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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：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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3.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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公开(公告)号：US20140015712A1
公开(公告)日：2014-01-16
申请号：US14002332
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. 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.
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。 在每个时期估计流氓天线位置和多频率模糊度。 电离层滤波器模拟每个卫星的电离层偏差变化。 至少当多频模糊度达到预定精度时，估计一组电离层载波相位模糊度。 估计电离层载波相位模糊度被缓存。 在检测到在漫游器天线上的信号中断并确定在漫游器天线上的信号的重新获取之后，预测每个卫星在中断间隔上的电离层偏倚。 对于每个卫星，缓存的电离层载波相位模糊度与预测的电离层偏差相结合，以获得中断后的电离层模糊度估计。 中断后的电离层模糊度估计用于辅助信号重新捕获之后估计流动站天线位置。
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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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6.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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公开(公告)号：US20140002299A1
公开(公告)日：2014-01-02
申请号：US13536912
申请日：2012-06-28
IPC分类号： G01S19/44
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.
摘要翻译： 用于确定位于一个区域内的流动站的精确位置的方法和装置使用包括代码观测的漫游器观察和在多个时期的至少两个载波频率上的GNSS信号的载波相位观测来呈现。 为每个时期接收每个卫星的校正数据，每个卫星至少有一个码偏置。 从合成站位置的校正数据为每个时期生成合成参考数据。 确定每个时期是否发生了周期滑移。 一旦确定发生了周期滑移，则重置受循环滑差影响的一组状态变量的任何变量的值。 流动站观测和校正数据的每个时期用于估计状态变量集合的更新值，包括一组精确的流动站位置的模糊度和坐标。
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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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9.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：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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