公开(公告)号：WO2021162131A1

公开(公告)日：2021-08-19

申请号：PCT/JP2021/006022

申请日：2021-02-10

Applicant: MITSUBISHI ELECTRIC CORPORATION

Inventor： BERNTORP, Karl ,  GREIFF, Marcus

IPC: G01S19/44

Abstract: A system for tracking a state of a GNSS receiver uses a subset of the measurements of satellite signals selected to minimize a loss of information with respect to the set of measurements available to the GNSS receiver. The system uses a probabilistic state estimator that tracks the state of the GNSS receiver using a probabilistic motion model subject to noise and a probabilistic measurement model relating the selected subset of the measurements of satellite signals to the current state of the receiver.

公开(公告)号：WO2022209184A1

公开(公告)日：2022-10-06

申请号：PCT/JP2022/001873

申请日：2022-01-13

Applicant: MITSUBISHI ELECTRIC CORPORATION

Inventor： BERNTORP, Karl ,  GREIFF, Marcus ,  DI CAIRANO, Stefano ,  KIM, Kyeong Jin

IPC: H04L67/12 ,  H04L67/52 ,  G01S19/48 ,  B60W30/08

Abstract: A probabilistic system for tracking a state of a vehicle using unsynchronized cooperation of information includes a probabilistic multi-head measurement model relating incoming measurements with the state of the vehicle. The first head of the model relates measurements of the satellite signals subject to measurement noise with a belief on the state of the vehicle, and a second head relates an estimation of the state of the vehicle subject to estimation noise with the belief on the state of the vehicle. A probabilistic filter of the system updates recursively the belief on the state of the vehicle based on the multi-head measurement model accepting one or a combination of the measurements of the satellite signals subject to the measurement noise and the estimation of the state of the vehicle subject to the estimation noise.

公开(公告)号：WO2022209183A1

公开(公告)日：2022-10-06

申请号：PCT/JP2022/001871

申请日：2022-01-13

Applicant: MITSUBISHI ELECTRIC CORPORATION

Inventor： BERNTORP, Karl ,  GREIFF, Marcus ,  DI CAIRANO, Stefano ,  KIM, Kyeong Jin

IPC: G01S19/39 ,  G01S19/09

Abstract: A server jointly tracks states of multiple vehicles using measurements of satellite signals received at each vehicle and parameters of the probabilistic distribution of the state of each vehicle. The server fuse states and measurements into an augmented state of the multiple vehicles and an augmented measurement of the augmented state subject to augmented measurement noise defined by a non-diagonal covariance matrix with non-zero off-diagonal elements, each non-zero off-diagonal elements relating errors in the measurements of a pair of corresponding vehicles. The server executes a probabilistic filter updating the augmented state and fuses the state of at least some of the multiple vehicles with a corresponding portion of the updated augmented state.

公开(公告)号：WO2021162132A1

公开(公告)日：2021-08-19

申请号：PCT/JP2021/006023

申请日：2021-02-10

Applicant: MITSUBISHI ELECTRIC CORPORATION

Inventor： BERNTORP, Karl ,  GREIFF, Marcus

IPC: G01S19/44

Abstract: A system for tracking a state of a GNSS receiver uses a subset of the measurements of satellite signals selected to avoid the need for intermediate integers ambiguity estimate. The system selects the subset of measurements for the state tracking such that each measurement in the selected subset of measurements is formed by a weighted combination of multiple different measurements from the set of measurements. The system uses a probabilistic state estimator that tracks the state of the GNSS receiver using a probabilistic motion model subject to noise and a probabilistic measurement model relating the selected subset of the measurements of satellite signals to the current state of the receiver.