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公开(公告)号：US20240272309A1
公开(公告)日：2024-08-15
申请号：US18168102
申请日：2023-02-13
发明人： Yuxiang PENG , Min WANG , Ning LUO
摘要： Techniques are provided for integrating GNSS measurements between two or more GNSS receivers. An example method includes determining an antenna baseline vector based on relative locations of a first antenna that is communicatively coupled to a first GNSS receiver and a second antenna that is communicatively coupled to a second GNSS receiver, determining a first position estimate and a first integer ambiguity resolution (IAR) status with the first GNSS receiver at a first time, determining a second position estimate and a second IAR status with the second GNSS receiver at approximately the first time, computing a horizontal offset value based on the antenna baseline vector and a difference between the first position estimate and the second position estimate, and generating the wrong fix indication in response to the first IAR status being fixed, the second IAR status being fixed, and the horizontal offset value being greater than a threshold value.
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公开(公告)号：US12037773B2
公开(公告)日：2024-07-16
申请号：US18241055
申请日：2023-08-31
发明人： Robert Kotlaba
摘要： Systems and techniques are described for implementing autonomous control of powered earth-moving vehicles (e.g., construction and/or mining vehicles), including to automatically determine and control movement around a site. For example, the systems/techniques may determine and implement autonomous operations of earth-moving vehicles by determining current location and positioning of an earth-moving vehicle on the site, determining a command for the earth-moving vehicle, and causing the earth-moving vehicle to perform the command—the autonomous operations may in some situations further include obtaining and integrating data from sensors of multiple types on the earth-moving vehicle, implementing coordinated actions of multiple earth-moving vehicles of one or more types, etc.
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公开(公告)号：US20240142640A1
公开(公告)日：2024-05-02
申请号：US18540484
申请日：2023-12-14
发明人： Bo ZHENG , Yinghua YANG , Ning LUO , Gengsheng ZHANG
CPC分类号： G01S19/44 , G01S19/04 , G01S19/256 , G01S19/396 , G07C5/008 , G08G1/0116 , H04W4/027 , H04W4/40
摘要： Techniques are provided which may be implemented using various methods and/or apparatuses in a vehicle to determine location relative to a roadside unit (RSU) or other nearby point of reference. Vehicles within a pre-designated range or within broadcast distance or otherwise geographically proximate to a roadside unit, through the use of broadcast or other messages sent by the vehicles and/or the RSU may share carrier GNSS phase measurement data, wherein the shared GNSS carrier phase measurement data may be utilized to control and coordinate vehicle movements, velocity and/or position by the RSU and/or to determine location of each vehicle relative to the RSU and/or to other vehicles or determine the absolute location of each vehicle. An RSU may coordinate vehicle access to an intersection, manage vehicle speeds and coordinate or control vehicle actions such as slowing, stopping, and changing lanes or sending a vehicle to a particular location.
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公开(公告)号：US20240094414A1
公开(公告)日：2024-03-21
申请号：US17947099
申请日：2022-09-17
IPC分类号： G01S19/44
CPC分类号： G01S19/44
摘要： An integer ambiguity resolution method includes: receiving SPS signals; determining, for the SPS signals, candidate float ambiguity values indicative of float numbers of carrier signal wavelengths of the SPS signals between respective satellite sources, of the SPS signals, and the mobile device; and performing, in response to failure of an integer ambiguity resolution validation check based on at least a first subset of the candidate float ambiguity values, an integer ambiguity search using at least a second subset of the candidate float ambiguity values; wherein each candidate float ambiguity value of the at least second subset of the candidate float ambiguity values corresponds to a second indication of candidate float ambiguity accuracy that is higher than a first indication of candidate float ambiguity accuracy, if any, corresponding to the at least first subset of the candidate float ambiguity values.
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公开(公告)号：US20240012162A1
公开(公告)日：2024-01-11
申请号：US18220557
申请日：2023-07-11
申请人： u-blox AG
IPC分类号： G01S19/44
CPC分类号： G01S19/44
摘要： A method and apparatus are provided for processing GNSS measurements to infer state information. An example method includes obtaining one or more residual error models for the plurality of GNSS measurements. The one or more residual error models describe a probability distribution of errors in each of the GNSS measurements. The method further includes inferring the state information based on the one or more residual error models. The GNSS measurements include at least one carrier phase measurement. The residual error model for the at least one carrier phase measurement is cyclic, such that errors in carrier phase that are separated by an integer number of cycles are regarded as equivalent. The probability distribution for the at least one carrier phase measurement comprises a function having a continuous first derivative, for example, a continuous first derivative at a phase boundary between successive cycles.
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公开(公告)号：US11846714B2
公开(公告)日：2023-12-19
申请号：US17399602
申请日：2021-08-11
发明人： Min Wang
CPC分类号： G01S19/44 , G01S19/072 , G01S19/393
摘要： Embodiments described herein provide for enabling a mobile device comprising a GNSS receiver to implement a modified PPP technique that utilizes orbit and clock information of a satellite that is broadcast from the satellite. In particular, embodiments may utilize a positioning engine to perform PPP error mitigation with respect to various error sources (e.g., troposphere, ionosphere, phase windup, etc.). With regard to errors stemming from satellite orbit and satellite clock, embodiments may utilize orbit and clock information from broadcast ephemeris data rather than obtaining precise orbit and clock information (e.g., from a third party provider). Further, embodiments may account for errors in this broadcast information by adjusting the ambiguity dynamic and/or ambiguity estimate term used by the positioning engine. This can enable the positioning engine to determine a solution more accurate than traditional GNSS without resetting.
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公开(公告)号：US20230288578A1
公开(公告)日：2023-09-14
申请号：US18015483
申请日：2020-09-30
发明人： Yang LIU , Menghao LI , Fangli QIAO , Li TIAN , Guanxu CHEN , Yanxiong LIU
CPC分类号： G01S19/44 , G01C13/004 , G01S19/40
摘要： A new GNSS-based real-time high-precision wave measurement method, wherein the GNSS phase, pseudo-range, Doppler frequency shift observations and broadcast ephemerides are collected by a GNSS receiver, and antenna carried by a sea surface carrier; the three-dimensional speeds of a carrier are acquired using an epoch difference of phase observations; and wave element information are then solved. The wave element information can also be obtained by integrating the speeds for a certain duration and removing a linear trend term to obtain a time-dependent displacement variations. No additional precise differential correction is needed, thereby saving on service costs and communication costs of precise differential corrections. High-precision wave element information is obtained in real time, and locally stored in a buoy or periodically returned by communication, thereby expanding the working range of GNSS-based ocean wave measurement.
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公开(公告)号：US11733395B2
公开(公告)日：2023-08-22
申请号：US15734341
申请日：2018-11-20
发明人： Xucheng Mu
摘要： A precise point position and real-time kinematic (PPP-RTK) positioning method, including: when direct emission signals broadcast by a multi-system navigation satellite and a low-earth-orbit constellation are detected, determining raw observation data (S11); receiving navigation satellite augmentation information broadcast by the low-earth-orbit constellation, and a low-earth-orbit satellite precise orbit and precise clock difference (S12); using the navigation satellite augmentation information, the low-earth-orbit satellite precise orbit and precise clock difference and the raw observation data for precise point positioning (S13); or when comprehensive ground-based augmentation error correction information is received, using the navigation satellite augmentation information, the low-earth-orbit satellite precise orbit and precise clock difference, the raw observation data and the comprehensive ground-based augmentation error correction information for precise point positioning of ground-based augmentation (S13′). The present application further relates to a precise point position and real-time kinematic (PPP-RTK) positioning device, a computer-readable storage medium and a processor.
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9.发明授权公开(公告)号：US11733393B2
公开(公告)日：2023-08-22
申请号：US17167936
申请日：2021-02-04
发明人： Miquel Ribot , Adrià Gusi , Pau Closas
CPC分类号： G01S19/30 , G01S19/243 , G01S19/35 , G01S19/44 , G01S19/52
摘要： Embodiments of the present invention provide a method, system and computer program product for bit transition enhanced direct position estimation (DPE) from global navigation satellite system (GNSS) signals and includes the reception in a GNSS receiver of signals from multiple, different satellites in multiple satellite constellations adapted for use with the GNSS. The method estimates the GNSS receiver parameters position, velocity, clock bias, clock drift, and optionally and if unknown, the receiver time. The method generates a model of the received GNSS signals that depends on the receiver parameters. Uniquely, the method includes the synchronization of both a primary code and also a secondary code in the received GNSS signal model, in addition to time delays, Doppler shifts, and other relevant parameters for positioning. Finally, if the secondary code of a particular signal is unknown, the method determines the combination of bit transitions that maximizes the optimization problem.
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公开(公告)号：US11709280B2
公开(公告)日：2023-07-25
申请号：US17511430
申请日：2021-10-26
申请人： Trimble Inc.
IPC分类号： G06F30/33 , G01S19/44 , G01S19/40 , G05D1/00 , G01S19/20 , G01S19/08 , G01S19/22 , G06F30/392 , G06F30/39 , G06F30/333
CPC分类号： G01S19/44 , G01S19/08 , G01S19/20 , G01S19/22 , G01S19/40 , G05D1/0022 , G05D1/0088 , G06F30/33 , G06F30/333 , G06F30/39 , G06F30/392 , G05D2201/0213
摘要： Some embodiments of the invention relate to generating correction information based on global or regional navigation satellite system (NSS) multiple-frequency signals observed at a network of reference stations, broadcasting the correction information, receiving the correction information at one or more monitoring stations, estimating ambiguities in the carrier phase of the NSS signals observed at the monitoring station(s) using the correction information received thereat, generating residuals, generating post-broadcast integrity information based thereon, and broadcasting the post-broadcast integrity information. Other embodiments relate to receiving and processing correction information and post-broadcast integrity information at NSS receivers or at devices which may have no NSS receiver, as well as to systems, NSS receivers, devices which may have no NSS receiver, processing centers, and computer programs. Some embodiments may for example be used for safety-critical applications such as highly-automated driving and autonomous driving.
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