公开(公告)号：US20220066041A1

公开(公告)日：2022-03-03

申请号：US17018050

申请日：2020-09-11

Applicant: Google LLC

Inventor： Mohammed Khider ,  Frank Van Diggelen ,  Imad Fattouch ,  Zifei Tong ,  David Orendorff ,  Arastoo Zabolestani Moradi ,  Kevin Watts ,  Guoyu Fu

IPC: G01S19/06 ,  G01S19/24 ,  H04W4/029

Abstract: A method of processing signal paths includes receiving an estimated location for a GNSS receiver in an environment. The method also includes generating a plurality of candidate positions about the estimated location where each candidate position corresponds to a possible actual location of the GNSS receiver. The method further includes, for each available satellite at each candidate position, modeling a plurality of candidate signal paths by ray-launching a raster map of geographical data. Here, the plurality of candidate signal paths includes one or more reflected signal paths. At each candidate position, the method also includes comparing, the plurality of candidate signal paths modeled for each available satellite at the respective candidate position to measured GNSS signal data from the GNSS receiver and generating a likelihood that the respective candidate position includes the actual location of the GNSS receiver based on the comparison.

公开(公告)号：US11598881B2

公开(公告)日：2023-03-07

申请号：US17018050

申请日：2020-09-11

Applicant: Google LLC

Inventor： Mohammed Khider ,  Frank Van Diggelen ,  Imad Fattouch ,  Zifei Tong ,  David Orendorff ,  Arastoo Zabolestani Moradi ,  Kevin Watts ,  Guoyu Fu

IPC: G01S19/24 ,  G01S19/06 ,  G01S19/22 ,  G01S19/39 ,  G01S19/37 ,  H04W4/029

Abstract: A method of processing signal paths includes receiving an estimated location for a GNSS receiver in an environment. The method also includes generating a plurality of candidate positions about the estimated location where each candidate position corresponds to a possible actual location of the GNSS receiver. The method further includes, for each available satellite at each candidate position, modeling a plurality of candidate signal paths by ray-launching a raster map of geographical data. Here, the plurality of candidate signal paths includes one or more reflected signal paths. At each candidate position, the method also includes comparing, the plurality of candidate signal paths modeled for each available satellite at the respective candidate position to measured GNSS signal data from the GNSS receiver and generating a likelihood that the respective candidate position includes the actual location of the GNSS receiver based on the comparison.