公开(公告)号：US20150097724A1

公开(公告)日：2015-04-09

申请号：US14325446

申请日：2014-07-08

Applicant: Topcon Positioning Systems, Inc.

Inventor： Vladimir V. Veitsel ,  Dmitry P. Nikitin ,  Andrey V. Plenkin ,  Andrey V. Veitsel ,  Mark I. Zhodzishsky ,  Victor A. Prasolov

IPC: G01S19/13

CPC classification number: G01S19/13 ,  G01S19/52

Abstract: The present invention relates to processing information generated by GNSS receivers received signals such as GPS, GLONASS, etc. GNSS receivers can determine their position in space. The receivers are capable of determining both coordinates and velocity of their spatial movement. When a receiver is used in any machine control systems, velocity vector heading (in other words, velocity vector orientation) should be determined along with velocity vector's absolute value. Angle, determining velocity vector orientation, is calculated based on velocity vector projections which are computed in navigation receivers. The accuracy of velocity vector orientation calculated based on velocity vector projections strongly enough depends on velocity vector's absolute value. To enhance the accuracy, a method of smoothing primary estimates of velocity vector orientation angles using a modified Kalman filter has been proposed. The bandwidth of this filter is varied depending on current estimates of velocity vector's absolute value which were calculated based on the same velocity vector projections.

Abstract translation: 本发明涉及由GNSS接收机生成的接收信号（例如GPS，GLONASS等）的处理信息。GNSS接收机可以确定它们在空间中的位置。 接收机能够确定其空间运动的坐标和速度。 当接收机用于任何机器控制系统时，速度矢量标题（换句话说，速度矢量方向）应与速度矢量的绝对值一起确定。 基于在导航接收机中计算的速度矢量投影计算角度，确定速度矢量方向。 基于速度矢量投影计算出的速度矢量方向的精确度足够高取决于速度矢量的绝对值。 为了提高准确性，已经提出了使用改进的卡尔曼滤波器来平滑速度矢量定向角的初级估计的方法。 该滤波器的带宽根据基于相同速度矢量投影计算的速度矢量绝对值的当前估计而变化。

公开(公告)号：US09052388B2

公开(公告)日：2015-06-09

申请号：US14325446

申请日：2014-07-08

Applicant: Topcon Positioning Systems, Inc.

Inventor： Vladimir V. Veitsel ,  Dmitry P. Nikitin ,  Andrey V. Plenkin ,  Andrey V. Veitsel ,  Mark I. Zhodzishsky ,  Victor A. Prasolov

IPC: G01S19/13

CPC classification number: G01S19/13 ,  G01S19/52

Abstract: The present invention relates to processing information generated by GNSS receivers received signals such as GPS, GLONASS, etc. GNSS receivers can determine their position in space. The receivers are capable of determining both coordinates and velocity of their spatial movement. When a receiver is used in any machine control systems, velocity vector heading (in other words, velocity vector orientation) should be determined along with velocity vector's absolute value. Angle, determining velocity vector orientation, is calculated based on velocity vector projections which are computed in navigation receivers. The accuracy of velocity vector orientation calculated based on velocity vector projections strongly enough depends on velocity vector's absolute value. To enhance the accuracy, a method of smoothing primary estimates of velocity vector orientation angles using a modified Kalman filter has been proposed. The bandwidth of this filter is varied depending on current estimates of velocity vector's absolute value which were calculated based on the same velocity vector projections.

Abstract translation: 本发明涉及由GNSS接收机生成的接收信号（例如GPS，GLONASS等）的处理信息。GNSS接收机可以确定它们在空间中的位置。 接收机能够确定其空间运动的坐标和速度。 当接收机用于任何机器控制系统时，速度矢量标题（换句话说，速度矢量方向）应与速度矢量的绝对值一起确定。 基于在导航接收机中计算的速度矢量投影计算角度，确定速度矢量方向。 基于速度矢量投影计算出的速度矢量方向的精确度足够高取决于速度矢量的绝对值。 为了提高准确性，已经提出了使用改进的卡尔曼滤波器来平滑速度矢量定向角的初级估计的方法。 该滤波器的带宽根据基于相同速度矢量投影计算的速度矢量绝对值的当前估计而变化。

公开(公告)号：US20150063432A1

公开(公告)日：2015-03-05

申请号：US14527880

申请日：2014-10-30

Applicant: Topcon Positioning Systems, Inc.

Inventor： Mark I. Zhodzishsky ,  Victor A. Prasolov ,  Vladimir V. Veitsel ,  Dmitry M. Zhodzishsky ,  ALEXEY S. LEBEDINSKY ,  ILYA V. IVANTSOV

IPC: H04L25/02 ,  H04L7/033 ,  H04B17/00

CPC classification number: H04L25/0262 ,  G01S19/37 ,  H03L7/08 ,  H03L2207/50 ,  H04B17/364 ,  H04L7/0331

Abstract: Navigation satellite receivers have a large number of channels, where phase discriminators and loop filter of a PLL operate in phase with data bits and control of numerically controlled oscillator (NCO) carried out simultaneously on all channels. Since symbol boundaries for different satellites do not match, there is a variable time delay between the generation of control signals and NCO control time. This delay may be measured by counting a number of samples in the delay interval. A proposed system measures non-energy parameters of the BPSK-signal carrier received in additive mixture with noise when a digital loop filter of PLL controls NCO with a constant or changing in time delay. A control unit controls bandwidth and a LF order by changing transfer coefficients based on analyzing estimated signal parameters and phase tracking error at a PD output.

Abstract translation: 导航卫星接收机具有大量信道，其中PLL的相位鉴别器和环路滤波器与所有信道上同时执行的数字位和数控振荡器（NCO）的相位操作。 由于不同卫星的符号边界不匹配，控制信号的产生和NCO控制时间之间存在可变的时间延迟。 该延迟可以通过对延迟间隔中的采样数进行计数来测量。 所提出的系统在PLL的数字环路滤波器控制NCO具有恒定或时间延迟变化时，测量在具有噪声的加法混合中接收的BPSK信号载波的非能量参数。 控制单元通过基于分析PD输出端的估计信号参数和相位跟踪误差来改变传输系数来控制带宽和LF顺序。

公开(公告)号：US08982937B1

公开(公告)日：2015-03-17

申请号：US14527880

申请日：2014-10-30

Applicant: Topcon Positioning Systems, Inc.

Inventor： Mark I. Zhodzishsky ,  Victor A. Prasolov ,  Vladimir V. Veitsel ,  Dmitry M. Zhodzishsky ,  Alexey S. Lebedinsky ,  Ilya V. Ivantsov

IPC: H03D3/18 ,  H03D3/24 ,  H04L25/02 ,  H04B17/00 ,  H04L7/033 ,  H03L7/08

CPC classification number: H04L25/0262 ,  G01S19/37 ,  H03L7/08 ,  H03L2207/50 ,  H04B17/364 ,  H04L7/0331

Abstract: Navigation satellite receivers have a large number of channels, where phase discriminators and loop filter of a PLL operate in phase with data bits and control of numerically controlled oscillator (NCO) carried out simultaneously on all channels. Since symbol boundaries for different satellites do not match, there is a variable time delay between the generation of control signals and NCO control time. This delay may be measured by counting a number of samples in the delay interval. A proposed system measures non-energy parameters of the BPSK-signal carrier received in additive mixture with noise when a digital loop filter of PLL controls NCO with a constant or changing in time delay. A control unit controls bandwidth and a LF order by changing transfer coefficients based on analyzing estimated signal parameters and phase tracking error at a PD output.

Abstract translation: 导航卫星接收机具有大量信道，其中PLL的相位鉴别器和环路滤波器与所有信道上同时执行的数字位和数控振荡器（NCO）的相位操作。 由于不同卫星的符号边界不匹配，控制信号的产生和NCO控制时间之间存在可变的时间延迟。 该延迟可以通过对延迟间隔中的采样数进行计数来测量。 所提出的系统在PLL的数字环路滤波器控制NCO具有恒定或时间延迟变化时，测量在具有噪声的加法混合中接收的BPSK信号载波的非能量参数。 控制单元通过基于分析PD输出端的估计信号参数和相位跟踪误差来改变传输系数来控制带宽和LF顺序。