Post-mission high accuracy position and orientation system

A GNSS-AINS post-processing system comprising:

• a VRS module to input rover GNSS observables previously acquired and recorded by a GNSS subsystem on an aircraft during a data acquisition period, the VRS module including
• a network module to input a set of reference GNSS observables acquired during said data acquisition period by a plurality of fixed GNSS receiver stations and to produce a set of corrected reference GNSS observables;
• and
• a VRS generator to compute a set of VRS observables applicable to a VRS position for the data acquisition period, based on the corrected reference GNSS observables and the rover GNSS observables;
• and
• a GNSS-AINS module to compute positions and orientations of the aircraft for the data acquisition period based on the VRS observables, the rover GNSS observables and IMU data acquired and recorded during the data acquisition period by an IMU on the aircraft, including
• an inertial navigation module to compute the positions and orientations of the aircraft for the data acquisition period based on the IMU data and based on correction data indicating corrections for predetermined types of uncertainties;
• and
• a correction module to generate the correction data.