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    GPS navigation using interacting multiple model (IMM) estimator and probabilistic data association filter (PDAF)
    1.
    发明授权
    GPS navigation using interacting multiple model (IMM) estimator and probabilistic data association filter (PDAF) 有权
    使用交互式多模型（IMM）估计器和概率数据关联过滤器（PDAF）的GPS导航

    公开(公告)号：US07551133B2

    公开(公告)日：2009-06-23

    申请号：US11696920

    申请日：2007-04-05

    申请人： Xiangdong Lin ,  Gengsheng Zhang ,  Mangesh Chansarkar ,  Daniel Liao ,  Lionel Garin

    发明人： Xiangdong Lin ,  Gengsheng Zhang ,  Mangesh Chansarkar ,  Daniel Liao ,  Lionel Garin

    IPC分类号： G01S5/14 ,  G01C21/00

    CPC分类号： G01S19/42

    摘要： A method for GPS navigation which uses an interacting multiple-model (IMM) estimator with a probabilistic data association filter (PDAF) improves navigation performance. The method includes (a) providing two or more models of GPS navigation, with each model characterized by a model state vector which is updated periodically, (b) providing for each model a corresponding filter for deriving, for each period, a current value for the corresponding model state vector based on current measurements made on parameters affecting the corresponding state vector; and (c) applying an interacting multiple model (IMM) estimator to provide, for each period, a current value for a system state vector using the current values of the model state vectors for that period and their corresponding filters. Each model state vector may include one or more of the following: variables: 3-dimensional position, 3-dimensional velocity, satellite clock bias, satellite clock drifts and one or more other satellite parameters. The current value of the system state vector may be a weighted average of the current values of the model state vectors, where the weights are a set of mode probabilities. In addition, one or more of the filters is a probabilitic data association filter (PDAF).

    摘要翻译： 使用具有概率数据关联过滤器（PDAF）的交互式多模型（IMM）估计器的GPS导航方法提高了导航性能。 该方法包括（a）提供两个或多个GPS导航模型，每个模型的特征在于周期性更新的模型状态向量，（b）为每个模型提供相应的滤波器，以便为每个周期导出当前值， 基于对影响对应状态向量的参数进行的当前测量的相应模型状态向量; 并且（c）应用交互式多模型（IMM）估计器，以使用该周期的模型状态向量的当前值及其对应的过滤器为每个周期提供系统状态向量的当前值。 每个模型状态向量可以包括以下中的一个或多个：变量：3维位置，3维速度，卫星时钟偏差，卫星时钟漂移和一个或多个其他卫星参数。 系统状态向量的当前值可以是模型状态向量的当前值的加权平均值，其中权重是一组模式概率。 另外，一个或多个过滤器是概率数据关联过滤器（PDAF）。

    GPS NAVIGATION USING INTERACTING MULTIPLE MODEL (IMM) ESTIMATOR AND PROBABILISTIC DATA ASSOCIATION FILTER (PDAF)
    2.
    发明申请
    GPS NAVIGATION USING INTERACTING MULTIPLE MODEL (IMM) ESTIMATOR AND PROBABILISTIC DATA ASSOCIATION FILTER (PDAF) 有权
    GPS导航使用交互式多模型（IMM）估计器和概率数据协调滤波器（PDAF）

    公开(公告)号：US20080246653A1

    公开(公告)日：2008-10-09

    申请号：US11696920

    申请日：2007-04-05

    申请人： Xiangdong Lin ,  Gengsheng Zhang ,  Mangesh Chansarkar ,  Daniel Liao ,  Lionel Garin

    发明人： Xiangdong Lin ,  Gengsheng Zhang ,  Mangesh Chansarkar ,  Daniel Liao ,  Lionel Garin

    IPC分类号： G01S1/00

    CPC分类号： G01S19/42

    摘要： A method for GPS navigation which uses an interacting multiple-model (IMM) estimator with a probabilistic data association filter (PDAF) improves navigation performance. The method includes (a) providing two or more models of GPS navigation, with each model characterized by a model state vector which is updated periodically, (b) providing for each model a corresponding filter for deriving, for each period, a current value for the corresponding model state vector based on current measurements made on parameters affecting the corresponding state vector; and (c) applying an interacting multiple model (IMM) estimator to provide, for each period, a current value for a system state vector using the current values of the model state vectors for that period and their corresponding filters. Each model state vector may include one or more of the following: variables: 3-dimensional position, 3-dimensional velocity, satellite clock bias, satellite clock drifts and one or more other satellite parameters. The current value of the system state vector may be a weighted average of the current values of the model state vectors, where the weights are a set of mode probabilities. In addition, one or more of the filters is a probabilitic data association filter (PDAF).

    摘要翻译： 使用具有概率数据关联过滤器（PDAF）的交互式多模型（IMM）估计器的GPS导航方法提高了导航性能。 该方法包括（a）提供两个或多个GPS导航模型，每个模型的特征在于周期性更新的模型状态向量，（b）为每个模型提供相应的滤波器，以便为每个周期导出当前值， 基于对影响对应状态向量的参数进行的当前测量的相应模型状态向量; 并且（c）应用交互式多模型（IMM）估计器，以使用该周期的模型状态向量的当前值及其对应的过滤器为每个周期提供系统状态向量的当前值。 每个模型状态向量可以包括以下中的一个或多个：变量：3维位置，3维速度，卫星时钟偏差，卫星时钟漂移和一个或多个其他卫星参数。 系统状态向量的当前值可以是模型状态向量的当前值的加权平均值，其中权重是一组模式概率。 另外，一个或多个过滤器是概率数据关联过滤器（PDAF）。

    UTILIZING SBAS SIGNALS TO IMPROVE GNSS RECEIVER PERFORMANCE
    5.
    发明申请
    UTILIZING SBAS SIGNALS TO IMPROVE GNSS RECEIVER PERFORMANCE 失效
    利用SBAS信号改善GNSS接收机的性能

    公开(公告)号：US20100232351A1

    公开(公告)日：2010-09-16

    申请号：US12402426

    申请日：2009-03-11

    申请人： Mangesh CHANSARKAR ,  Gang Xie ,  Gengsheng Zhang

    发明人： Mangesh CHANSARKAR ,  Gang Xie ,  Gengsheng Zhang

    IPC分类号： H04B7/216 ,  G01S19/03

    CPC分类号： G01S19/13 ,  G01S19/25

    摘要： The present invention provides methods of improving GNSS receivers' satellite signal acquisition and TIFF performances by taking advantage of SBAS signals. Due to a SBAS satellite's geostationary position and typically strong signal, the SBAS satellite signal can be acquired more quickly than a GPS satellite signal. Once a SBAS satellite signal is acquired the Doppler frequency search uncertainty may be reduced for remaining GNSS satellites which are to be acquired. Furthermore, a satellite search list may be optimized to search for satellites close to the line of sight (LOS) of the SBAS satellite for which a signal has been acquired, in receiver “warm” and “hot” start modes. Moreover, since a SBAS signal sub-frame is only one second long, which is shorter than six seconds for a GPS signal sub-frame, synchronization of the SBAS signal sub-frame may be achieved faster than for GPS signals. With aided time information, a receiver may compute the absolute time of week (TOW) from a sub-frame synchronized SBAS signal. Therefore, without necessarily waiting for TOW to be decoded from a GPS signal and with TOW extracted from a SBAS signal, a receiver can achieve better TTFF performance.

    摘要翻译： 本发明提供了通过利用SBAS信号来改进GNSS接收机的卫星信号采集和TIFF性能的方法。 由于SBAS卫星的对地静止位置和典型的强信号，可以比GPS卫星信号更快地获取SBAS卫星信号。 一旦获取了SBAS卫星信号，可能会减少将要获取的剩余GNSS卫星的多普勒频率搜索不确定度。 此外，可以优化卫星搜索列表，以在接收机“暖”和“热”启动模式中搜索靠近已经获取信号的SBAS卫星的视线（LOS）的卫星。 此外，由于对于GPS信号子帧，SBAS信号子帧仅为1秒长度，其短于6秒，所以可以比针对GPS信号更快地实现SBAS信号子帧的同步。 利用辅助时间信息，接收机可以从子帧同步的SBAS信号计算绝对时间（TOW）。 因此，不必等待TOW从GPS信号解码，并且从SBAS信号提取TOW，接收机可以实现更好的TTFF性能。

    Utilizing SBAS signals to improve GNSS receiver performance
    6.
    发明授权
    Utilizing SBAS signals to improve GNSS receiver performance 失效
    利用SBAS信号来改善GNSS接收机性能

    公开(公告)号：US08593342B2

    公开(公告)日：2013-11-26

    申请号：US12402426

    申请日：2009-03-11

    申请人： Mangesh Chansarkar ,  Gang Xie ,  Gengsheng Zhang

    发明人： Mangesh Chansarkar ,  Gang Xie ,  Gengsheng Zhang

    IPC分类号： G01S19/23 ,  G01S19/24 ,  G01S19/26 ,  G01S19/31

    CPC分类号： G01S19/13 ,  G01S19/25

    摘要： The present invention provides methods of performing GNSS receivers' satellite signal acquisition and TTFF while taking advantage of SBAS signals. Due to a SBAS satellite's geostationary position and typically strong signal, the SBAS satellite signal can be acquired more quickly than a GPS satellite signal. Once a SBAS satellite signal is acquired the Doppler frequency search uncertainty may be reduced for remaining GNSS satellites which are to be acquired. Furthermore, a satellite search list may be optimized to search for satellites close to the line of sight (LOS) of the SBAS satellite for which a signal has been acquired, in receiver “warm” and “hot” start modes. Moreover, since a SBAS signal sub-frame is only one second long, which is shorter than six seconds for a GPS signal sub-frame, synchronization of the SBAS signal sub-frame may be achieved faster than for GPS signals. With aided time information, a receiver may compute the absolute time of week (TOW) from a sub-frame synchronized SBAS signal. Therefore, TTFF can be achieved without necessarily waiting for TOW to be decoded from a GPS signal.

    摘要翻译： 本发明提供了在利用SBAS信号的同时执行G​​NSS接收机的卫星信号采集和TTFF的方法。 由于SBAS卫星的对地静止位置和典型的强信号，可以比GPS卫星信号更快地获取SBAS卫星信号。 一旦获取了SBAS卫星信号，可能会减少将要获取的剩余GNSS卫星的多普勒频率搜索不确定度。 此外，可以优化卫星搜索列表，以在接收机“暖”和“热”启动模式中搜索靠近已经获取信号的SBAS卫星的视线（LOS）的卫星。 此外，由于对于GPS信号子帧，SBAS信号子帧仅为1秒长度，其短于6秒，所以可以比针对GPS信号更快地实现SBAS信号子帧的同步。 利用辅助时间信息，接收机可以从子帧同步的SBAS信号计算绝对时间（TOW）。 因此，可以实现TTFF而不必等待从GPS信号解码TOW。

    Systems and methods for detecting a vehicle static condition
    7.
    发明授权
    Systems and methods for detecting a vehicle static condition 有权
    用于检测车辆静态的系统和方法

    公开(公告)号：US07979207B2

    公开(公告)日：2011-07-12

    申请号：US11687782

    申请日：2007-03-19

    申请人： Mahesh Chowdhary ,  Qiyue Zhang ,  Mangesh Chansarkar ,  Gengsheng Zhang

    发明人： Mahesh Chowdhary ,  Qiyue Zhang ,  Mangesh Chansarkar ,  Gengsheng Zhang

    IPC分类号： G01C7/04

    CPC分类号： G01C21/12

    摘要： Systems and methods for detecting a vehicle static condition are provided. In this regard, a representative system includes a sensor operative to detect at least one of acceleration and angular rate of a vehicle. The sensor is further operative to generate a vehicle vibration profile based on the at least one of the detected acceleration and angular rate of the vehicle. The system further includes a computing device operative to receive the vehicle vibration profile from the sensor, the computing device being further operative to determine whether the vehicle is stationary or moving based on the vehicle vibration profile. A representative method for detecting a vehicle static condition includes detecting at least one of acceleration and angular grade of a vehicle; generating a vehicle vibration profile based on at least one of the detected acceleration and angular grade of the vehicle; receiving the vehicle vibration profile; and determining whether the vehicle is stationary or moving based on the vehicle vibration profile.

    摘要翻译： 提供了用于检测车辆静态的系统和方法。 在这方面，代表性系统包括用于检测车辆的加速度和角速度中的至少一个的传感器。 传感器进一步操作以基于所检测的车辆的加速度和角速度中的至少一个来产生车辆振动分布。 该系统还包括可操作以从传感器接收车辆振动分布的计算装置，所述计算装置进一步操作以基于车辆振动分布来确定车辆是静止的还是移动的。 用于检测车辆静态的代表性方法包括检测车辆的加速度和角度等级中的至少一个; 基于所检测的车辆的加速度和角度等级中的至少一个产生车辆振动轮廓; 接收车辆振动剖面; 以及基于车辆振动分布来确定车辆是静止的还是运动的。

    Systems and Methods for Detecting a Vehicle Static Condition
    8.
    发明申请
    Systems and Methods for Detecting a Vehicle Static Condition 有权
    检测车辆静态条件的系统和方法

    公开(公告)号：US20080234933A1

    公开(公告)日：2008-09-25

    申请号：US11687782

    申请日：2007-03-19

    申请人： Mahesh Chowdhary ,  Qiyue Zhang ,  Mangesh Chansarkar ,  Gengsheng Zhang

    发明人： Mahesh Chowdhary ,  Qiyue Zhang ,  Mangesh Chansarkar ,  Gengsheng Zhang

    IPC分类号： G01C21/10 ,  G01C21/12

    CPC分类号： G01C21/12

    摘要： Systems and methods for detecting a vehicle static condition are provided. In this regard, a representative system includes a sensor operative to detect at least one of acceleration and angular rate of a vehicle. The sensor is further operative to generate a vehicle vibration profile based on the at least one of the detected acceleration and angular rate of the vehicle. The system further includes a computing device operative to receive the vehicle vibration profile from the sensor, the computing device being further operative to determine whether the vehicle is stationary or moving based on the vehicle vibration profile. A representative method for detecting a vehicle static condition includes detecting at least one of acceleration and angular grade of a vehicle; generating a vehicle vibration profile based on at least one of the detected acceleration and angular grade of the vehicle; receiving the vehicle vibration profile; and determining whether the vehicle is stationary or moving based on the vehicle vibration profile.

    摘要翻译： 提供了用于检测车辆静态的系统和方法。 在这方面，代表性系统包括用于检测车辆的加速度和角速度中的至少一个的传感器。 传感器进一步操作以基于所检测的车辆的加速度和角速度中的至少一个来产生车辆振动分布。 该系统还包括可操作以从传感器接收车辆振动分布的计算装置，所述计算装置进一步操作以基于车辆振动分布来确定车辆是静止的还是移动的。 用于检测车辆静态的代表性方法包括检测车辆的加速度和角度等级中的至少一个; 基于所检测的车辆的加速度和角度等级中的至少一个产生车辆振动轮廓; 接收车辆振动剖面; 以及基于所述车辆振动分布来确定所述车辆是静止的还是移动的。