05-08-2021 дата публикации
Номер: US20210239845A1
Принадлежит:
A method for determining a protection level of a position estimate using a single epoch of GNSS measurements, the method includes: specifying a prior probability density P(x) of a state x; specifying a system model h(x) that relates the state x to observables z of the measurements; quantifying quality metrics q associated with the measurements; specifying a non-Gaussian residual error probability density model ƒ(r|θ, q) and fitting model parameters θ using a set of experimental data; and defining a posterior probability density P(x|z, q, θ); estimating the state x; and computing the protection level by integrating the posterior probability density P(x|z, q, θ) over the state x. 1. A method for determining a protection level of a position estimate using a single epoch of global navigation satellite system (GNSS) measurements , the method comprising:specifying, in advance, a prior probability density P(x) of a state x;specifying, in advance, a system model h(x) that relates the state x to observables z of the measurements;quantifying, during operation, quality metrics q associated with the measurements;specifying, in advance, a non-Gaussian residual error probability density model ƒ(r|θ, q) and fitting model parameters θ determined off-line a priori;defining, during operation, a posterior probability density P(x|z, q, θ);estimating, during operation, the state x; andcomputing, during operation, the protection level by integrating the posterior probability density P(x|z, q, θ) over the state x.2. The method of claim 1 , wherein the system model is specified as:{'br': None, 'i': z=h', 'x', 'r;, '()+'}where r is a residual error.3. The method of claim 1 , wherein quantifying the quality metrics q associated with the measurements comprises excluding one or more outliers of the measurements using a random sample consensus (RANSAC) technique.6. The method of claim 4 , wherein fitting the model parameters θ using a set of experimental data comprises:defining the degrees of ...
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