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公开(公告)号：US09709683B2
公开(公告)日：2017-07-18
申请号：US14002716
申请日：2012-03-11
摘要： Methods and apparatus provide for positioning of a rover antenna from GNSS data derived from multi-frequency signals and correction data derived from a network of reference stations. At each of a plurality of epochs, the GNSS data and correction data are used to estimate values defining a rover antenna position and a set of multi-frequency ambiguities. An ionospheric-free carrier-phase ambiguity per satellite is estimated based on a known rover antenna position. The estimated ionospheric-free carrier-phase ambiguity is combined with an estimated widelane ambiguity and with an estimated ionospheric-free ambiguity and with values defining the known rover antenna position to obtain values defining an aided rover antenna position and aided multi-frequency ambiguities.
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公开(公告)号：US09651667B2
公开(公告)日：2017-05-16
申请号：US13536912
申请日：2012-06-28
摘要： Methods and apparatus for determining a precise position of a rover located within a region are presented using rover observations comprising code observations and carrier-phase observations of GNSS signals on at least two carrier frequencies over multiple epochs. Correction data is received for each of the epochs at least one code bias per satellite. Synthetic reference data is generated for each of the epochs from the correction data for a synthetic station location. A determination is made for each epoch whether a cycle slip has occurred. Upon determining that a cycle slip has occurred, values of any variables of a set of state variables which are affected by the cycle slip are reset. Each epoch of rover observations and correction data is used to estimate updated values for the set of state variables including a set of ambiguities and coordinates of a precise rover position.
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33.发明申请GNSS Signal Processing with Delta Phase for Incorrect Starting Position 有权具有Delta相位的GNSS信号处理不正确的起始位置公开(公告)号：US20130335266A1
公开(公告)日：2013-12-19
申请号：US14002721
申请日：2012-03-19
IPC分类号： G01S19/42
摘要： Methods and apparatus for processing of GNSS signals are presented. These include GNSS processing with predicted precise clocks, GNSS processing with mixed-quality data, GNSS processing with time-sequence maintenance, GNSS processing with reduction of position jumps in low-latency solutions, GNSS processing with position blending to bridge reference station changes, and GNSS processing with delta-phase correction for incorrect starting position.
摘要翻译： 提出了GNSS信号处理方法和装置。 这些包括具有预测精确时钟的GNSS处理，具有混合质量数据的GNSS处理，具有时间序列维护的GNSS处理，具有降低低延迟解决方案中的位置跳转的GNSS处理，具有位置混合的GNSS处理以桥接参考站变化，以及 具有不正确起始位置的三角相位校正的GNSS处理。
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34.发明授权公开(公告)号：US08558736B2
公开(公告)日：2013-10-15
申请号：US13143192
申请日：2010-02-16
IPC分类号： G01S19/44
摘要： Methods and apparatus are provided for processing a set of GNSS signal data derived from signals of a first set of satellites having at least three carriers and signals of a second set of satellites having two carriers. A geometry filter uses a geometry filter combination to obtain an array of geometry-filter ambiguity estimates for the geometry filter combination and associated statistical information. Ionosphere filters use a two-frequency ionospheric combination to obtain an array of ionosphere-filter ambiguity estimates for the two-frequency ionospheric combinations and associated statistical information. Each two-frequency ionospheric combination comprises a geometry-free two-frequency ionospheric residual carrier-phase combination of observations of a first frequency and observations of a second frequency. Auxiliary ionosphere filters use an auxiliary ionospheric combination to obtain an array of auxiliary-ionosphere-filter ambiguity estimates for the auxiliary ionospheric combinations and associated statistical information. Each auxiliary ionospheric combination uses carrier-phase observations of a third frequency and carrier-phase observations of at least one of the first frequency and the second frequency. A combined array of ambiguity estimates is prepared for all carrier phase observations and associated statistical information by combining the arrays of the geometry filter and the ionosphere filters and the auxiliary ionosphere filters.
摘要翻译： 提供了用于处理从具有至少三个载波的第一组卫星和具有两个载波的第二组卫星的信号的信号导出的一组GNSS信号数据的方法和装置。 几何过滤器使用几何过滤器组合来获取几何过滤器组合和关联统计信息的几何过滤模糊度估计数组。 电离层滤波器使用双频电离层组合来获得两频电离层组合和相关统计信息的电离层滤波器模糊度估计数组。 每个两频电离层组合包括第一频率观测值和第二频率观测值的几何无二相电离层剩余载波相位组合。 辅助电离层滤波器使用辅助电离层组合来获得辅助电离层组合和相关统计信息的辅助电离层 - 滤波器模糊度估计阵列。 每个辅助电离层组合使用第三频率的载波相位观测和至少一个第一频率和第二频率的载波相位观测。 通过组合几何滤波器和电离层滤波器的阵列和辅助电离层滤波器，为所有载波相位观测和相关的统计信息准备了模糊度估计的组合阵列。
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35.发明申请公开(公告)号：US20110260914A1
公开(公告)日：2011-10-27
申请号：US13059413
申请日：2009-08-05
IPC分类号： G01S19/44
CPC分类号： G01S19/44
摘要： Methods and apparatus are provided for estimating parameters, i.e. ambiguities, derived from GNSS signals. Observations of GNSS signals are obtained from each of a plurality of GNSS satellites (120). The observations are fed to a filter having a state vector at least comprising a float ambiguity for each received frequency of the GNSS signals (140). The filter estimates float value for each float ambiguity of the state vector. Integer values are assigned to at least a subgroup of the estimated float values to define a plurality of integer ambiguity candidate sets (160). A first number of candidate sets is selected having a quality measure better than a first threshold, wherein the first threshold is determined based on a reference quality measure of a reference candidate set (180). A weighted average of the selected candidate sets is formed, each candidate set weighted in the weighted average based on its quality measure (200). Ambiguities of the weighted average can be used in subsequent operations to aid in determining a position of the receiver or can be used to prepare data, e.g., in a network processor that can be used to augment position information of a rover.
摘要翻译： 提供了用于估计从GNSS信号导出的参数，即模糊度的方法和装置。 从多个GNSS卫星（120）中的每一个获得GNSS信号的观察。 将观测值馈送到具有对于GNSS信号（140）的每个接收频率至少包括浮点模糊度的状态向量的滤波器。 过滤器估计状态向量的每个浮点模糊度的浮点值。 将整数值分配给估计浮点值的至少一个子组以定义多个整数模糊度候选集（160）。 选择具有优于第一阈值的质量度量的候选集的第一数量，其中基于参考候选集的参考质量测量确定第一阈值（180）。 形成所选候选集合的加权平均值，每个候选集合基于其质量度量（200）以加权平均加权。 可以在随后的操作中使用加权平均值的不确定性来帮助确定接收机的位置，或者可以用于准备数据，例如在网络处理器中，该网络处理器可用于增加流动站的位置信息。
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公开(公告)号：USD510628S1
公开(公告)日：2005-10-11
申请号：US29198077
申请日：2004-01-23
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公开(公告)号：US09651677B2
公开(公告)日：2017-05-16
申请号：US14002332
申请日：2012-03-11
摘要： Methods and apparatus provide for positioning of a rover antenna from GNSS data derived from multi-frequency signals and correction data derived from a network of reference stations. Rover antenna position and multi-frequency ambiguities are estimated at each epoch. An ionospheric filter models variation in ionospheric bias per satellite. A set of ionospheric carrier-phase ambiguities is estimated at least when the multi-frequency ambiguities have attained a predetermined precision. The estimated ionospheric carrier-phase ambiguities are cached. After detecting interruption of signal at the rover antenna and determining reacquisition of signals at the rover antenna, an ionospheric bias per satellite over an interruption interval is predicted. For each satellite, a cached ionospheric carrier-phase ambiguity is combined with a predicted ionospheric bias to obtain a post-interruption ionospheric ambiguity estimate. The post-interruption ionospheric ambiguity estimates are used to aid estimation of rover antenna position after signal reacquisition.
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38.发明授权公开(公告)号：US09562975B2
公开(公告)日：2017-02-07
申请号：US14002721
申请日：2012-03-19
摘要： Methods and apparatus for processing of GNSS signals are presented. These include GNSS processing with predicted precise clocks, GNSS processing with mixed-quality data, GNSS processing with time-sequence maintenance, GNSS processing with reduction of position jumps in low-latency solutions, GNSS processing with position blending to bridge reference station changes, and GNSS processing with delta-phase correction for incorrect starting position.
摘要翻译： 提出了GNSS信号处理方法和装置。 这些包括具有预测精确时钟的GNSS处理，具有混合质量数据的GNSS处理，具有时间序列维护的GNSS处理，具有降低低延迟解决方案中的位置跳转的GNSS处理，具有位置混合的GNSS处理以桥接参考站变化，以及 具有不正确起始位置的三角相位校正的GNSS处理。
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39.发明授权公开(公告)号：US08614642B2
公开(公告)日：2013-12-24
申请号：US13143194
申请日：2010-02-16
IPC分类号： G01S19/33
摘要： Methods and apparatus are provided for processing a set of GNSS signal data derived from signals of a first set of satellites having at least three carriers and signals of a second set of satellites having two carriers. A geometry filter uses a geometry filter combination to obtain an array of geometry-filter ambiguity estimates for the geometry filter combination and associated statistical information. Ionosphere filters use a two-frequency ionospheric combination to obtain an array of ionosphere-filter ambiguity estimates for the two-frequency ionospheric combinations and associated statistical information. Each two-frequency ionospheric combination comprises a geometry-free two-frequency ionospheric residual carrier-phase combination of observations of a first frequency and observations of a second frequency. Auxiliary ionosphere filters use an auxiliary ionospheric combination to obtain an array of auxiliary-ionosphere-filter ambiguity estimates for the auxiliary ionospheric combinations and associated statistical information. Each auxiliary ionospheric combination uses carrier-phase observations of a third frequency and carrier-phase observations of at least one of the first frequency and the second frequency. A combined array of ambiguity estimates is prepared for all carrier phase observations and associated statistical information by combining the arrays of the geometry filter and the ionosphere filters and the auxiliary ionosphere filters.
摘要翻译： 提供了用于处理从具有至少三个载波的第一组卫星和具有两个载波的第二组卫星的信号的信号导出的一组GNSS信号数据的方法和装置。 几何过滤器使用几何过滤器组合来获取几何过滤器组合和关联统计信息的几何过滤模糊度估计数组。 电离层滤波器使用双频电离层组合来获得两频电离层组合和相关统计信息的电离层滤波器模糊度估计数组。 每个两频电离层组合包括第一频率观测值和第二频率观测值的几何无二相电离层剩余载波相位组合。 辅助电离层滤波器使用辅助电离层组合来获得辅助电离层组合和相关统计信息的辅助电离层 - 滤波器模糊度估计阵列。 每个辅助电离层组合使用第三频率的载波相位观测和至少一个第一频率和第二频率的载波相位观测。 通过组合几何滤波器和电离层滤波器的阵列和辅助电离层滤波器，为所有载波相位观测和相关的统计信息准备了模糊度估计的组合阵列。
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40.发明授权GNSS signal processing methods and apparatus with ambiguity convergence indication 有权具有模糊收敛指示的GNSS信号处理方法和装置公开(公告)号：US08368591B2
公开(公告)日：2013-02-05
申请号：US13059416
申请日：2009-08-05
IPC分类号： G01S19/44
CPC分类号： G01S19/44
摘要： Methods and apparatus are provided for estimating parameters, i.e. ambiguities, derived from GNSS signals. Observations of a GNSS signal from each of a plurality of GNSS satellites are obtained (2120). The observations are fed to a filter having a state vector comprising a float ambiguity for each received frequency of the GNSS signals (2140). The filter estimates a float value for each float ambiguity of the state vector and co-variance values associated with the state vector. Integer values are assigned to at least a subgroup of the estimated float values to define a plurality of integer ambiguity candidate sets (2160). A weighted average of the candidate sets is formed (2200). A formal precision value based on covariance values of the filter is determined (2205), the formal precision value being a measure for an achievable precision. An achieved precision value of the weighted average is determined (2210). The achieved precision value is compared with the formal precision value to obtain a convergence value (2215). A convergence of the determination of the state vector is indicated (2218). Ambiguities of the weighted average can be used in subsequent operations to aid in determining a position of the receiver or can be used to prepare data, e.g., in a network processor that can be used to augment position information of a rover.
摘要翻译： 提供了用于估计从GNSS信号导出的参数，即模糊度的方法和装置。 获得来自多个GNSS卫星中的每一个的GNSS信号的观察（2120）。 将观测值馈送到具有针对GNSS信号（2140）的每个接收频率的浮点模糊度的状态向量的滤波器。 滤波器估计与状态向量相关联的状态向量和协方差值的每个浮点模糊度的浮点值。 将整数值分配给估计浮点值的至少一个子组以定义多个整数模糊度候选集（2160）。 形成候选集的加权平均值（2200）。 确定基于滤波器的协方差值的正式精度值（2205），形式精度值是可实现精度的度量。 确定加权平均精度值（2210）。 将实现的精度值与形式精度值进行比较以获得收敛值（2215）。 指示状态向量的确定的收敛（2218）。 可以在随后的操作中使用加权平均值的不确定性来帮助确定接收机的位置，或者可以用于准备数据，例如在网络处理器中，该网络处理器可用于增加流动站的位置信息。
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