公开(公告)号：WO2020145839A1

公开(公告)日：2020-07-16

申请号：PCT/RU2019/000008

申请日：2019-01-11

Applicant: LIMITED LIABILITY COMPANY "TOPCON POSITIONING SYSTEMS"

Inventor： ZHODZISHSKY, Mark Isaakovich ,  VEITSEL, Viktor Abramovich ,  MIRONOV, Mikhail Arkadievich ,  BASHAEV, Alexey Vasilievich ,  BAKEEV, Amir Salikhovich ,  BELOGLAZOV, Vladimir Viktorovich ,  AVERIN, Sergey Vladislavovich

IPC: G01S19/43

Abstract: GNSS receiver which includes RF front end, connected to GNSS antenna, an ADC converting the satellite signals into digitized signals, a digital section, including a processor receiving the digitized signals, forming raw measurements with pseudo-ranges measured between the antenna and satellites, and estimating target parameters, including receiver position and receiver time offset by (i) extrapolating the target parameters from previous epoch to current epoch using a dynamic model; (ii) computing a quasi-measurement for each satellite based on extrapolated target parameters and GNSS satellite positions; (iii) detecting and rejecting raw measurements with anomalous errors by testing differences between the raw measurements and respective quasi-measurements against predefined thresholds; (iv) substituting quasi-measurements for rejected raw measurements; (v) estimating target parameters using unrejected raw measurements and substituted quasi-measurements; (vi) outputting estimated target parameters.