Vehicle guidance and sensor bias determination

An apparatus for guiding a vehicle comprising a non-transitory tangible computer readable storage medium, which comprises:

• a computer readable program code components stored on the computer readable medium and configured to cause:
• at least temporary reception of GNSS-signals of a global positioning system using a primary antenna of a primary survey-grade GNSS-receiver and a secondary antenna of a secondary GNSS-receiver mounted to the vehicle;
• a generation of physical data indicative of respective physical parameters of at least part of the vehicle measured by a plurality of physical sensors;
• de-biasing of the physical data;
• determination of a position and velocity of the vehicle by applying a recursive statistical estimator to the de-biased physical data and an output of the primary and secondary GNSS-receivers;
• and
• estimating a bias in a sensor measurement from at least some of the plurality of physical sensors by performing windowed averaging of transformed roll estimates determined from the GNSS signals and sensor measurements from at least some of the plurality of physical sensors.