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1.发明授权公开(公告)号：US08704709B2
公开(公告)日：2014-04-22
申请号：US13059428
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 each of received frequencies of a GNSS signal from a plurality of GNSS satellites are obtained for a plurality of instances in time (3120). The time sequence of observations is fed to a filter to estimate a state vector comprising float ambiguities, wherein each float ambiguity constitutes a non integer estimate of an integer number of wavelengths for a received frequency of a GNSS signal between a receiver of the GNSS signal and the GNSS satellite from which it is received and wherein the float ambiguities of the state vector are updated over time on the basis of the observations (3140). The occurrence of an interruption in tracking of at least one signal of a satellite is determined (3121). The float ambiguity of the state vector for the at least one signal for which an interruption in tracking occurred is maintained at the value before the interruption in tracking occurred (3122). Integer values are assigned to at least a subgroup of the estimated float values to define a plurality of integer ambiguity candidate sets (3160). A quality measure is determined for each of the candidate sets. A weighted average of the candidate sets is formed (3200). 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。 在多个时间（3120）中获得来自多个GNSS卫星的GNSS信号的每个接收频率的观察。 将观测的时间序列馈送到滤波器以估计包括浮点模糊度的状态向量，其中每个浮点模糊度构成GNSS信号的接收机与GNSS信号的接收频率的接收频率的整数个波长的非整数估计，以及 接收GNSS卫星并且其中根据观测值（3140）随时间更新状态向量的浮点模糊度。 确定跟踪卫星的至少一个信号的中断的发生（3121）。 跟踪发生中断的至少一个信号的状态向量的浮点模糊度维持在跟踪发生中断之前的值（3122）。 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（3160）。 确定每个候选组的质量度量。 形成候选集的加权平均值（3200）。 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：US20140002300A1
公开(公告)日：2014-01-02
申请号：US14002716
申请日：2012-03-11
IPC分类号： G01S19/44
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.
摘要翻译： 方法和装置提供从多频信号导出的GNSS数据和从参考站网络导出的校正数据来定位漫游器天线。 在多个历元中的每个时期，GNSS数据和校正数据用于估计定义流动站天线位置和一组多频率模糊度的值。 基于已知的漫游器天线位置来估计每个卫星的无电离层载波相位模糊度。 估计的无电离载波相位模糊度与估计的宽带模糊度和估计的无电离差模糊度以及定义已知流动站天线位置的值相结合，以获得定义辅助漫游器天线位置和辅助多频率模糊度的值。
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公开(公告)号：US08237609B2
公开(公告)日：2012-08-07
申请号：US12660080
申请日：2010-02-20
IPC分类号： G01S19/44
CPC分类号： G01S19/44
摘要： Methods and apparatus are presented for determining a position of an antenna of a GNSS rover from observations of GNSS signals collected at the antenna over multiple epochs and from correction data for at least one of the epochs. A first-epoch rover position relative to a base location is determined for a first epoch using a single-differencing process based on one of (i) fixed carrier-phase ambiguities and (ii) a weighted average of carrier-phase ambiguity candidates which is converged to a predetermined threshold. A second-epoch rover position relative to a base location is determined for a second epoch using a single-differencing process. A second-epoch update of the first-epoch rover position relative to the base location is determined for the second epoch using a single-differenced delta phase process and the first-epoch rover position is combined with the second-epoch update to obtain a second-epoch delta phase rover position relative to a moving base location of the second epoch. The second-epoch delta phase rover position is selected as reliable if the second-epoch rover position is not based on one of (i) fixed carrier-phase ambiguities and (ii) a weighted average of carrier-phase ambiguity candidates which is converged to a predetermined threshold.
摘要翻译： 提出了用于根据在多个时期在天线处收集的GNSS信号的观测和从至少一个时期的校正数据确定GNSS漫游器的天线的位置的方法和装置。 使用基于（i）固定载波相位模糊度和（ii）载波相位模糊度候选者的加权平均值的单个差分处理，针对第一时期确定第一时元相对于基本位置的第一时代流动站位置， 收敛到预定阈值。 使用单一差分过程确定第二历元相对于基本位置的第二时期流动站位置。 使用单差分增量相位处理确定第二纪元的相对于基本位置的第一时期流动站位置的第二时期更新，并且将第一时期流动站位置与第二历元更新相组合以获得第二历元 相对于第二纪元的移动基座位置的相位三角形相位移动器位置。 如果第二时期流动站位置不是基于（i）固定载波相位模糊度和（ii）载波相位模糊度候选者的加权平均值而被收敛到 预定阈值。
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公开(公告)号：US20110285587A1
公开(公告)日：2011-11-24
申请号：US13148305
申请日：2010-02-20
IPC分类号： G01S19/23
摘要： Methods and apparatus are presented for improved productivity in determining static position of an antenna of a GNSS rover, such as in stop-and-go surveying. Computer-implemented methods and apparatus provide for determining a static position of an antenna of a GNSS rover from observations of GNSS signals collected at the antenna over multiple epochs and from correction data for at least one of the epochs. In some forms this comprises: acquiring first-epoch rover observations of GNSS signals received at the antenna during a first epoch, obtaining first-epoch correction data for the first epoch, determining a synchronized rover antenna position for the first epoch from the first-epoch rover observations and the first-epoch correction data, acquiring subsequent-epoch rover observations from the received GNSS satellite signals for at least one subsequent epoch for which correction data is unavailable, determining that the antenna position remained static for at least two static epochs, and determining an updated rover antenna position from the synchronized rover antenna position and the subsequent-epoch rover observations of at least one static epoch of the at least one subsequent epoch.
摘要翻译： 介绍了确定GNSS漫游器天线静态位置的方法和装置，例如停止测量。 计算机实现的方法和装置提供用于根据在多个时期在天线处收集的GNSS信号和从至少一个时期的校正数据的观测来确定GNSS漫游器的天线的静态位置。 在某些形式中，这包括：获取在第一纪元期间在天线处接收的GNSS信号的第一时期流动站观测值，获得第一时期的第一时期校正数据，从第一时期确定用于第一时期的同步的漫游者天线位置 流动站观测和第一时代校正数据，从接收到的GNSS卫星信号中获取随后的时间流动站观测值，用于对于校正数据不可用的至少一个后续历元，确定天线位置对于至少两个静态时期保持静止，以及 从所述同步的漫游器天线位置确定更新的漫游器天线位置，以及所述至少一个后续时期的至少一个静态历元的后续时刻流动站观测。
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5.发明申请公开(公告)号：US20110279314A1
公开(公告)日：2011-11-17
申请号：US13143192
申请日：2010-02-16
IPC分类号： G01S19/23
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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公开(公告)号：US20110267228A1
公开(公告)日：2011-11-03
申请号：US13143194
申请日：2010-02-16
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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公开(公告)号：US20100214162A1
公开(公告)日：2010-08-26
申请号：US12660080
申请日：2010-02-20
IPC分类号： G01S19/44
CPC分类号： G01S19/44
摘要： Methods and apparatus are presented for determining a position of an antenna of a GNSS rover from observations of GNSS signals collected at the antenna over multiple epochs and from correction data for at least one of the epochs. A first-epoch rover position relative to a base location is determined for a first epoch using a single-differencing process based on one of (i) fixed carrier-phase ambiguities and (ii) a weighted average of carrier-phase ambiguity candidates which is converged to a predetermined threshold. A second-epoch rover position relative to a base location is determined for a second epoch using a single-differencing process. A second-epoch update of the first-epoch rover position relative to the base location is determined for the second epoch using a single-differenced delta phase process and the first-epoch rover position is combined with the second-epoch update to obtain a second-epoch delta phase rover position relative to a moving base location of the second epoch. The second-epoch delta phase rover position is selected as reliable if the second-epoch rover position is not based on one of (i) fixed carrier-phase ambiguities and (ii) a weighted average of carrier-phase ambiguity candidates which is converged to a predetermined threshold.
摘要翻译： 提出了用于根据在多个时期在天线处收集的GNSS信号的观测和从至少一个时期的校正数据确定GNSS漫游器的天线的位置的方法和装置。 使用基于（i）固定载波相位模糊度和（ii）载波相位模糊度候选者的加权平均值的单个差分处理，针对第一时期确定第一时元相对于基本位置的第一时代流动站位置， 收敛到预定阈值。 使用单一差分过程确定第二历元相对于基本位置的第二时期流动站位置。 使用单差分增量相位处理确定第二纪元的相对于基本位置的第一时期流动站位置的第二时期更新，并且将第一时期流动站位置与第二历元更新相组合以获得第二历元 相对于第二纪元的移动基座位置的相位三角形相位移动器位置。 如果第二时期流动站位置不是基于（i）固定载波相位模糊度和（ii）载波相位模糊度候选者的加权平均值而被收敛到 预定阈值。
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公开(公告)号：US20100214161A1
公开(公告)日：2010-08-26
申请号：US12660091
申请日：2010-02-20
IPC分类号： G01S19/41
CPC分类号： G01S19/44
摘要： Methods and apparatus are presented for determining a position of an antenna of a GNSS rover from observations of GNSS signals collected at the antenna over multiple epochs and from correction data for at least one of the epochs. A first-epoch rover position relative to a moving base location is determined, a second-epoch update of the first-epoch rover position relative to the moving base location for a second epoch is determined using a single-differenced delta phase process, and the first-epoch position and the second-epoch update are combined to obtain a second-epoch rover position relative to a moving base location of the second epoch.
摘要翻译： 提出了用于根据在多个时期在天线处收集的GNSS信号的观测和从至少一个时期的校正数据确定GNSS漫游器的天线的位置的方法和装置。 确定相对于移动基站位置的第一时期流动站位置，使用单差分三角洲相位处理来确定相对于第二历元的移动基地址的第一时期流动站位置的第二时期更新， 第一时期位置和第二时期更新被组合以获得相对于第二时期的移动基座位置的第二时代流浪者位置。
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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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10.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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