Abstract: A system comprises a processor onboard a vehicle, an onboard aiding source, and onboard inertial sensors. The processor includes a prediction module that propagates navigation error states, and a residual computation module that computes a measurement residual and measurement residual variance based on aiding measurements and navigation error states. A measurement monitoring module comprises a measurement monitor selection switch that selects between a normalized measurement residual monitor, and a Chi squared measurement monitor. When selected, the normalized measurement residual monitor performs a first aiding measurement validation process that determines whether a normalized measurement residual is less than a first user selected threshold. If yes, then the aiding measurement is valid. When selected, the Chi squared measurement monitor performs a second aiding measurement validation process that determines whether a measurement residual error squared is less than a second user selected threshold.

Abstract: The present invention provides a full length cDNA sequence that codes for a G-protein coupled receptor, as well as the complete gene and the encoded protein. The present invention provides a recombinant cell line expressing these receptors at appropriate levels such that novel compounds active at these receptors may be identified for therapeutic use. The receptor sequence described in this invention is a member of a novel GPCR receptor sub-family which has no known endogenous ligand. This cDNA can be used to identify novel compounds active at the receptor for therapeutic use especially in the field of CNS disorders, neurodegeneration or analgesia.