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I have used both KVH CNS-5000 and the Xsens MTi-G-710 that do what you are asking. Both these products provide on-board sensor fusion. The CNS-5000 uses an EKF and I am not sure about the Xsens. They both cost in excess of $4k. I am unaware of any less costly solutions that integrate both the GNSS and IMU.


My understanding is that $R_x$ is the receiver time when the signal is received. So that would make $t_x$ the transmission time. And you subtract the bias to get a more accurate transmission time.

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