computerized method for generating low-bias estimates of position of a vehicle from sensor data
