Real-time ship position error compensation system and method

A system for measuring a position of an asset comprising:

• a first plurality of global positioning system (GPS) sensors arranged on a first asset;
• a reference position source arranged on the first asset;
• one or more computer processors;
• and
• a memory in communication with the one or more processors and storing program instructions, the one or more processors operative with the program instructions to:
• measure position data associated with the first asset from the outputs of the first plurality of GPS sensors;
• calculate a measurement offset between the measured position data associated with the first asset and position data obtained from the reference position source and a differential accelerometer/inclination system on the first asset that measures sinusoidal asset motion and monitors angular tilt differences between multiple locations on the first asset at intervals corresponding in time to the position data measurements of the first plurality GPS sensors;
• correct the measured position data obtained from the plurality of GPS sensors of the first asset using the calculated measurement offset, the corrected position data including at least an estimate of True North;
• correct position data measured from a plurality of GPS sensors of a second asset, located remotely from the first asset, using the calculated measurement offset;
• and
• transmit the estimate of True North to a radar system of the second asset for determining a relative position of a tracked airborne target tracked by said first and second assets;
• wherein the differential accelerometer/inclination system on the first asset measures sinusoidal asset motion and monitors angular tilt differences between multiple locations on the first asset at intervals corresponding in time to the GPS sensor measurements, the sinusoidal asset motion and angular tilt differences outputs being applied to the position data measured by the GPS sensors, to fill in gaps upon loss of measured position data of the GPS sensors, and wherein the measured asset motion from the differential accelerometer/inclination system is filtered according to historical position and acceleration measurements.