Method, apparatus, and computer readable medium for a multi-source reckoning system

A method, executed by a computing device, for dynamically computing a derived multi-source reckoning system location, the method comprising:

• receiving, by the computing device, data from an inertial measurement unit;
• receiving, by the computing device, data from a digital magnetic compass, including bearing data;
• receiving, by the computing device, data from a Doppler sensor;
• determining, by the computing device, whether GPS location data is in consensus with a previous derived multi-source reckoning system location;
• determining, by the computing device, a consensus distance value from a weighted average of data from the inertial measurement unit and the Doppler sensor;
• determining, by the computing device, a consensus heading value from a weighted average of data from the inertial measurement unit and the digital magnetic compass;
• deriving, by the computing device, a new location using the previous derived multi-source reckoning system location, the consensus distance value, and the consensus heading value.

A multi-source reckoning system comprising:

• a compute platform,
• an inertial measurement unit communicatively coupled to the compute platform, wherein the inertial measurement unit is configured to send GPS data, velocity data, and bearing data to the compute platform;
• a digital magnetic compass communicatively coupled to the compute platform, wherein the digital magnetic compass is configured to send bearing data to the compute platform;
• a Doppler sensor communicatively coupled to the compute platform, wherein the Doppler sensor is configured to send at least one of velocity data and distance data to the compute platform,
• wherein the compute platform is configured to:
• determine whether GPS location data is in consensus with a previous derived multi-source reckoning system location;
• determine a consensus distance value from a weighted average of data from the inertial measurement unit and the Doppler sensor;
• determine a consensus heading value from a weighted average of data from the inertial measurement unit and the digital magnetic compass;
• derive a new location using the previous derived multi-source reckoning system location, the consensus distance value, and the consensus heading value;
• output, to a user interface of a mobile device, a display showing a GPS fix icon indicating the GPS location and a multisource reckoning system fix icon indicating the derived new location.