Dual antenna system and method

A device for navigating a mobile object according to signals from satellites, comprising:

• one or more processors;
• and
• memory storing instructions that, when executed by the one or more processors, cause the device to perform a set of operations, comprising:
• receiving, at each of a first antenna and a second antenna, satellite navigation signals from a plurality of satellites including a respective channel signal for each respective channel of the satellite navigation signals received from a respective satellite of the plurality of satellites;
• calculating a baseline vector between the first antenna and the second antenna using a cost function applied to a plurality of candidate integer ambiguity sets, wherein each respective candidate integer ambiguity set of the plurality of candidate integer ambiguity sets includes a respective candidate integer solution for each respective channel signal;
• initializing an inertial navigation system using the baseline vector between the first antenna and the second antenna;
• and
• performing a navigation function for the mobile object using the initialized inertial navigation system.

A navigation system for navigating a mobile object according to signals from satellites, comprising:

• a receiver for receiving, from each of a first antenna and a second antenna located a distance from the first antenna, satellite navigation signals from a plurality of satellites including a respective channel signal for each respective channel of the satellite navigation signals received from a respective satellite of the plurality of satellites, wherein the first antenna and the second antenna are mounted on the mobile object at the distance from each other;
• and
• a computer system, coupled to the receiver, for:
• calculating a baseline vector between the first antenna and the second antenna using a cost function applied to a plurality of candidate integer ambiguity sets, wherein each respective candidate integer ambiguity set of the plurality of candidate integer ambiguity sets includes a respective candidate integer solution for each respective channel signal;
• initializing an inertial navigation system using the baseline vector between the first antenna and the second antenna;
• and
• performing a navigation function for the mobile object using the initialized inertial navigation system.