СПОСОБ ОПРЕДЕЛЕНИЯ КООРДИНАТ МОБИЛЬНОГО ПРИЕМНИКА СПУТНИКОВОЙ РАДИОНАВИГАЦИОННОЙ СИСТЕМЫ (СРНС)

Изобретение относится к способам навигации по Спутниковым Радионавигационным Системам (СРНС), и может быть использовано для определения координат навигационного приемника. Технический результат заключается в обеспечении возможности определения координат мобильного приемника СРНС в те моменты времени, когда выделение временной коррекции из сигналов космических аппаратов еще невозможно. Для этого приемник СРНС принимает и обрабатывает сигналы космических аппаратов (КА), по результатам обработки сигналов КА измеряют псевдоскорости и неполные псевдодальности и выделяют эфемеридную информацию, на основании начальных координат приемника СРНС, вычисленных по измерениям псевдоскоростей с точностью, которая позволяет минимизировать неоднозначности неполных псевдодальностей, начального приближения для времени измерений и эфемеридной информации переходят к итерационному процессу вычисления координат приемника СРНС по измерениям неполных псевдодальностей, выбирая на первой итерации такие дополнения ...

ОБОРУДОВАНИЕ ДЛЯ ОБРАБОТКИ СИГНАЛОВ AltBOC СО СПУТНИКОВ "ГАЛИЛЕО"

Изобретение относится к приемникам глобальной навигационной спутниковой системы, в частности тем, что работают с сигналами, модулированными по схеме AltBOC. Приемник содержит: локальный генератор (24) составного кода для генерирования действительной и мнимой составляющих локальной версии составного кода AltBOC. Составляющие получают путем комбинирования локально генерируемых кодов (с3, с4) с действительной и мнимой составляющими (cr, sr) верхней и нижней поднесущих; корреляционную подсистему (22, 26) для формирования сигналов корреляции как результата определения корреляции между локально генерируемым составным кодом и составным кодом в принятом сигнале AltBOC. Корреляцию получают путем комбинирования произведений, полученных при умножении синфазной и квадратурной составляющих принятого в основной полосе частот сигнала на локально генерируемые составляющие составного кода; и контроллер (40) для управления локальным генератором составного кода так, чтобы совместить локальный составной код ...

КОНТРОЛЬ АТОМНЫХ ЧАСОВ ГЛОБАЛЬНОЙ СИСТЕМЫ ОПРЕДЕЛЕНИЯ МЕСТОПОЛОЖЕНИЯ (GPS) ИЛИ ГЛОБАЛЬНОЙ НАВИГАЦИОННОЙ СПУТНИКОВОЙ СИСТЕМЫ (GNSS) НА ОСНОВЕ МНОЖЕСТВА УРОВНЕЙ, И/ИЛИ МНОЖЕСТВА ПРЕДЕЛОВ, И/ИЛИ МНОЖЕСТВА УСТОЙЧИВОСТЕЙ

Изобретение относится к измерительной технике и может быть использовано для контроля атомных часов глобальной системы определения местоположения (GPS) или глобальной навигационной спутниковой системы (GNSS). Технический результат - повышение точности. Для этого способ включает установление измеренной разности между атомным эталоном частоты (AFS) и контролирующим устройством. Способ также включает моделирование модели оцененной разности между атомным эталоном частоты (AFS) и контролирующим устройством и вычисление остаточного сигнала на основании измеренной разности и модели оцененной разности. При этом с помощью первого датчика осуществляют анализ остаточного сигнала во множестве пределов, каждый из которых имеет соответствующую устойчивость, задающую количество превышений предела до индикации одного или большего количества из следующего: фазовый скачок, частотный скачок и погрешность вследствие ускорения. Кроме того, с помощью второго датчика осуществляют анализ параметра модели оцененной ...

ПОСТОБРАБОТКА ПОЗИЦИОННЫХ ДАННЫХ СИСТЕМЫ ГЛОБАЛЬНОЙ СПУТНИКОВОЙ НАВИГАЦИИ (GNSS) С ИСПОЛЬЗОВАНИЕМ ЗЕРКАЛИРОВАННЫХ ДАННЫХ GNSS

Изобретение относится к спутниковой навигации. Техническим результатом является повышение точности позиционирования. Система постобработки, обеспечивающая прямую обработку (FP) исходных первичных данных GNSS и альтернативную прямую-обратную обработку (BP) модифицированных первичных данных GNSS и объединение результатов FP и модифицированной BP для повышения точности позиционных данных, выведенных из первичных данных GNSS. Система постобработки включает в себя машину обработки GNSS, например машину PVT реального времени, которая обрабатывает файлы первичных данных GNSS как потоки данных реального времени одинаково для FP и BP. Обратная обработка осуществляется на наборе первичных данных GNSS, которые зеркалируются из исходных первичных данных GNSS. Модифицированная BP использует те же алгоритмы, что и машина PVT в прямом проходе, но с зеркалированными первичными данными GNSS для обеспечения BP, включающей в себя оценку позиции с соответствующими оценками точности для каждого периода данных ...

СПОСОБ ПОВЫШЕНИЯ ТОЧНОСТИ ПРИ ОПРЕДЕЛЕНИИ УГЛОВ ПРОСТРАНСТВЕННОЙ ОРИЕНТАЦИИ СУДНА В УСЛОВИЯХ НАРУШЕНИЯ СТРУКТУРЫ ПРИНИМАЕМЫХ СИГНАЛОВ ГНСС СУДОВОЙ ИНФРАСТРУКТУРОЙ

Satellite navigation method, especially using Global Satellite Navigation system

The method involves deriving suitable measurement parameters for satellite navigation from the signals from navigation satellites using at least two satellite receiver antennas at different predefinable positions on the object. The geometry between satellites, receiving antennas and a predefined reference point on the object being navigated is derived from the measurement parameters of the satellite navigation system or another navigation system. Several antennae are arranged near the reference point to enable at least the distances between the antennas and from these to the reference point to be determined. Measurement parameters such as pseudorange or phase-Doppler shifts for each receiver antenna are transformed to the navigated object and a mean value is computed taking anomalies into account.

VERFAHREN UND GERÄT ZUR BEWERTUNG DER FUNKTION EINES BORDNAVIGATIONSSYSTEMS FÜR EIN FAHRZEUG UNTER NUTZUNG VON LATERALVERSATZDATEN

Es wird ein Verfahren zur Bewertung der Funktion eines Navigationssystems an Bord eines Fahrzeugs vorgestellt. Das Verfahren ermittelt eine sensorgestützte Lateralversatzänderung unter Nutzung von fahrzeuginternen Sensordaten; ermittelt eine zweite Lateralversatzänderung unter Nutzung von Navigationssystemdaten; berechnet eine Differenz zwischen der sensorgestützten lateralen Versatzänderung und der zweiten lateralen Versatzänderung; führt sekundäre Berechnungen unter Einbeziehung der Differenz aus, um ein Ergebnis zu erzielen; und generiert eine Fehlermeldung, wenn das Ergebnis höher ist als ein Fehlerschwellwert.

Verfahren zur Positionsbestimmung eines Fluggeräts, insbesondere eines Flugzeugs

Die Erfindung betrifft ein Verfahren zur Positionsbestimmung eines Fluggeräts (1), insbesondere eines Flugzeugs. In dem erfindungsgemäßen Verfahren wird mit einer ersten Messung mittels eines oder mehrerer globaler Navigationssatellitensysteme eine Mehrzahl von ersten Messgrößen ermittelt, welche jeweils einen Abstand (1, 2, 3, 4, 5) zwischen einem Satelliten (S1, S2, S3, S4, S5) und dem Fluggerät (1) sowie ein erstes Unsicherheitsmaß (1, 2, 3, 4, 5) mit einer oder mehreren ersten Unsicherheiten umfassen, wobei aus der Mehrzahl von ersten Messgrößen die Position des Fluggeräts (1) berechnet wird und für die berechnete Position ein horizontaler Schutzbereich (HPL) ermittelt wird, welcher eine maximale Abweichung der horizontalen Koordinaten der berechneten Position von den horizontalen Koordinaten der tatsächlichen Position des Fluggeräts (1) spezifiziert. Ferner wird mit einer zweiten Messung, welche von dem oder den globalen Navigationssatellitensystemen unabhängig ist, eine zweite Messgröße ...

Supporting an estimation of satellite locations

Braring calculation

Systems and methods for processing navigational solutions

Telematics system and associated method

Method for the reduction of errors in raw measured data related to predefined data

Use of gps to detect repetitive motion

Visualization interfaces for real-time identification, tracking, and prediction of space objects

A system for displaying measurements of objects in orbit can include a display interface that includes a longitude-time graph. The interface can include a longitude axis spanning from a lower-longitude limit to an upper-longitude limit, a time axis spanning from a lower-time limit to an upper-time limit, and a plurality of pixels corresponding to longitude-time points within the longitude-time graph. Each of the plurality of longitude-time points may correspond to a data set that includes the historical data and the contemporary data. The data set includes a time identifier between the lower-time limit and the upper-time limit and a longitude identifier between the lower-longitude limit and the upper-longitude limit.

ON SATELLITES BASED POSITIONING OF MOBILE FINALTURNS OUT

POSITION COMPUTATION METHOD OF A GNSS RECEIVER ON BASIS OF EINZELUND TWO-FREQUENCY PSEUDO MEASUREMENTS

PROCEDURE AND EQUIPMENT FOR THE MEASUREMENT AND PROCESSING OF SATELLITE POSITION SYSTEM SIGNALS

METHOD AND APPARATUS TO DETERMINE ACTIONABLE POSITION AND SPEED IN GNSS APPLICATIONS

Systems and methods of tracking a mobile subject based on Global Navigation Satellite Systems (GNSS) data, including detecting motion of the mobile subject independently of the GNSS data with a motion detector, receiving the GNSS 5 data and determining an actionable position and speed of the mobile subject, with an actionable position and speed unit, according to GNSS position and speed, detection results of the motion detector, and at least one of, or any combination of, GNSS solution metrics, GNSS signal metrics, or a prior actionable position and speed, and evaluating, with a boundary test unit, the actionable position and speed 0 of the mobile subject relative to a predetermined boundary.

Second order complementary global positioning system/inertial navigation system blending filter

Method for determining the location of a gps receiver using an estimated reference time

SYSTEM AND METHOD FOR FAST ACQUISITION REPORTING USING COMMUNICATION SATELLITE RANGE MEASUREMENT

A geographic tracking system (10) with minimal power and size required at the mobile terminal (18) collects observation data at the mobile terminal (18), forwards the data to a processor (11), which calculates the position. The mobile terminal (18) needs only to gather a few milliseconds of observation data (from 14-17), and to relay this observation data to the processor (11). The range from the satellite (13) (or other airborne transponder) to the terminal (18) is determined using the known positions of an interrogating transmitter and a satellite (13), and a known terminal delay between the received signal and the transmission of the return signal, and the round trip time. An arc of locations is determined by computing an intersection of a sphere centered at the satellite (13) having a radius given by the calculated range with a model of the Earth's surface. The candidate points are considered and refined using code phase measurements from a set of GPS satellites (14- 17). The candidate ...

SYSTEM AND METHOD FOR THE DETECTION AND COMPENSATION OF RADIO SIGNAL TIME OF ARRIVAL ERRORS

A system and method are disclosed by which the effects of time of arrival errors may be reduced. In a mobile unit, such as a CDMA device, a correlation pulse is generated when a transmitted code matches a stored reference code. In the absence of multipath effects, correlation pulses are generated in response to the detection of multiple transmissions of the reference code from multiple transmitters. However, multipath effects distort the generated correlation pulses leading to errors in the time of arrival measurements. The present invention calculates the width of the correlation pulses and determines a delay correction factor based on the pulse width. The delay correction factor is added to the measured delay time to provide a more accurate delay time, thus permitting more accurate location measurements based on time of arrival. In alternative embodiments, other signal factors may also be used to apply delay correction factors. The actual location determination may be performed by the ...

SIMPLIFYING GPS DATA FOR MAP BUILDING AND DISTANCE CALCULATION

A tracking server receives GPS data from a location tracking device located in a vehicle. The GPS data describes a path that is representative of a pathway of the vehicle used to complete a trip from a starting location to a destination location. The tracking server identifies noisy GPS data included in the received GPS data and revises a portion of path corresponding to the noisy GPS data. The tracking server may update a map database to include one or more road segments associated with the revised portion of the path. Furthermore, the tracking server may calculate a fare for the trip based on the revised path.

LOCALIZATION AND TRACKING USING LOCATION, SIGNAL STRENGTH, AND PSEUDORANGE DATA

A localization server improves position estimates of global navigation satellite systems (GNSS) using probabilistic shadow matching and pseudorange matching is disclosed herein. The localization server may utilize one or more of the following information: the locations of the satellites, the GNSS receiver's location estimate and associated estimated uncertainty, the reported pseudoranges of the satellites, the GNSS estimated clock bias, the SNRs of the satellites, and 3D environment information regarding the location of the receiver. The localization server utilizes a Bayesian framework to calculate an improved location estimate using the GNSS location fixes, pseudorange information, and satellite SNRs thereby improving localization and tracking for a user device.

SYSTEM AND METHOD FOR RAPID TELEPOSITIONING

... ²²²A geographic tracking system with minimal power and size required at the ²mobile terminal (8) collects observation data at the mobile terminal, forwards ²the data to a processor, which calculates the position. The mobile terminal ²needs only to gather a few milliseconds of observation data, and to relay this ²observation data to the processor. The range from the satellite (13)(or other ²airborne transponder) to the terminal is determined using the known positions ²of an interrogating transmitter and a satellite (13), and a known terminal ²delay between the received signal and the transmission of the return signal, ²and the round trip time. An arc of locations is determined by computing an ²intersection of a sphere centered at the satellite having a radius given by ²the calculated range with a model of the Earth's surface. Alternatively, ²candidate locations that are consistent with the carrier signal received from ²GPS satellites (14-17) can be used. In either case, the candidate points ...

METHOD AND APPARATUS FOR MEASUREMENT PROCESSING OF SATELLITE POSITIONING SYSTEM (SPS) SIGNALS

A method and apparatus for measurement processing of Satellite Positioning System (SPS) signals. A plurality of SPS signals are received. The signal environment is characterized to produce signal environment data. Times of arrival of respective satellite signals from the plurality of satellites are measured. Data representing measured times of arrival are processes to produce a set of times of arrival from which a location fix for a SPS receiver is calculated.

IMPROVED SYSTEM FOR POST PROCESSING GNSS/INS MEASUREMENT DATA AND CAMERA IMAGE DATA

A system for performing post processing of GNSS and INS measurement data and image data to provide highly accurate location information for a camera, an INS measurement unit or both performs first processing operations using the GNSS and INS measurement data, to determine position, velocity and attitude solutions. The system then analyzes the solutions to determine which measurement data provide sufficiently reliable solutions from which to determine the precise position, velocity and attitude of the camera, and thus, which measurement data do not provide sufficiently reliable solutions. The system and method then performs more time consuming and processing intensive processing operations using the measurement data and camera image data that are associated with solutions that are not sufficiently reliable.

ADAPTIVE METHOD FOR ESTIMATING THE ELECTRON CONTENT OF THE IONOSPHERE

The invention relates to an adaptive method for estimating the electron content of the ionosphere comprising: a collection (101) of a set of measurements carried out by a plurality of beacons receiving radio frequency signals transmitted by a plurality of transmitting satellites; a computation (102) of coordinates of the points of intersection between the transmission axis of the signals and a surface surrounding the Earth, and of a vertical total electron content determined at each of these points; a computation (103) of a vertical total electron content for each of the nodes of an initial mesh of the surface; a statistical dispersion analysis (104) of the vertical total electron content; a computation step (105) making it possible to define a suitable statistical estimator, or a computation step (106) making it possible to generate a suitable mesh of the surface; a statistical error analysis (113) making it possible to select between a validation of the adaptation of the method (114) ...

METHOD OF DEVELOPING FLIGHT INFRASTRUCTURE IN CONJUNCTION WITH A SALE OF AN AIRCRAFT

A method for providing WAAS infrastructure in conjunction with the sale of a WAAS enabled aircraft includes developing a sales package for a customer. The price of the sales package preferably includes a WAAS enabled aircraft and a WAAS infrastructure. The method further includes assembling a WAAS enabled aircraft and developing the WAAS infrastructure using a computer. The method also includes providing the customer with the WAAS enabled aircraft and the WAAS infrastructure.

DETERMINING SPATIAL ORIENTATION INFORMATION OF A BODY FROM MULTIPLE ELECTROMAGNETIC SIGNALS

A method for determining a spatial orientation of a body, including receiving, by receiving equipment located with the body, at least three electromagnetic signal sets, each of the received signal sets having been transmitted by a different one of at least three separate transmitters at different locations, detecting, for each one of the received signal sets, information that partially defines a direction from the body to the transmitter from which the signal set was received, the detected information including one of two angles that fully define an arrival direction from which the body received the signal set in relation to a body frame, the detected information not including a second of the two angles, and determining the spatial orientation of the body, including yaw, pitch, and roll angles relative to a navigation frame, using the detected information for each one of the received signal sets.

METHOD AND SYSTEM FOR DETERMINING AN ERROR IN THE ESTIMATION OF THE TIME TAKEN TO CROSS THE IONOSPHERE

Method for determining an error in the estimation of the time taken to cross the ionosphere by a signal along a vertical sight axis associated with a receiver, the vertical sight axis cutting the ionosphere at a point of interest, the vertical sight axis being an axis passing through the receiver and a satellite of interest. The method comprises a first step for determining at least two points of cutting of the ionosphere by two sight axes between a satellite and at least two ground stations. The method also comprises a second step of determining at least one angle formed by a segment going from the said point of interest to one of the said cutting points and by a segment going from the said point of interest to another of the said cutting points. Finally the method comprises a third step of determining the spatial dispersion of the said cutting points with respect to the said point of interest on the basis of the said angle, by finding the difference with a predetermined angle and taking ...

METHOD AND SYSTEM FOR DETECTING FRAUDULENT POSITION DATA OF A MOBILE DEVICE

Method for authenticating the position X(t) of a mobile element (1), a mobile element comprising at least a GNSS receiver, r, having a function of estimating the position X(t) of that mobile element (1), this method being characterized in that it comprises, in combination, at least the following steps: .cndot. determining one or more items of data (21) associated with the position X of a GNSS receiver, .cndot. extracting reference data associated with the position X from a cartographic database (23), .cndot. determining at least one consistency indicator (22) Ic(X) using the first item of data associated with the said receiver r and the reference data coming from the cartographic database, .cndot. filtering the said indicator or indicators Ic(X), in order to improve the detection rate or the false alarm rate, .cndot. authenticating (24) the position X of the said mobile element (1) using one or more of the said consistency indicators Ic(X) in an authenticity decision function.

Method for determining parameters of snow.

Die Erfindung betrifft ein Verfahren zur Bestimmung von Schneeparametern einer auf einem Grund (G) angeordneten Schneedecke (S), umfassend die Phasen, dass man in einer Initialisierungsphase ohne Schneedecke (S) auf dem Grund (G) und bei freiliegender mindestens einer Antenne (A1) der mindestens zwei Antennen (A1, A2) die relative Position zwischen den mit den beiden Empfängern verbundenen beiden Antennen (A1, A2) der mindestens zwei Antennen (A1, A2) mittels empfangener Mikrowellensignale von Navigationssatelliten aus differentiellen Pseudorange-Messungen und Trägerphasen-Messungen die relative Position zwischen den zwei Antennen (A1, A2) bestimmt und parallel Referenzmessungen zur Signalstärke durchführt; in mindestens einer Entscheidungsphase entschieden wird, ob es sich um feuchten oder trockenen Schnee handelt; in mindestens einer Messphase zu mindestens einem Zeitpunkt, zu dem eine Schneedecke (S) den Grund (G) und die eine Antenne (A1) der mindestens zwei Antennen (A1, A2) bedeckt ...

Calibration method and system for zero/short baseline GLONASS phase inter-channel deviation

Travel path storage apparatus

This travel path storage apparatus is provided with: a position detecting apparatus (21); a positioning path generating apparatus (22); a moved distance detecting apparatus (23); a travel direction detecting apparatus (24); an estimated navigation path generating apparatus (25) for generating an estimated navigation path in which vectors determined by each moved distance and each travel direction of a vehicle are arranged in chronological order; a corrected positioning path generating apparatus (26) for generating a corrected positioning path by removing one or more of the positions included in the positioning path that are spaced apart from the estimated navigation path by a predetermined distance or more; a corrected estimated navigation path generating apparatus (27) for generating a corrected estimated navigation path by correcting the estimated navigation path on the basis of the corrected positioning path; an absolute path generating apparatus (28) for generating an absolute path ...

PROCESS AND DEVICE OF TREATMENT IN RECEPTION Of a L2 SIGNAL OF SATELLITE GPS

CONVERTER AND OPPOSITE CONVERTER (AVERAGE, VARIATION), CORRECT DEBOUCLE, RECEIVER AND PROCESS OF BI-FREQUENCE RECEPTION ASSOCIATE USING THEM

METHOD AND SYSTEM FOR POSITIONING RAIL

System and method for improving accuracy of low-cost commercial GNSS Receiver

SYSTEM AND METHOD FOR MANAGING DIFFERENTIAL GLOBAL POSITIONING FACILITIES, AND COMPUTER READABLE RECORDING MEDIUM

A system and a method for managing differential global positioning facilities, and a computer readable recording medium are disclosed. According to an embodiment of the present invention, the system for managing differential global positioning facilities comprises: a database receiving and storing sensing information and correction information from a local facility including a local destination station and a local control station; a facility monitoring unit for monitoring the sensing information and the correction information stored in the database, determining whether the local facility malfunctions, and outputting the determination result; a managing unit for determining a configuration setting for a cluster formed of the local facilities and an operation method of the cluster; and a user authentication unit for inspecting registration and an access method of an administrator for a client and determining permission of access to the database, the facility monitoring unit, and the managing ...

METHOD AND APPARATUS PROVIDING IMPROVED POSITION ESTIMATE BASED ON AN INITIAL COARSE POSITION ESTIMATE

실내 네비게이션을 지원하는 분산된 기압계 네트워크

... 네비게이션 장치는 압력 센서, 무선장치, 프로그램 명령들을 포함하는 메모리, 및 상기 압력 센서, 상기 무선장치, 및 상기 메모리에 동작 가능하게 연결된 제어기를 포함하고 상기 프로그램 명령들을 실행하여 (ⅰ)복수의 비컨들의 기준 비컨으로부터 적어도 하나의 신호를 수신하고, (ⅱ)상기 수신된 적어도 하나의 신호를 기초로 하여 기준 관계 곡선 정정을 결정하고, (ⅲ)상기 기준 관계 곡선 정정과 상기 압력 센서로부터의 신호을 기초로 하여 상기 네비게이션 장치의 고도를 결정하도록 구성된다.

RTK group positioning using an ad hoc reference rover

APPARATUS FOR CORRECTING POSITION OF NAVIGATION APPARATUS AND METHOD THEREOF

The present invention provides an apparatus for correcting a position of a navigation apparatus and a method thereof. According to the present invention, the apparatus for correcting a position of a navigation apparatus comprises: a position measurement part measuring a position of a vehicle; a map data storage part storing map information for navigating a traveling route and guiding the travel route; a route storage part matching a traveling route where the vehicle has traveled with the map information to store the traveling route; and a control part generating a traveling trajectory shape by reading out a traveling route within a set distance where the vehicle previously traveled from the route storage part after calculating a current position based on position information on the vehicle, which is measured by the position measurement part, generating a candidate road for map matching by navigating a road within a set diameter based on the current position from the map data storage part ...

차량 위치 결정을 위한 기술

... 네비게이션 위성으로부터의 신호에 영향을 미치는 다양한 팩터들에도 불구하고 위치 결정 정확도를 개선하기 위한 다양한 차량 기술이 제공된다. 이러한 위치 결정 정확도는 오프셋을 결정함으로써 그리고 상기 오프셋을 다양한 방식으로 통신하거나 차동 알고리즘에서 사용하기 위해 적어도 하나가 위치를 충분히 정확하게 알고 있는 복수의 장치 사이의 원시 위치 결정 데이터를 공유함으로써 증가된다.

Positioneringstjänst

Navigation Method and Device thereof

SYSTEM FOR CORRECTING GPS POSITION BY SYSTEM STATE ESTIMATION

The present invention provides a system for correcting a GPS position in that a GPS datum is corrected by determining the displacement resulting from vibrations and dynamic loads measured at a GPS positioning device attached to a structure such as a high-rise building, a bridge, a dam, a port and so forth. More particularly, the present invention relates to the system for correcting a GPS position by system state estimation, in which vibrations are measured via an input 3-axis accelerometer and an output accelerometer when surveying the structure, and the data is processed in real time with state equations preset using transfer functions with the input acceleration data and output accelerating datum measured on the two accelerometers, and then the modeling is updated with a model update algorithm such that the GPS data-converged values and real values are converged. Thus more accurate GPS position data is calculated, the data processing speed can be shortened by real-time data processing ...

POSITION ESTIMATION METHOD AND APPARATUS

A method of determining the position of a GNSS receiver antenna includes steps of acquiring input data which includes observations at the GNSS receiver antenna of signals of at least clock and position information of GNSS satellites, for each of a plurality of epochs. Float parameters of a state vector from the input data of each epoch are then estimated. The float parameters include receiver antenna position, receiver clock, and at least one ambiguity per satellite. A jump in the at least one ambiguity of at least one satellite from one epoch to another epoch is detected. Then bridge parameters from the input data of at least one epoch and from the estimated float parameters are estimated. The bridge parameters include values sufficient to update the float parameters to compensate for the jump, and the bridge parameters are then used to update the float parameters.

Long Term Repeatability of Determined Position in GNSS Navigation System

A moveable object determines a preliminary position for the moveable object using received satellite navigation signals and satellite orbit correction information and satellite clock correction information. A position correction is determined by identifying which cell, of a predefined set of geographical cells, corresponds to the determined preliminary position, and obtaining from a database, pre-computed tectonic terrestrial plate position information for the identified cell. Based on the information for the identified cell, a tectonic terrestrial plate, corresponding to the determined preliminary position of the moveable object is identified. Based on the identified tectonic terrestrial plate, a position correction is determined, the position correction corresponding to the identified tectonic terrestrial plate and a reference epoch, and a corrected position of the moveable object is generated in accordance with the determined preliminary position of the moveable object and the determined ...

Positioning method, program, positioning device, and electronic apparatus

A positioning method in a positioning device includes: measuring a current position by receiving positioning signals transmitted from a plurality of positioning satellites and performing first positioning processing using a least square method; determining whether or not a result of the first positioning processing satisfies a positioning change condition set beforehand as a condition for change of positioning processing; and measuring the current position by receiving the positioning signals transmitted from the plurality of positioning satellites and performing second positioning processing using a Kalman filter after stopping the first positioning processing when it is determined that the result of the first positioning processing satisfies the positioning change condition.

Method of Developing Flight Infrastructure in Conjunction with a Sale of an Aircraft

A method for providing WAAS infrastructure in conjunction with the sale of a WAAS enabled aircraft includes developing a sales package for a customer. The price of the sales package preferably includes a WAAS enabled aircraft and a WAAS infrastructure. The method further includes assembling a WAAS enabled aircraft and developing the WAAS infrastructure using a computer. The method also includes providing the customer with the WAAS enabled aircraft and the WAAS infrastructure.

A METHOD AND SYSTEM FOR 3D POSITION ESTIMATION OF AN OBJECT USING TIME OF ARRIVAL MEASUREMENTS

A system and associated methodology determines the 3D position of an object using time of arrival measurements. In one embodiment, the system uses four stations to receive a transmitted or reflected signal from the object. The system finds the required coordinate component while minimizing the computational requirement.

GLOBAL POSITIONING SYSTEM NAVIGATION APPARATUS AND POSITIONING METHOD THEREOF

A Global Positioning System (GPS) navigation apparatus and a positioning method thereof are provided. The GPS navigation apparatus includes a GPS module and a data processing unit. When the GPS module enters into an operation mode from a standby mode, the GPS module starts to output a positioning data. The data processing unit calculates a present position according to the positioning data from the GPS module after a predetermined time interval since the GPS module enters into the operation mode, so as to reduce a positioning error.

APPARATUS AND METHOD FOR PSEUDO RANGE VERIFICATION OF GLOBAL NAVIGATION SATELLITE SYSTEM (GNSS) RECEIVER

Provided is a method and apparatus for a pseudo range verification of a global navigation satellite system (GNSS) receiver, more particularly, a method and apparatus for the pseudo range verification of the GNSS receiver by comparing the pseudo range for a measurement calculated in the GNSS receiver and the pseudo range for a verification generated depending on a position of the GNSS receiver.

Method and Apparatus for Modeling of GNSS Pseudorange Measurements for Interpolation, Extrapolation, Reduction of Measurement Errors, and Data Compression

Polynomial regression models are used to reduce errors in measurements of pseudorange between a GNSS satellite and a receiving station; for data compression by replacing a large number of measurements with a small number of coefficients of the model polynomial, optionally combined with modeling residuals; for extrapolating usefully accurate estimates of future range between the GNSS satellite and the receiving station; and for providing usefully accurate estimates of future coefficient values of the polynomial regression models themselves.

SHADOW RECOVERY OF A SINGLE SATELLITE SIGNAL IN A GNSS RECEIVER

A GNSS receiver includes an antenna receiving GNSS signals from a plurality of GNSS satellites; a plurality of channels, each channel processing a single GNSS signal from a single GNSS satellite, and outputting a pseudo-phase of a signal carrier frequency of the single GNSS signal; a block for solving the navigation task based on the pseudo-phases of multiple GNSS signals; each channel including a detector of shadowing of the corresponding GNSS signal; each channel including a weight calculator specifying a relative weight of the single GNSS signal in solving of the navigation task; and each channel including a circuit for recovering a tracking of the shadowed GNSS signal once the shadowing ends. The recovering includes generating guiding indications that enable reducing a time to re-acquire the shadowed GNSS signal.

Automotive dead reckoning with dynamic calibration and/or dynamic weighting

A computer readable medium containing processor executable instructions configured to perform the steps of (i) monitoring a positional accuracy of location information calculated based on signals received from GNSS satellites, (ii) if the positional accuracy passes a quality check, using the location information to continuously perform a calibration of data received from one or more sensors and (iii) if the positional accuracy does not pass the quality check, cease the calibration of the data received from the sensors, wherein dead reckoning information is calculated from the data received from the sensors.

Method and apparatus for estimating position

A method of estimating a position includes: determining a first rotation reference point based on localization information estimated for a target and map data; estimating a second rotation reference point from image data associated with a front view of the target; and correcting the localization information using a rotation parameter calculated based on the first rotation reference point and the second rotation reference point.

Position tracking device and method

The present application relates to tracking a position of a device, e.g. for detecting slow and rapid earth deformation, by making use of a recursive filter having the filter characteristic adapted to a detected type of motion. If the motion of the position tracking device is rapid, the filter characteristic is set such that the rapid motion can be tracked with the necessary speed. On the other hand, if the motion is slow, e.g. during times of a normal tectonic drift, the filter characteristic is set such that the motion is slowly tracked with the advantage of efficient noise reduction, i.e. noise in the input signal is effectively barred and does not pass through the filter to the output signal. Thus, in times of rapid motion the convergence speed of the filter output signal to the input signal is set high for fast convergence and in times of slow motion the convergence speed of the filter output signal to the input signal is set low for a slow convergence. The filter may be a Kalman filter ...

ELECTRONIC DEVICE FOR PROCESSING V2X MESSAGE AND OPERATING METHOD THEREOF

An electronic device and method are disclosed. The electronic device includes a display device, a wireless communication circuit supporting vehicle-to-everything (V2X) communication, and at least one processor operatively connected to the display device and the wireless communication circuit. The processor may implement the method, including receiving a first V2X message from an external electronic device through the wireless communication circuit, determining, based on a location of the external electronic device included in the received first V2X message, and a present location of the electronic device, whether a traffic guide event has occurred, in response to determining that the traffic guide event has occurred, estimating a reliability of the traffic guide event, based on at least one of an accuracy of the location of the external electronic device, and an accuracy of the present location of the electronic device, and controlling the display device to display a guidance message based ...

Systems and methods for establishing a confidence level for device operational data

Systems, methods, and devices for establishing a confidence level for local operational data for a device within a technological ecosystem, such as the V2X ecosystem. The systems, methods, and devices may perform operations that include: obtaining local operational data for the device; obtaining messages from multiple external devices participating in the ecosystem, wherein each of the messages includes external operational data for the transmitting external device; determining, based on the local operational data and the external operational data from the messages, a confidence level for the local operational data; and executing a remedial action when the confidence level falls below a threshold for the confidence level. The systems and devices may include a local data source that stores the local operational data and a communication interface.

Method and apparatus for determining location using a coarse position estimate

Position estimation device and position estimation method

A position estimation device includes: a mathematical expression model processing unit 106 that calculates a position of a mobile object, a condition quantity indicating a moving condition of the mobile object and an error in the condition quantity through filtering processing executed by using a probability model based upon an attitude information and a positioning information of the mobile object having been obtained from sensors and a specific mathematical expression model among a plurality of mathematical expression models 1, 2, 3 expressing behavior of the mobile object; a threshold calculation unit 104 that calculates a threshold candidate value for a threshold value to be used as a criterion when selecting the specific mathematical expression model, by using the error; a threshold value determining unit 105 that determines the threshold value based upon the threshold candidate value; and a mathematical expression model selection unit 107 that selects the specific mathematical expression ...

Positioning device, method of controlling positioning device, program for controlling positioning device, and computer-readable recording medium having program for controlling positioning device recorded thereon

A positioning device includes a position calculation section which calculates a determined position of the positioning de vice based on a satellite signal S1 and the like, a velocity calculation section which calculates moving velocity of the positioning device, a stationary state determination section which determines whether or not a stationary state condition beta is satisfied in which a time elapsed from the last positioning is within an allowable time range specified in advance, moving velocity v0 during the last positioning is within a first velocity allowable range specified in advance, and current moving velocity v1 is within a second velocity allowable range specified in advance, an average position calculation section which calculates an average position Q1 by averaging a determined position P0 during the last positioning and a current determined position P1, and the like.

Способ и устройство для обработки радионавигационных сигналов для атмосферного мониторинга

Изобретение относится к технике связи и может использоваться в системах спутниковой связи. Технический результат состоит в обеспечении системы атмосферного мониторинга и измерении на основании обработки радионавигационных сигналов глобальной навигационной спутниковой системы. Для этого система имеет архитектуру демодуляции разомкнутого цикла для извлечения фазовой и амплитудной информации из принятых спутниковых сигналов и способ обработки сигнала, который обеспечивает статистические характеристики относительно амплитудных и фазовых изменений, вызываемых атмосферой. 6 н. и 26 з.п. ф-лы, 11 ил.

КОНТРОЛЬ АТОМНЫХ ЧАСОВ ГЛОБАЛЬНОЙ СИСТЕМЫ ОПРЕДЕЛЕНИЯ МЕСТОПОЛОЖЕНИЯ (GPS) ИЛИ ГЛОБАЛЬНОЙ НАВИГАЦИОННОЙ СПУТНИКОВОЙ СИСТЕМЫ (GNSS) НА ОСНОВЕ МНОЖЕСТВА УРОВНЕЙ, И/ИЛИ МНОЖЕСТВА ПРЕДЕЛОВ, И/ИЛИ МНОЖЕСТВА УСТОЙЧИВОСТЕЙ

... 1. Способ контроля атомных часов, согласно которому:устанавливают измеренную разность между атомным эталоном частоты (AFS) и контролирующим устройством,моделируют модель оцененной разности между атомным эталоном частоты (AFS) и контролирующим устройством,вычисляют остаточный сигнал на основании измеренной разности и модели оцененной разности,анализируют, посредством первого датчика, остаточный сигнал на множестве пределов, каждый из которых имеет соответствующую устойчивость, задающую количество превышений предела до индикации фазового скачка, частотного скачка и/или погрешности вследствие ускорения, и ιанализируют, посредством второго датчика, параметр модели оцененной разности на множестве пределов, каждый из которых имеет соответствующую устойчивость, задающую указанное количество превышений предела отклонения до индикации отклонения.2. Способ по п. 1, дополнительно включающий определение посредством структуры для голосования источника скачка или источника отклонения.3. Способ по п.

Verfahren zum Bestimmen der Position eines Fahrzeugs und Computersystem dafür

Ein Verbund-Metallteil umfasst wenigstens zwei Metallschichten (1, 9, 9'), wobei das Dickenverhältnis von erster Metallschicht (9, 9') zu zweiter Metallschicht (1) in einer ersten Region (12) des Verbund-Metallteils (10) kleiner ist als in einer zweiten Region (13), und die beiden Metallschichten (1, 9, 9') durch einen Walzprozess verbunden sind.

Verfahren und Vorrichtung zur Ermittlung von Navigationsinformationen

Die Erfindung betrifft ein Verfahren zur Ermittlung von Navigationsinformationen eines zweiten Verkehrsteilnehmers durch eine Recheneinrichtung eines ersten Verkehrsteilnehmers, wobei der erste Verkehrsteilnehmer Navigationsinformationen des zweiten Verkehrsteilnehmers empfängt, wobei die Recheneinrichtung des ersten Verkehrsteilnehmers die empfangenen Navigationsinformationen unter Heranziehung von Korrekturinformationen korrigiert, wobei die Korrekturinformationen korrespondierend zu einer Position des zweiten Verkehrsteilnehmers aus einer digitalen Karte herangezogen werden. Weiterhin betrifft die Erfindung eine korrespondierende Vorrichtung sowie deren Verwendung in einem Fahrzeug.

Positioning device and program recording storage medium for positioning

Radio frequency attitude sensor

Supporting an estimation of satellite locations

A method of modelling the position of satellites comprising steps of: computing a first and second plurality of locations of a satellite for a plurality of points in time based on first and second set of parameter values of an orbit model, that were broadcast by the satellite, for a first and second validity period; wherein for computing the first and second plurality of locations the first or second validity period is extended by an equation of motion for the satellite; computing an error component of each of the plurality of locations by comparing the first plurality of locations with the second plurality of locations of the satellite; fitting parameter values of a model having at least one periodic component to the error components of each location; providing a model of the time evolution of the values of the error as a basis for correction of the location of the satellite that are computed outside the validity period. The parameter values may be ephemeris data. The quality of the obtained ...

Position measurement method, own position measurement device, and on-board unit

Telematics system and associated method

Method and apparatus for improving GPS receiver accuracy using an embedded map database

Satellite radiodetermination

PROCEDURE AND EQUIPMENT FOR THE MEASUREMENT AND PROCESSING OF SATELLITE POSITION SYSTEM SIGNALS

CORRECTION OF ERRORS IN GLOBAL POSITIONING SYSTEMS, INDUCED BY THE TROPOSPHERE

PROCEDURE AND EQUIPMENT FOR THE MEASUREMENT AND PROCESSING OF SATELLITE POSITION SYSTEM SIGNALS

REAL-TIME AUTONOMOUS WEATHER AND SPACE WEATHER MONITORING

A method of calculating ionospheric scintillation includes calculating a motion corrected perturbation of a GNSS radio signal received by a monitoring device deployed in an oceanic environment. The method includes calculating the sf using the high rate phase of the GNSS signal adjusted by removing the change in distance between the monitoring device and the GNSS satellite. The calculating the s? may further include passing the adjusted high rate phase through a high pass filter to remove a drift motion of the monitoring device. The method further includes calculating the S4 through calculating a tilt angle between the antenna of the monitoring device with the GNSS satellite and adjusting the antenna gain through known gain pattern of the antenna. The wave height of the oceanic environment may be calculated by detrending the antenna height to remove low frequency motion when a high rate position of the monitoring device is calculated. WO 2015/017824 PCT/US2014/049472 -------------------- ...

System and method for fast acquisition reporting using communication satellite range measurement

Removing biases in dual frequency GNSS receivers using SBAS

A method for removing biases in dual frequency GNSS receivers circumvents the need for ionosphere corrections by using L2(P) in combination with either L1(P) or L1(C/A) to form ionosphere-free ranges. A table of biases is stored in microprocessor controller memory and utilized for computing a location using corrected ionosphere-free pseudo ranges, A system for removing biases in dual frequency GNSS receivers includes a dual frequency GNSS receiver and a controller microprocessor adapted to store a table of bias values for correcting pseudo ranges determined using L2(P) in combination with either L1(F) or L1(C/A ).

METHOD AND APPARATUS PROVIDING IMPROVED POSITION ESTIMATE BASED ON AN INITIAL COARSE POSITION ESTIMATE

Techniques for determining the location of a device based on an initial coarse position estimate for the device, which is derived based on initial (less accurate) estimates of the position of a plurality of transmitters. In one method, the coarse position estimate for the device and revised (more accurate) position estimates for the transmitters are received. A revised position estimate for the device is initialized (e.g., to the coarse position estimate). An update vector is next computed based on the initial and revised position estimates for the device and the initial and revised position estimates for the transmitters. The revised position estimate for the device is then updated based on the update vector. The computation for the update vector and the updating of the revised position estimate for the device can be repeated a number of times to achieve a more and more accurate estimate.

SYSTEM AND METHOD FOR RAPID TELEPOSITIONING

A geographic tracking system with minimal power and size required at the mobile terminal (8) collects observation data at the mobile terminal, forwards the data to a processor, which calculates the position. The mobile terminal needs only to gather a few milliseconds of observation data, and to relay this observation data to the processor. The range from the satellite (13)(or other airborne transponder) to the terminal is determined using the known positions of an interrogating transmitter and a satellite (13), and a known terminal delay between the received signal and the transmission of the return signal, and the round trip time. An arc of locations is determined by computing an intersection of a sphere centered at the satellite having a radius given by the calculated range with a model of the Earth's surface. Alternatively, candidate locations that are consistent with the carrier signal received from GPS satellites (14-17) can be used. In either case, the candidate points are considered ...

SATELLITE FOR BROADCASTING HIGH PRECISION DATA

A low-earth orbit (LEO) satellite includes a global positioning receiver configured to receive first signaling from a first plurality of non-LEO navigation satellites. An inter-satellite transceiver is configured to send and receive inter-satellite communications with other LEO navigation satellites. At least one processor is configured to execute operational instructions that cause the at least one processor to perform operations that include: determining an orbital position of the LEO satellite based on the first signaling; and generating a navigation message based on the orbital position. A navigation signal transmitter configured to broadcast the navigation message to at least one client device, the navigation message facilitating the at least one client device to determine an enhanced position of the at least one client device based on the navigation message and further based on second signaling received from a second plurality of non-LEO navigation satellites.

VISUALIZATION INTERFACES FOR REAL-TIME IDENTIFICATION, TRACKING, AND PREDICTION OF SPACE OBJECTS

A system for displaying measurements of objects in orbit can include a display interface that includes a longitude-time graph. The interface can include a longitude axis spanning from a lower-longitude limit to an upper-longitude limit, a time axis spanning from a lower-time limit to an upper-time limit, and a plurality of pixels corresponding to longitude-time points within the longitude-time graph. Each of the plurality of longitude-time points may correspond to a data set that includes the historical data and the contemporary data. The data set includes a time identifier between the lower-time limit and the upper-time limit and a longitude identifier between the lower-longitude limit and the upper-longitude limit.

SECOND ORDER COMPLEMENTARY GLOBAL POSITIONING SYSTEM/INERTIAL NAVIGATION SYSTEM BLENDING FILTER

A second-order filter that blends accurate position information from a one source, and velocity information from another source, both suitably scaled, in a second-order complementary filter. The filter is arranged such that an internal integrator (106) maintains a value that represents the difference in the rate of change of the accurate position information, and the velocity input of the other source. This velocity difference is applied to another integrator (114) outside the filter, whose initial condition is the position error between the two sources to the second order filter. The output of this latter integrator (114) is a correction signal that grows at a rate equal and opposite to the rate of error built-up of position data from the source whose velocity is used in the second order filter. This correction signal is summed (120) with the original position signal. In addition, the output of the second order filter may be used as a highly accurate position signal.

CORRECTION OF TROPOSPHERE INDUCED ERRORS IN GLOBAL POSITIONING SYSTEMS

A method of obtaining data for use by a receiver of a satellite positioning system or a GNSS comprises deriving the data remotely from the receiver by a server (200), using meteorological information and a regional or global three dimensional map of grid points from which it computes tropospherical delays by ray tracing through the refractivity field derived from atmospheric measurements of pressure, temperature and water data content, such measurements being available from meteorological bodies. When used to enhance position determined by a user receiver that includes a non-meteorological, climate based model (130) giving zenith delays and means (130') to map them to particular inclinations, the server also includes a copy of such non- meteorological model (230) and provides its ray traced delay values as zenith delays. The sets of zenith delay values for corresponding grid points are compared in the server (260) and modifications developed (preferably in fractional form) by which the ...

FAST ACQUISITION POSITION REPORTING SYSTEM

A geographic tracking system (10) with minimal power and size required at the mobile terminal (18) collects observation data at the mobile terminal (18), forwards the data to a processor, which calculates the position. The mobile terminal (18) needs only to gather a few milliseconds of observation data, and to relay this observation data to the processor. The range from the satellite (14-17) (or other airborne transponder) to the terminal is determined using the known positions of an interrogating transmitter and a satellite, and a known terminal delay between the received signal and the transmission of the return signal, and the round trip time. An arc of locations is determined by computing an intersection of a sphere centered at the satellite having a radius given by the calculated range with a model of the Earth's surface.

IMPROVED GLOBAL NAVIGATION SATELLITES SYSTEM (GNSS) RECORDING SYSTEM

The present disclosure provides methods for improving processing of GNSS signals. More particularly, the method reduces a bit resolution of a digital signal, by processing, based on a maximum threshold value and on a s-bit resolution value, the digital signal received with an n-bit resolution to generate requantized digital signal with the s-bit resolution. The method further determines an optimal gain of a Global Navigation Satellites Systems Radio Frequency (RF) signal recorder, by determining a range of values of a gain of the RF signal recorder corresponding to a selected range of values of a total noise of the RF signal recorder and RF signal receiver. The method also automatically detects disconnection of a RF signal recorder from a Global Navigation Satellites Systems (GGSN) Radio Frequency (RF) signal receiver, and synchronizes multiple RF recording systems.

DEAD RECKONING-AUGMENTED GPS FOR TRACKED VEHICLES

The invention relates to an apparatus and method for augmenting the 3 dimensional position information obtained from the NAVSTAR satellite-based global positioning system ("GPS") system. Such systems can be impacted by physical obstacles that prevent the receipt of the satellite signals or as a result of sun spot activity that introduces noise into the signals thus causing them to become intermittently unavailable and/or making them less accurate in the course of normal operation. Therefore, an improved positioning solution that can operate under such poor GPS operational conditions is needed. The apparatus and method of the invention augments GPS with dead reckoning techniques when GPS signals are unavailable or inaccurate. The apparatus and method of the invention demonstrates highest value when applied to blasthole drill positioning applications in open-pit mines.

DETERMINING LOCATION INFORMATION USING A LOCATION DATA POINT PROVIDED BY A COMPUTING DEVICE

A system and method for determining location information using a location data point provided by a computing device is described. A location data point is received by a system from a client computing device. The system determines whether the location data point is within a predefined region from a plurality of predefined regions configured by a user of the system. If the location data point is within a predefined region, location information corresponding to the predefined region is transmitted to the client device. If the location data point is not within a predefined region, one or more third-party reverse geocoding services can be used that translates the location data point to a street address.

MAP DATA BASED POSITION CORRECTION FOR VEHICLE NAVIGATION SYSTEM

A vehicle navigation system is used to determine the absolute position of a vehi cle with improved accuracy on freeways or rural highways. First, the system stores a known vehicle position in its memory. As th e vehicle moves away from the known position, the system uses a variety of means (12, 14, 16, 18) to sense external signals. These means include satellite transmission receivers (18) and magnetic compasses (16). When a change in the external signals occurs, the system recogni zes the presence of a landmark which can then be used to set the vehicle's position. To accomplish this, the system's data processor ( 20) searches a map data base (30), attempting to fix the position of the sensed landmark with respect to the initially stored known posit ion. When the system identifies the most likely landmark, the position of the vehicle is then reset to that position.

METHOD FOR DETERMINING THE LOCATION OF A GPS RECEIVER USING AN ESTIMATED REFERENCE TIME

A method for determining the location of a satellite receiver. The method begins by selecting a trial time for use in calculating a presumed location of the receiver using at least four satellites. The presum ed location is calculated based on the selected trial time. A first range from the presumed location to a fifth satellite is calculated and a second range from the presumed location to the fifth satellite is measured. A comparison is then made between the first range to the second range. If the first range is unequal to the second range the presumed location is not the actual location. A new trial time is selected a nd the method is repeated. When the first range and the second range are substantially the same then the presumed location is the actual location.

Position calculation method and position calculation apparatus

A position calculation method and a position calculation apparatus used for realizing flexible coping with expansion and change of the apparatus are described. The position calculation system 1 of the position calculation apparatus includes an IMU (Inertial Measurement Unit) 50, a first slot 60, and a second slot 70 of a GPS (Global Positioning System) unit 100. When no slot is mounted into the GPS unit 100, the calculation and measuremnet result of the IMU 50 is used to calculate the position, when any slot is mounted into the GPS unit 100, the calculation and measurement results of the IMU 50 and the GPS unit 100 are used to calculate the position.

Locating an object

The invention deals with a method of locating an object (MOB), including a step of locating the object, a step of verifying the existence of a pre-established relationship between the location of the object and at least one place (S1, S2) associated with the object (MOB). In the affirmative, a step of providing an information item (I1, I2) dependent on at least one place (S1, S2) resulting from the verification step.

PROCESS OF LOCALIZATION Of a VEHICLE.

Method for determining the position of an aircraft from acceleration data from an inertial system as well as from output data of a navigation system, and device.

Gnss surveying receiver with multiple rtk engines

The position of a global navigation satellite system (GNSS) surveying receiver is determined based on a plurality of RTK engines. A first RTK engine is implementing using a first set of parameters. A second RTK engine is implemented using a second set of parameter different than the first set. A plurality of GNSS signals are received from multiple satellites. At least one correction signal is received from at least one base receiver. A first position is determined from the first RTK engine based on the GNSS signals and the at least one correction signal. A second position is determined from the first RTK engine based on the GNSS signals and the at least one correction signal. A final position of the GNSS surveying receiver is determined based on the first position or the second position or a combination of both positions.

PRECISE GPS DEVICE AND METHOD USING A WIRELESS AP

In the present invention, a GPS reference station generates and transmits GPS error correction information for each wireless AP and a user terminal recognizes the GPS error correction information to be used for correcting reception information of a user terminal GPS receiver, thereby acquiring precision positioning performance. That is, a precision poisoning system of the present invention includes: a GPS reference station generating navigation correction information for a wireless access point by receiving a first satellites' signal from a GPS satellite with respect to the reference station and transmitting the generated navigation correction information to the wireless access point; a wireless access point receiving the navigation correction information from the GPS reference station and transmitting the received information to a user terminal; and a user terminal receiving a second satellites' signal from the GPS satellite with respect to the user terminal and recognizing the navigation correction information from the wireless access point to generate precise user position information on the basis of the second satellite signal and the navigation correction information. 1. A precision positioning system , comprising:a GPS reference station generating navigation correction information for a wireless access point by receiving first satellites' signal from a GPS satellite and transmitting the generated navigation correction information to the wireless access point;a wireless access point receiving the navigation correction information from the GPS reference station and transmitting the received information to a user terminal; anda user terminal receiving second satellites' signal from the GPS satellite and recognizing the navigation correction information from the wireless access point to generate precise user position information on the basis of the second satellite signal and the navigation correction information.2. The system of claim 1 , wherein the wireless ...

Apparatus and method for processing position information

A position information processing device according to an exemplary embodiment of the present invention can include a GPS receiver adapted and configured to receive a first satellite signal, an interdevice receiver adapted and configured to receive a second satellite signal from a mobile phone, a GPS information processor adapted and configured to compare the first satellite signal with the second satellite signal and generate a third satellite signal for calculating a current position, and a controller adapted and configured to use the third satellite signal to calculate coordinates of the current position. The proposed position information processing device uses the satellite signal that is received from the mobile phone, and therefore the accuracy of the position measurement can be improved.

Mini-Map-Matching for Navigation Systems

The present invention uses a map database which is created with the view of optimization in terms of size and complexity, so that it can be easily embedded into a navigation chip. The optimized map database is referred to as a “mini-map” database. The mini-map database easily integrates with the position calculation routine. The algorithm for position calculation includes a map-matching component, which is referred to as the “mini-map-matching” (MMM) algorithm, which is implemented on the navigation chip. Application of the present invention includes any navigation system for vehicles and/or pedestrians. The navigation system may include an inertial sensor, such as a dead-reckoning (DR) sensor, for further improvement in calculated positional accuracy when satellite signals are degraded due to environmental factors.

Using Statistical Analysis to Infer an Accurate GPS Location for Use in Tracking Devices

A system method for improving the accuracy of a tracking device is described where the tracking device cannot achieve an accurate GPS fix due to low observability. The system and method improves accuracy determining a current position for the tracking device using incomplete information from the GPS. The current position is added to a historical table of previous position determinations and a normalized center position is calculated from the current position and previous position determinations. The position of the tracking device is inferred from the normalized center position. 1. A method for improving the accuracy of a tracking device where the tracking device cannot achieve a complete fix using a location determination mechanism , the method comprising:determining a current position for the tracking device using incomplete information from the location determination mechanism;adding the current position to a historical table of previous position determinations;calculating a normalized center position from the current position and previous position determinations; andinferring the position of the tracking device from the normalized center position.2. The method of wherein the location determination mechanism is GPS.3. The method of wherein the failure to achieve a complete fix is caused by the tracking device being in a low observability position relative to the GPS satellites.4. The method of wherein the normalized center position is a weighted normalized center position.5. The method of further comprising:detecting the movement of the tracking device using an inertia sensor; andclearing the historical table of previous positions in response to the detection of movement.6. The method of further comprising calculating an acceptable error radius around the normalized center position.7. The method of further comprising rejecting a current position determination if it is outside the acceptable error radius.8. The method of further comprising calculating a fault ...

METHOD AND SYSTEM FOR GPS AUGMENTATION USING COOPERATIVE ALTITUDE LEARNING

A method for GPS augmentation in a local vehicle located in a particular road section comprises cooperatively learning an averaged external altitude for the particular road section, obtaining an internal altitude for the particular road section, and using the averaged external altitude and the internal altitude to obtain an augmented local altitude for the particular road section. The augmented local altitude is then used to provide an augmented position for the particular road section. The averaged external altitude is learned cooperatively, using external altitudes obtained for the particular road section and transmitted by other vehicles which previously passed through that section. Only reliable external altitude values, as determined from respective VDOP parameters, are used in the cooperative altitude learning. 1. A method for GPS augmentation comprising the steps of: in a particular vehicle currently located in a particular road section:a) cooperatively learning an averaged external altitude for the particular road section;b) obtaining a current internal altitude; andc) using the cooperatively learned averaged external altitude and the current internal altitude to obtain an augmented altitude for the particular road section.2. The method of claim 1 , further comprising the step of:d) using the augmented altitude to provide an augmented position for the particular road section.3. The method of claim 2 , wherein the step of cooperatively learning an averaged external altitude includes obtaining a plurality of external altitude inputs for the particular road section and averaging at least some of the external altitude inputs to obtain the averaged external altitude.4. The method of claim 3 , wherein the averaging at least some of the external altitude inputs includes using only reliable external inputs as indicated by a respective vertical dilution of precision (VDOP) claim 3 , the method further comprising averaging the respective VDOPs of the reliable external ...

Method for Determining a Confidence Indicator Relating to the Trajectory Followed by a Moving Object

A method includes estimating the position of the moving object on the basis of the reception of navigation signals emitted by a constellation of satellites, the navigation signals being modulated by a code and the receiver comprising a local replica of the code. The determination of the confidence indicator consists in estimating a speed of displacement of the receiver over an identified trajectory segment, deducing therefrom a Doppler delay function corresponding to the motion of the receiver, in correcting the auto-correlation function of the GNSS navigation signal received from each satellite of the constellation by means of the delay function, in comparing the corrected auto-correlation function with a theoretical auto-correlation function by applying a quadratic criterion corresponding to the confidence indicator. 1. A method for determining a confidence indicator relating to the trajectory of a moving object equipped with a receiver able to estimate the position of the moving object on the basis of the reception of navigation signals emitted by a constellation of satellites , the navigation signals being modulated by a code and the receiver comprising a local replica of the code , said method comprising the following steps:a. estimating the successive positions of the receiver at various instants of position measurement,b. identifying a trajectory segment passing in proximity to the successive estimated positions,c. determining the successive auto-correlation functions between the navigation signals received and the local replica of the code,d. making an assumption about the speed of displacement of the receiver over the identified trajectory segment,e. deducing from the assumption about the speed of displacement of the receiver, a Doppler delay function corresponding to the motion of the receiver,f. applying the Doppler delay function to each auto-correlation function determined in step c and deducing therefrom corrected auto-correlation functions,g. summing ...

Adaptive Method for Estimating the Electron Content of the Ionosphere

An adaptive method for estimating the electron content of the ionosphere comprises: collecting a set of measurements carried out by a plurality of beacons receiving radio frequency signals transmitted by a plurality of transmitting satellites; computing coordinates of the points of intersection between the transmission axis of the signals and a surface surrounding the Earth, and of a vertical total electron content determined at each of these points; computing a vertical total electron content for each of the nodes of an initial mesh of the surface; a statistical dispersion analysis of the vertical total electron content; a computation step making it possible to define a suitable statistical estimator, or a computation step making it possible to generate a suitable mesh of the surface; a statistical error analysis making it possible to select between a validation of the adaptation of the method and a stopping of the method.

METHOD AND SYSTEM FOR LOCALIZING MOBILE COMMUNICATIONS TERMINALS

A method of determining a geographic position of a user terminal including a receiver of signals of a global navigation satellite system, the method including the user terminal: performing pseudo-range measurements related to a plurality of signals received from transmitters of the global navigation satellite system; calculating a first estimated position thereof by a weighted least square method; calculating post-fit residuals for the first estimated position; comparing the calculated post-fit residuals to a first threshold and: in case the first threshold is exceeded, calculating a second estimated position using a Monte-Carlo method, otherwise retaining the first estimated position as the geographic position of the mobile communications terminal. 1. A method of determining a geographic position of a user terminal comprising a receiver of signals of a global navigation satellite system , the method comprising the user terminal:performing pseudo-range measurements related to a plurality of signals received from transmitters of the global navigation satellite system;calculating a first estimated position thereof by means of a weighted least square method;calculating post-fit residuals for the first estimated position;comparing the calculated post-fit residuals to a first threshold and:in case the first threshold is exceeded, calculating a second estimated position using a Monte-Carlo method, otherwise retaining the first estimated position as the geographic position of the mobile communications terminal.2. The method of claim 1 , wherein said comparing the calculated post-fit residuals to the first threshold comprises:calculating a sum of the squared values of the post-fit residuals, normalized to an expected variance of a Gaussian error model;{'sup': '2', 'calculating a χdistribution of the post-fit residuals;'}{'sup': '2', 'selecting the first threshold as a threshold of the χdistribution corresponding to a first predetermined degree of confidence of the ...

REFINING A POSITION ESTIMATE OF A LOW EARTH ORBITING SATELLITE

In a method for refining a position estimate of a low earth orbiting (LEO) satellite a first position estimate of a LEO satellite is generated with a GNSS receiver on-board the LEO satellite. Corrections are received at the LEO satellite. The corrections are processed on-board the LEO satellite such that a corrected LEO satellite position estimate of the LEO satellite is generated for the first position estimate. 1. A method for refining a position estimate of a low earth orbiting (LEO) satellite , said method comprising:generating a first position estimate of a LEO satellite with a GNSS receiver on-board said LEO satellite;receiving corrections at said LEO satellite; andprocessing said corrections on-board said LEO satellite such that a corrected LEO satellite position estimate of said LEO satellite is generated for said first position estimate.2. The method as recited in claim 1 , further comprising communicating said first position estimate to a Virtual Reference Station (VRS) processor by:transmitting said first position estimate using a telemetry downlink to communicate said first position estimate from said LEO satellite, wherein said downlink is further coupled to a communications network configured for delivering said first position estimate to a VRS processor.3. The method as recited in claim 2 , wherein said communicating said first position estimate to a VRS processor comprises:formatting said first position estimate into a GNSS information message along with an identifier associated with said LEO satellite; andcommunicating said GNSS information message to said VRS processor.4. The method as recited in claim 1 , further comprising:utilizing said corrected LEO position estimate as an input to an orbit control system of said LEO satellite.5. The method as recited in claim 1 , further comprising:transmitting said corrected LEO satellite position estimate from said LEO satellite for receipt by a GNSS rover receiver.6. The method as recited in claim 5 , ...

POSITIONING APPARATUS, GNSS RECEIVER, INFORMATION TERMINAL DEVICE, POSITIONING METHOD AND PROGRAM

A positioning apparatus is provided that may include a pseudo distance measurement unit that measures the pseudo distance between the positioning satellite and the antenna, an ionosphere delay amount calculating unit that calculates an ionosphere delay amount included in the pseudo distance, and a pseudo distance corrector that executes a positioning calculation by correcting the pseudo distance based on the ionosphere delay amount. The ionosphere delay amount calculating unit sets the upper limit of the partition number between the positioning satellite and the antenna, determines the total number of electrons sTEC by integrating in the range of less than the upper limit of the partition number, and calculates the ionosphere delay amount based on the determined total number of electrons sTEC. 1. A positioning apparatus that executes positioning based on signals received by an antenna of a GNSS receiver from a positioning satellite , comprising:a pseudo distance measurement unit for measuring a pseudo distance between the positioning satellite and the antenna;an ionosphere delay amount calculating unit for calculating an ionosphere delay amount included in the pseudo distance; anda pseudo distance corrector for executing a positioning calculation by correcting the pseudo distance based on the ionosphere delay amount;wherein the ionosphere delay amount calculating unit sets an upper limit of a partition number between the positioning satellite and the antenna, determines a total number of electrons by integrating over a range up to the upper limit of the partition number, and calculates the ionosphere delay amount based on the determined total number of electrons.2. The positioning apparatus according to the claim 1 , wherein the ionosphere delay amount calculating unit sets a predetermined threshold value Th claim 1 , when the partition number is 2 claim 1 , determines that the total number of electrons according to the partition number 2is sTEC claim 1 , and when ...

Fast gps recovery using map vector data

Methods and apparatuses to assist a global positioning system (GPS) module to determine GPS position estimates for a wireless communication device is disclosed. Processing circuitry in the wireless communication device determines a potential or an actual inaccuracy in a GPS position estimate obtained from a GPS module. The processing circuitry obtains a set of map vector data stored in or associated with the wireless communication device. The processing circuitry determines a location estimate of the wireless communication device based on at least a portion of the set of map vector data. The processing circuitry provides the location estimate to the GPS module and obtains an updated GPS position estimate from the GPS module, the updated GPS position estimate based at least in part on the location estimate provided to the GPS module.

GEOGRAPHICAL FEATURE/ARTIFICAL STRUCTURES DETECTION AND APPLICATION FOR GNSS NAVIGATION WITH MAP INFORMATION

A method of navigating with a global navigation satellite system (GNSS) includes receiving a GNSS signal, calculating a GNSS navigation solution according to the GNSS signal, identifying map information corresponding to the GNSS navigation solution, detecting features from the identified map information, and correcting a GNSS navigation based on the features detected from the map information and the GNSS signal. 1. A method of navigating with a global navigation satellite system (GNSS) , comprising: 'calculating a GNSS navigation solution according to the GNSS signal;', 'receiving a GNSS signal;'}identifying map information corresponding to the GNSS navigation solution;detecting features from the identified map information; andcorrecting a GNSS navigation based on the features detected from the map information and the GNSS signal.2. The method of claim 1 , wherein the detected features include a tunnel exit position and a tunnel exit direction.3. The method of claim 2 , wherein correcting the GNSS navigation is performed based on a GNSS position projection on the tunnel exit direction relative to the tunnel exit position.4. The method of claim 2 , wherein correcting the GNSS navigation is performed using a measurement equation for a Kalman filter.5. The method of claim 2 , wherein correcting the GNSS navigation is performed when an angle between a line along the tunnel exit direction and a line between the tunnel exit position and a GNSS position exceeds 180 degrees.6. The method of claim 1 , wherein the detected features include a tunnel entrance position and a road direction.7. The method of claim 6 , wherein correcting the GNSS navigation is performed when an angle between a line along the road direction and a line between the tunnel entrance position and a GNSS position exceeds 90 degrees.8. A system for navigating with a global navigation satellite system (GNSS) claim 6 , comprising:a GNSS receiver; and receive a GNSS signal;', 'calculate a GNSS navigation ...

REAL-TIME COMMUNICATION BETWEEN SATELLITES AND MOBILE DEVICES

Systems and methods for communicating with one or more satellites to acquire information related to a region on a map that is displayed on a mobile device. A mobile device includes: a communication device for directly communicating data with a satellite; a display for displaying a graphic user interface (GUI) that shows an image of a map; one or more processors; and a non-transitory computer-readable medium comprising one or more sequences of instructions which, when executed by the one or more processors, causes steps to be performed comprising: responsive to a touch on the GUI, sending a request signal for information related to a region on the map directly to the satellite via the communication device; receiving the information related to the region on the map directly from a satellite; and displaying the information on the display. 1. A mobile device for directly communicating with one or more satellites , comprising:a communication device for directly communicating data with a satellite;a display for displaying a graphic user interface (GUI) that shows an image of a map;one or more processors; and displaying a first GUI component that allows a user of the mobile device to set a time window during which information related to a region on the map is to be acquired by one or more satellites;', 'displaying a second GUI component that allows the user to set a ground resolution of a satellite image,', 'responsive to a touch on the GUI, sending a request signal for information related to a region on the map directly to the satellite via the communication device, wherein the request signal includes information of global positioning system (GPS) coordinates of the mobile device, GPS coordinates of the region on the map, and an identification (ID) of the user and wherein the request further includes information of at least one of the time window and the ground resolution;', 'receiving the information related to the region on the map directly from a satellite; and', ' ...

NAVIGATION ARCHITECTURE FOR CONTESTED ENVIRONMENTS

A navigation path planning method includes receiving an initial position of a navigation path and a terminal position of the navigation path. The initial position represents a current position of a vehicle or other platform that is navigating to the terminal or target position. The method includes calculating the navigation path from the initial position to the terminal position as an objective function of a navigation reliability term and a navigation accuracy term. The navigation reliability term represents a probability of successfully reaching the terminal position along the navigation path, and the navigation accuracy term represents the probable distance between the terminal position and the navigation path. The calculated navigation path is provided to a navigation system to cause the platform to navigate along the calculated navigation path. 1. A method of navigation path planning in a contested environment , the method comprising:receiving an initial position of a navigation path and a terminal position of the navigation path;calculating the navigation path from the initial position to the terminal position as an objective function of a navigation reliability term and a navigation accuracy term, the navigation reliability term representing a probability of successfully reaching the terminal position via one or more navigational fixes to be obtained from a platform while navigating along the navigation path, wherein the probability of successfully reaching the terminal position is based at least in part on a probability that each of the navigational fixes can be successfully obtained while navigating along the navigation path, and the navigation accuracy term representing a distance between the terminal position and the navigation path; andproviding the calculated navigation path to a navigation system to cause the platform to navigate along the calculated navigation path.2. The method of claim 1 , wherein during navigation along the calculated navigation ...

Server, non-transitory computer readable medium, communication apparatus, and vehicle

A server according to the present disclosure includes a communication interface and a controller. The controller receives, from a vehicle via the communication interface, received-radio-wave information indicating a state of a radio wave wirelessly received by the vehicle, and determines a position of the vehicle based on the received-radio-wave information using association information associating one or more positions with states of respective radio waves received at the one or more positions.

Method for Determining a Spatially Resolved Extent of Error for Position Finding with a GNSS

A method for determining a spatially resolved extent of error for position finding with a global navigation satellite system for a target area of interest using field data from a plurality of field apparatuses, particularly motor vehicles, each having a receiver for the global navigation satellite system and which are at least intermittently situated in the target area, comprising the following steps: ascertainment by the field apparatuses of at least one field data record comprising a current GNSS position in the target area and an error value associated with said position, transmission of the field data records to a central computation device, updating of an error map containing the extents of error for various positions and/or subareas of the target area by statistical evaluation of the field data records in the central computation device. 111-. (canceled)12. A method for determining a spatially resolved extent of error for position finding with a global navigation satellite system for a target area of interest using field data from a plurality of motor vehicles , each of the motor vehicles having a global navigation satellite system (GNSS) receiver and Which are at least intermittently situated in the target area , the method comprising:determining, by the plurality of motor vehicles. plurality of field data records that each comprise a current GNSS position in the target area and an error value associated with the current GNSS position;transmitting the plurality of field data records to a central computation device; andupdating an error map containing extents of error for various positions and/or subareas of the target area by statistical evaluation of the plurality of field data records in the central computation device,wherein a temporal course of error values associated with one of the various positions and/or subareas of the target area is taken into consideration by the statistical evaluation, and/or a temporal low-pass filter is applied to the error ...

Systems and methods for denoising gps signals using simulated models

A device may receive simulation information associated with iteratively simulating movement of a geolocation unit. The device may generate simulated true paths for simulations of the movement of the geolocation unit. The device may configure, based on the simulation information, noise parameters associated with simulating distortion of a signal received by the geolocation unit during the simulations to generate simulated measured paths. The device may execute the simulations to correspondingly generate sets of simulation data, training, using the sets of simulation data, a geolocation correction model based on differences between true location data of the simulated true paths and simulated measured data of the simulated measured paths. The device may configure the geolocation correction model to process a geolocation signal of an active geolocation unit to determine a location of the active geolocation unit based on the differences between the true location data and the simulated measured data.

METHOD AND APPARATUS FOR DETERMINING UNMANNED VEHICLE POSITIONING ACCURACY

Disclosed embodiments include a method and apparatus for determining an unmanned vehicle positioning accuracy. In some embodiments, the method comprises: acquiring positioning coordinate information obtained by real-time positioning based on sensing positioning data of the unmanned vehicle; determining real coordinate information of the unmanned vehicle based on GPS data, IMU data and laser point cloud data of the unmanned vehicle; matching the obtained positioning coordinate information with the determined real coordinate information, and determining the positioning accuracy of the unmanned vehicle based on a matching result. According to technical solutions of some embodiments, the positioning accuracy of the unmanned vehicle can be determined with a higher accuracy, and preparation is made for determining a travel route of the unmanned vehicle based on the positioning result. 1. A method for determining an unmanned vehicle positioning accuracy , comprising:acquiring positioning coordinate information obtained by real-time positioning based on sensing positioning data of the unmanned vehicle;determining real coordinate information of the unmanned vehicle based on GPS data, IMU data and laser point cloud data of the unmanned vehicle;matching the acquired positioning coordinate information with the determined real coordinate information, and determining a positioning accuracy of the unmanned vehicle based on a matching result.2. The method according to claim 1 , wherein matching the acquired positioning coordinate information with the determined real coordinate information claim 1 , and determining the positioning accuracy of the unmanned vehicle based on the matching result comprises:matching the positioning coordinate information of the unmanned vehicle with the real coordinate information, and determining a positioning error of the unmanned vehicle; anddetermining the positioning accuracy of the unmanned vehicle based on the positioning error of the unmanned ...

EXTENDED DEAD RECKONING ACCURACY

Methods, systems, computer-readable media, and apparatuses for vehicular navigation are presented. Some configurations include computing a first attitude of a vehicle with respect to a reference frame at a first epoch; based on measurement data from an inertial navigation system (INS) of the vehicle, computing an attitude of the INS at a second epoch that is subsequent to the first epoch; based on the computed attitude of the INS and the computed first attitude of the vehicle, computing a second attitude of the vehicle at the second epoch; applying a constraint to the computed second attitude of the vehicle to produce an updated second attitude of the vehicle; and based on the updated second attitude of the vehicle, computing an updated attitude of the INS. Applications relating to road vehicular (e.g., automobile) use are described. 1. A method of vehicular navigation , the method comprising:determining a first attitude of a vehicle with respect to a reference frame at a first epoch;based on measurement data from an inertial navigation system (INS) of the vehicle, determining an attitude of the INS at a second epoch that is subsequent to the first epoch;based on the determined attitude of the INS at the second epoch, determining a second attitude of the vehicle at the second epoch;applying a constraint to the determined second attitude of the vehicle to produce an updated second attitude of the vehicle, wherein applying the constraint limits a change in one or more aspects of the determined second attitude of the vehicle from the first epoch to the second epoch; andbased on the updated second attitude of the vehicle, determining an updated attitude of the INS.2. The method according to claim 1 , wherein determining the first attitude of the vehicle is based claim 1 , at least in part claim 1 , on:an attitude of the INS at the first epoch with respect to the reference frame, oran orientation of a body frame of the INS at the first epoch relative to a body frame of ...

METHOD OF AND APPARATUS FOR UPDATING POSITION OF MOVING OBJECT BASED ON GNSS

A method of compensating a position of an object by using a Global Navigation Satellite System (GNSS) processor is provided. The method includes generating a compensated position associated with a target satellite at a compensation target time based on a pseudo range between the object and the target satellite at the compensation target time, generating a displacement vector of the object based on the compensated position at the compensation target time and a previous position of the object at a previous time that is prior to the compensation target time, determining a weight for the compensated position associated with the target satellite based on a velocity vector at the compensation target time and the displacement vector, and compensating a predicted position of the object according to the weight and the compensated position. 1. A method of compensating a position of an object by using a GNSS (Global Navigation Satellite System) processor , the method comprising:generating a compensated position associated with a target satellite at a compensation target time based on a pseudo range between the object and the target satellite at the compensation target time;generating a displacement vector of the object based on the compensated position at the compensation target time and a previous position of the object at a previous time that is prior to the compensation target time;determining a weight for the compensated position associated with the target satellite based on a velocity vector at the compensation target time and the displacement vector; andcompensating a predicted position of the object according to the weight and the compensated position.2. The method of claim 1 , wherein the determining of the weight comprises:comparing the velocity vector with the displacement vector; anddetermining the weight for the compensated position associated with the target satellite based on a result of the comparing.3. The method of claim 2 , wherein the comparing comprises ...

METHOD OF MEASURING THE DISTANCE TO A SATELLITE IN CONSIDERATION OF QUANTUM AND GRAVITY EFFECTS, METHOD OF MEASURING A LOCATION USING THE SAME, AND USER TERMINAL

A method of measuring a distance to a satellite, which is performed by an electronic device, according to an exemplary embodiment of the present invention, the method comprises receiving a linearly polarized photon from and angular momentum per unit mass of the satellite the satellite; measuring an amount of rotation of the polarized photon, the rotation being induced by a space-time warpage due to gravity; and calculating a distance to the satellite by using the rotation amount of the polarized photon and the angular momentum per unit mass of the satellite. The distance to the satellite may be calculated by the following equation, 1. A method of measuring a distance to a satellite , which is performed by an electronic device , the method comprising:receiving a linearly polarized photon and angular momentum per unit mass of the satellite from the satellite;measuring an amount of rotation of the polarized photon, the rotation being induced by a space-time warpage due to gravity; andcalculating a distance to the satellite by using the rotation amount of the polarized photon and the angular momentum per unit mass of the satellite.3. A method of measuring a location comprising:receiving, by an electronic device, from at least three or more satellites, a polarized photon of each satellite and angular momentum per unit mass of the satellites;measuring, by the electronic device, an amount of rotation of the polarized photon of each satellite, the rotation being induced by warpage of space-time due to gravity;calculating, by the electronic device, a distance to each satellite by using a rotation amount of polarization of each satellite and an angular momentum per unit mass of each satellite; andcalculating a position relative to each of the satellites by the electronic device by using the distance to each of the satellites.5. The method of claim 3 , wherein the electronic device further receives a coordinated of each of the satellites from each of the satellites claim 3 , ...

Satellite Positioning Method and Satellite Positioning System

The present application provides a satellite positioning method and a satellite positioning system. The system includes a satellite, a base station, an observation station. The observation station is provided with a monitoring terminal and a correction parameters information generating apparatus, the monitoring terminal receiving observation data transmitted from the satellite; the correction parameters information generating apparatus generating a correction parameters based on the observation data, the correction parameters being transmitted to the base station. The base station is provided with a switch and a message parameter superimposition-encoding-and-broadcasting apparatus, the switch receiving a basic navigation message from the satellite; the message parameter superimposition-encoding-and-broadcasting apparatus encoding the correction parameters into the basic navigation message by protocol superimposition, and setting the broadcasting of the integrated-encoded message into which the correction parameters is encoded, the integrated-encoded message being transmitted to the satellite by the switch via an uplink injection link.

METHOD FOR POSITIONING A VEHICLE

A method for positioning a vehicle includes deriving an estimated position of the vehicle by way of a satellite signal received from the vehicle, receiving a correction signal from a second vehicle, and correcting the estimated position by way of the correction signal. 111-. (canceled)12. A method for positioning an Ego vehicle comprising:a) deriving an estimated position of the Ego vehicle by way of a satellite signal received by the Ego vehicle;b) receiving a correction signal from a second vehicle; andc) correcting the estimated position by way of the correction signal.13. The method according to claim 12 , wherein the correction signal comprises extent and direction of a deviation between a position of the second vehicle and a position estimated by way of a satellite signal received by the second vehicle.14. The method according to claim 13 , further comprising deriving a dimension for the reliability of the deviation from the received correction signal and correcting the estimated position by way of the correction signal and the dimension.15. The method according to claim 14 , wherein a) and c) are repeated. multiple repetitions following b) such that an influence of the correction signal on the corrected estimated position decreases from one repetition to the next repetition.16. The method according to claim 13 , wherein the position of the second vehicle assumed to be true is obtained by:deriving an estimated position of the second vehicle by way of a satellite signal received by the second vehicle;receiving a second correction signal from one of a third vehicle or a stationary reference station; andcorrecting the estimated position of the second vehicle by way of the correction signal.17. The method according to further comprising:d) measuring a distance vector between the first and second vehicles;correcting the estimated position by way of the correction signal and the distance vector, wherein the correction signal includes a position of the second vehicle ...

STATE ESTIMATION FOR AERIAL VEHICLES USING MULTI-SENSOR FUSION

A state estimation system that utilizes long-range stereo visual odometry that can degrade to a monocular system at high-altitude, and integrates GPS, Barometer and IMU measurements. The system has two main parts: An EKF that is loosely fused and a long-range visual odometry part. For visual odometry, the system takes the EKF information for robust camera pose tracking, and the visual odometry outputs will be the measurement for EKF state update. 1. A system for estimating the state of an aerial vehicle comprising:one or more relative sensors, including at least an inertial measurement unit and a visual odometry unit;one or more absolute sensors; and keeping a current state and current state covariance, the current state including at least a current position, a current orientation, a current velocity, a delayed position and a delayed orientation, the delayed position and delayed orientation being based on visual odometry from a previous current state;', 'predicting an update of the current state and an update of the current state covariance based on an integration of a reading from the inertial measurement unit;', 'receiving visual odometry, updating the delayed position and orientation with the current position and orientation, updating the current position and orientation with the visual odometry;', 'receiving state information from an absolute sensor, updating the current state with the state information and covariance from the absolute sensor;', 'recalculating the covariance of the current state to give readings from the relative and absolute sensors a weight in the estimated state of the vehicle; and', 'repeating the functions performed by the software., 'a processor, running software for performing the functions of2. The system of wherein updating the current state and covariance is performed by an extended Kalman filter.3. The system of wherein the current state includes covariances of each element included in the current state.4. The system of wherein the ...

POSITIONING SYSTEMS

A method is provided whereby a group of receivers local to one another make GNSS measurements of a number of satellites, from one or multiple different GNSS's, and by combining the measurements of the same satellites made by the different receivers it is possible given sufficient conditions to determine the positions of the receivers and the satellite errors such that the positions obtained are equivalent to those obtained from a traditional differential GNSS system, without the need for a static reference receiver at a known location. 122-. (canceled)23. A position processor for locating positions of devices of a cluster of mobile devices , wherein a said device comprises a receiver to receive a location signal from a Global Navigation Satellite System (GNSS) , wherein said location signal comprises timing data enabling a range to a satellite of said GNSS and a range velocity to be determined , and wherein a said device further comprises a transmitter to transmit said timing data to a remote receiver at said position processor , the position processor comprising:an input to receive measurement data comprising timing data measurements from each device in a set of m said devices for each of a set of n satellites of said GNSS to form m·n timing data measurements at said position processor; anda computation engine configured to use said m·n measurements in combination with predetermined 3D positions for said n satellites at a time of each of said measurements to co-determine a position in space for each of said m devices and a velocity of each of said m devices.24. A position processor as claimed in claim 23 , wherein said range velocity is determined from an observed Doppler frequency offset.25. A position processor as claimed in claim 23 , wherein said range velocity for each device is used to co-determine said corrected position in space for each of said m devices.26. A position processor as claimed in claim 23 , wherein said range velocity for each device is used ...

MOBILE REFERENCE STATION FOR GNSS POSITIONING

Methods for determining corrected positions of a global navigation satellite system (GNSS) rover using a GNSS base station and one or more GNSS reference stations include determining a statistical representation of position measurements from the GNSS reference stations and an instantaneous position measurement from the GNSS reference stations. A position correction is determined based on the statistical representation and the instantaneous position measurement. A corrected position of the GNSS rover is determined based on a position of the GNSS rover and the position correction. 1. A method for determining corrected positions of a global navigation satellite system (GNSS) rover using a GNSS base station and a GNSS reference station , each of the GNSS rover , the GNSS base station , and the GNSS reference station being configured for real-time kinematic (RTK) processing techniques , the method comprising:arranging the GNSS reference station at a first location;determining a first average position of the GNSS reference station at the first location using RTK corrections received from the GNSS base station and signals received from GNSS satellites;determining a first instantaneous position of the GNSS reference station at the first location using RTK corrections received from the GNSS base station and signals received from GNSS satellites;determining a first position of the GNSS rover using RTK corrections received from the GNSS base station and signals received from GNSS satellites;determining a first vertical correction based on the first average position and the first instantaneous position;determining a first corrected position of the GNSS rover based on the first position of the GNSS rover and the first vertical correction; thereafterarranging the GNSS reference station at a second location different from the first location;determining a second average position of the GNSS reference station at the second location using RTK corrections received from the GNSS base ...

PLACEMENT OF CALIBRATION EARTH STATIONS FOR GROUND BASED BEAM FORMING IN A SATELLITE SYSTEM

A system and method for estimating calibration parameters and locating a Calibration Earth Station (CES) is described. The method may be performed offline. The method includes: providing LxM pilot signal measurements in a matrix R from L CESs and the M feed elements, wherein the matrix R comprises a set of channel coefficients c={c1, c2, . . . , cM}, and k={k1, k2, . . . , kL} perturbations; linking a subset of channel coefficients {c1, c2, . . . , cM} using each of the L CESs; and estimating a relative estimate of the k={k1, k2, . . . , kL} pertubations across the L CESs by using each of the L CESs as a bridging element. In the method, the bridging element provides a strong pilot signal for at least two of the L CESs. A set of criteria for determining locations of CESs have been described. A set of desirable properties for the solution set of L CESs have been disclosed. A combination of inner loop and outer loop methods for determining the final set of optimal locations have been described. 1. A method for estimating calibration parameters and locating a Calibration Earth Station (CES) receiving a signal from an antenna array with M feed elements , the method comprising:{'b': 1', '2', '1', '2, 'providing LxM pilot signal measurements in a matrix R from L CESs and the M feed elements, wherein the matrix R comprises a set of channel coefficients c={c, c, . . . , cM}, and k={k, k, . . . , kL} perturbations;'}{'b': 1', '2, 'linking a subset of channel coefficients {c, c, . . . , cM} using each of the L CESs; and'}{'b': 1', '2, 'estimating a relative estimate of the k={k, k, . . . , kL} perturbations across the L CESs by using one of the M feed elements as a bridging element;'}wherein the bridging element provides a strong pilot signal for at least two of the L CESs.212. The method of claim 1 , the method further comprising: providing criterion comprising specifying that each of the one or more bridging elements has at least Lk CES sites (where k = claim 1 , claim 1 , ...

POSITIONING DEVICE AND POSITIONING METHOD

A code positioning part calculates a position of a subject vehicle and a receiver clock based on an orbit of a GNSS satellite in which an error indicated by a positioning reinforcing signal is corrected and a first corrected pseudorange being a pseudorange of the GNSS satellite in which an error indicated by the positioning reinforcing signal is corrected. A receiver clock bias error correction part determines a difference between a two-point range between a position of each of a plurality of GNSS satellites and the position of the subject vehicle and the first corrected pseudorange as an unknown error, and determines a receiver clock bias error of the pseudorange based on the unknown error. A code positioning correction part recalculates the position of the subject vehicle, using a second corrected pseudorange that is obtained by correcting the first corrected pseudorange using the receiver clock bias error. 1. A positioning device for measuring a position of a mobile object ,the positioning device comprising:a processor to execute a program; anda memory to store the program which, when executed by the processor, performs processes of,calculating a position of the mobile object and a receiver clock based on an orbit of a GNSS satellite in which an error indicated by a positioning reinforcing signal is corrected and a first corrected pseudorange being a pseudorange of the GNSS satellite in which an error indicated by the positioning reinforcing signal is corrected,determining, concerning a plurality of GNSS satellites affected by multipath to a smaller extent than a predetermined value, a difference between a two-point range between a position of each of the plurality of GNSS satellites and the position of the mobile object and the first corrected pseudorange as an unknown error, and determining a receiver clock bias error of the pseudorange based on the unknown error, andrecalculating the position of the mobile object, using a second corrected pseudorange that is ...

System for Land Vehicle Navigation and Corresponding Method

In an embodiment, a system for land vehicle navigation includes: a GNSS receiver providing GNSS data, a set of sensors positioned on a wheel of a vehicle and on board the vehicle; and a processing unit. An on-wheel unit is located on the wheel of the vehicle, the on-wheel unit including a first subset of sensors. An on-board unit includes a second subset of sensors configured to generate a second sensor data. The processing unit is configured to process the first and second sensor data to obtain the distance and the attitude of vehicle and to perform a fusion with the GNSS data. 1. A system for land vehicle navigation comprising:a Global Navigation Satellite System (GNSS) receiver configured to provide GNSS data;a set of sensors positioned on a wheel of a vehicle and on board the vehicle, wherein the set of sensors is configured to generate sensor data that can be processed to obtain a distance travelled by the vehicle and an attitude of vehicle;a processing unit configured to perform a fusion of the sensor data from the set of sensors and the GNSS data;an on-wheel unit located on the wheel of the vehicle, the on-wheel unit comprising a first wireless communication module, and a first subset of sensors of the set of sensors, the first subset of sensors configured to generate a first sensor data, the first sensor data that can be processed to obtain the distance travelled by the vehicle; andan on-board unit comprising the GNSS receiver, a second wireless communication module, and a second subset of sensors of the set of sensors, the second subset of sensors configured to generate a second sensor data, the second sensor data that can be processed to obtain the attitude of vehicle, wherein the first and second wireless communication modules are configured to establish a wireless link to exchange over the wireless link the first sensor data, the on-board unit being configured to operate in association with a processor configured to process the first and second sensor ...

Intelligent nursing care device

The present disclosure discloses an intelligent nursing care device, which is a wearable nursing care device and comprises a monitoring unit that acquires a position information and a health condition information of a wearer in real time, and a control unit that determines, based on the position information and the health information acquired by the monitoring unit, a safety condition and a health condition of the wearer, and transmits a determination result to at least one of a cloud server and a monitoring terminal. By wearing the intelligent nursing care device, an intelligent nursing care service and safety tracking service are provided to a wearer.

SYSTEM AND METHOD FOR INDOOR LOCATION

Systems and methods enabling location determination within an indoor environment. In an embodiment, a plurality of stationary nodes are arranged as a constellation within the indoor environment. Each of the plurality of stationary nodes may be configured to transmit a ranging signal, receive ranging signals transmitted by one or more neighboring ones of the plurality of stationary nodes, calculate an offset between the ranging signal that the stationary node transmits and the ranging signals received from the one or more neighboring stationary nodes, and include the offset in the ranging signal that the stationary node transmits. 1. A system enabling location determination within an indoor environment , the system comprising: transmit a ranging signal,', 'receive ranging signals transmitted by one or more neighboring ones of the plurality of stationary nodes,', 'calculate an offset between the ranging signal that the stationary node transmits and the ranging signals received from the one or more neighboring stationary nodes, and', 'include the offset in the ranging signal that the stationary node transmits., 'a plurality of stationary nodes to be arranged as a constellation within the indoor environment, wherein each of the plurality of stationary nodes is configured to'}2. The system of claim 1 , wherein none of the plurality of stationary nodes synchronize with each other.3. The system of claim 1 , wherein none of the plurality of stationary nodes communicate with any central server or other master node.4. The system of claim 1 , wherein each of the plurality of stationary nodes transmits the ranging signal using direct-sequence spread spectrum (DSSS).5. The system of claim 4 , wherein the DSSS uses maximal code decimation.6. The system of claim 4 , wherein the ranging signal transmitted by each of the plurality of stationary nodes is spread one gigahertz wide.7. The system of claim 1 , wherein all of the ranging signals transmitted by the plurality of stationary ...

RECEPTION CONTROL DEVICE

A positioning position is corrected more efficiently. A reception control device, comprising: a processor, wherein the processor executes: a reception parameter acquisition process of acquiring reception parameters related to reception of positioning signals from a positioning signal receiver that receives the positioning signals from positioning satellites; a first reception environment determination process of determining a reception environment on the basis of a result of determining the acquired reception parameters in accordance with determination conditions; and a reception control process of controlling an error correction signal receiver that receives an error correction signal for correcting an error of a positioning result by the positioning signals from an error correction satellite on the basis of a determination result in the first reception environment determination process. 1. A reception control device , comprising:a processor, wherein the processor executes:a reception parameter acquisition process of acquiring reception parameters related to reception of positioning signals from a positioning signal receiver that receives the positioning signals from positioning satellites;a first reception environment determination process of determining a reception environment on the basis of a result of determining the acquired reception parameters in accordance with determination conditions; anda reception control process of controlling an error correction signal receiver that receives an error correction signal for correcting an error of a positioning result by the positioning signals from an error correction satellite on the basis of a determination result in the first reception environment determination process.2. The reception control device according to claim 1 , wherein the reception parameter acquisition process includes acquiring a plurality of reception parameters related to the reception of the positioning signals from the positioning signal receiver ...

SYSTEMS AND METHODS FOR DISTRIBUTED DENSE NETWORK PROCESSING OF SATELLITE POSITIONING DATA

A system for generating satellite positioning corrections includes a global correction module that generates a set of global pre-corrections based on modeling of global positioning error, a set of local correction modules that, for each local correction module of the set, takes input from a unique reference source and generates a set of local pre-corrections based on modeling of local positioning error; and a correction generator that generates a positioning correction from the set of global pre-corrections and the sets of local pre-corrections to correct a position of the mobile receiver. 1. A system for generating satellite positioning corrections for a mobile receiver comprising:a global correction module that receives, from a first set of reference sources, at least one of positioning code data and carrier phase data; wherein the positioning code data and carrier phase data from the first set of reference sources results from the reception of satellite signals from a first set of satellites at the first set of reference sources; wherein the global correction module generates a set of global pre-corrections;a set of local correction modules that receive, from a second set of reference sources, at least one of positioning code data and carrier phase data; wherein the positioning code data and carrier phase data from the second set of reference sources results from the reception of satellite signals from a second set of satellites at the second set of reference sources; wherein each local correction module of the set takes input from a unique reference source; wherein each local correction module of the set generates a set of local pre-corrections;a local modeler coupled to a plurality of the local correction modules; wherein the local modeler produces a spatial local model of the local pre-corrections; anda correction generator that generates a positioning correction of the mobile receiver from the set of global pre-corrections and the spatial local model.2. The ...

METHOD OF POSITIONING A DEVICE, POSITIONING DEVICE AND NON-TRANSITORY COMPUTER READABLE MEDIUM

A method of positioning a device includes: receiving satellite signals corresponding to at least 5 satellites in a global navigation satellite system (GNSS); determining whether there is one of the satellite signals has a wrong bit edge from at least navigation data of the satellite signals; and in response to a determination that there is one of the satellite signals has a wrong bit edge, finding out a wrong satellite signal among the satellite signals, and using the navigation data of the other satellite signals to obtain a position of the device. 1. A method of positioning a device , the method comprising:receiving satellite signals corresponding to at least 5 satellites in a global navigation satellite system (GNSS);determining whether there is one of the satellite signals has a wrong bit edge from at least navigation data of the satellite signals;in response to a determination that there is one of the satellite signals has a wrong bit edge, finding out a wrong satellite signal among the satellite signals, and using the navigation data of the other satellite signals to obtain a position of the device.2. The method of claim 1 , wherein determining whether any of the satellite signals has a wrong bit edge comprising:performing an iterating operation on the navigation data by a least square estimation of the position of the device and a time offset between the GNSS and the device to obtain residuals of an equation of the satellite signals; andcomparing a largest one of the residuals with a predetermined residual threshold;wherein one of the satellite signals with a wrong bit edge is determined if the largest one of the residuals is greater than the predetermined residual threshold.3. The method of claim 2 , wherein the iterating operation is stopped if a sum of the residuals is smaller than a predetermined total residual threshold.4. The method of claim 1 , wherein the received satellite signals respectively correspond to 5 satellites.5. The method of claim 1 , ...

NAVIGATION SATELLITE SYSTEM POSITIONING INVOLVING THE GENERATION OF RECEIVER-SPECIFIC OR RECEIVER-TYPE-SPECIFIC CORRECTION INFORMATION

The invention relates to methods, apparatuses and computer programs for generating receiver-specific correction information for correcting pseudorange observations. The method comprises: receiving raw observations obtained by the NSS receiver observing NSS multiple frequency signals from a plurality of NSS satellites over multiple epochs; obtaining precise satellite information on: (i) the orbit position of each of the satellites, (ii) a clock offset of each of the satellites, and (iii) a set of biases associated with each of the satellites; estimating ambiguities in the carrier phase of the received raw observations, using the precise satellite information, or information derived therefrom; computing combination values based on the received raw observations together with the estimated ambiguities, to cancel out the effects of the geometry, the effects of the clocks, troposphere and ionosphere; and generating the correction information per satellite, based on the computed combination values. 1. Method for generating correction information associated with at least one global or regional navigation satellite system receiver , hereinafter abbreviated as NSS receiver , wherein the correction information comprises information for correcting pseudorange observations useful for determining a position of the at least one NSS receiver , the method comprising:receiving raw observations obtained by one of the at least one NSS receiver absenting NSS multiple frequency signals from a plurality of NSS satellites over multiple epochs; (i) the orbit position of each one of the plurality of NSS satellites,', '(ii) a clock offset of each one of the plurality of NSS satellites, and', '(iii) a set of biases associated with each one of the plurality of NSS satellites, or, 'obtaining information, hereinafter referred to as “precise satellite information”, oninformation derived from the precise satellite information;estimating ambiguities in the carrier phase of the received raw ...

ESTIMATING CHARACTERISTICS OF OBJECTS IN ENVIRONMENT

Methods and systems disclosed herein may include receiving signals from a transmitter in a receiver; determine a bias of the transmitter and receiver; generating expected observations, based on the bias, corresponding to the received signals; and calculate a building height based on a power level of the received signals and a power level of the expected observations. 1receiving signals from a transmitter in a receiver;determine a bias of the transmitter and receiver;generating expected observations, based on the bias, corresponding to the received signals; andcalculate a building height based on a power level of the received signals and a power level of the expected observations.. A method comprising: This application is a continuation of U.S. patent application Ser. No. 13/865,828, filed Apr. 18, 2013, which is incorporated herein by reference, which claims the benefit of U.S. Provisional Patent Application No. 61/635,058, filed Apr. 18, 2012, U.S. Provisional Patent Application No. 61/650,521, filed May 23, 2012, U.S. Provisional Patent Application No. 61/679,056, filed Aug. 2, 2012, U.S. Provisional Patent Application No. 61/752,960, filed Jan. 15, 2013, U.S. Provisional Patent Application No. 61/794,426, filed Mar. 15, 2013, and U.S. Provisional Patent Application No. 61/765,509, filed Feb. 15, 2013, all of which are incorporated herein by reference.Vehicles often have navigation devices to aid occupants while traveling. Consumer electronic devices, including smart phones, often have navigation applications to aid the user while traveling. These navigation devices and applications use navigation techniques or systems, such as a global navigation satellite systems (GNSS), to determine location. In a GNSS, for example, the device or application receives signals transmitted by the satellites and determines location from the received signals. In some instances, the location determined by the GNSS may include errors. These errors may be caused by multipath, ...

SYSTEMS AND METHODS FOR REAL TIME CARRIER PHASE MONITORING

The concepts, systems and methods described herein are directed towards real time carrier phase monitoring and platform attitude solutions on a moving platform. In an embodiment, highly accurate platform attitude and monitored carrier phases can be determined in a single step and use data screening, error bounds inflation and statistical tests to ensure both inputs and outputs of an attitude solution are self-consistent. The method includes determining a carrier phase error level for each of the satellite-receiver tracks, identifying the satellite-receiver tracks having the carrier phase error level greater than or equal to a carrier phase error threshold, generating an attitude correction using the received data from the one or more satellite-receiver tracks having the carrier phase error level less than the carrier phase error threshold and determining a convergence state of the attitude correction. The carrier phase monitoring may be activated or dis-activated based on the convergence level. 1. A method comprising:receiving data from a plurality of receivers on a platform, wherein the data corresponds to one or more satellite-receiver tracks;generating an attitude correction for the platform based on the received data;determining a convergence test statistic of the attitude correction;determining a convergence level of the attitude correction using the convergence test statistic; and 'determining the satellite-receiver tracks having a carrier phase error greater than or equal to a carrier phase error threshold.', 'responsive to the determination, monitoring a carrier phase error of signals received from the one or more satellite-receiver tracks, wherein monitoring the carrier phase error comprises2. The method of claim 1 , further comprising:identifying half cycle tracks in the one or more satellite-receiver tracks using double difference measurements; andscreening out the identified half cycle tracks from the one or more satellite-receiver tracks from use in ...

POSITIONING METHOD AND DEVICE FOR GROWING TREES, CONSTRUCTION ELEMENTS OR GEOLOGICAL FEATURES

A device measures positions of a plurality of objects. The device comprises a memory arranged to store positioning data for a plurality of objects having mutual constant positions, an input interface arranged to obtain measurement data of relative positions for at least a subset of the plurality of objects, and a processor arranged to calculate an adapted measurement position for at least one of the objects of the subset of the plurality of objects by correlating the measured relative positions for the at least a subset of the plurality of objects with the acquired positioning data. The adapted measurement position is based on the positioning data. Corresponding method and computer program are also disclosed. 1. A method of adjusting positioning data , the method comprisingacquiring positioning data for a plurality of objects having mutual constant positions;measuring relative positions for at least a subset of the plurality of objects; andcalculating an adapted measurement position for at least one of the objects of the subset of the plurality of objects by correlating the measured relative positions for the at least a subset of the plurality of objects with the acquired positioning data, wherein the adapted measurement position is based on the acquired positioning data.2. The method of claim 1 , wherein the acquired positioning data is a file comprising the positions for the respective object claim 1 , wherein the positions are determined from a higher altitude than from the altitude on which the measurement of the relative positions for the at least a subset of the plurality of objects is made.3. The method of claim 1 , wherein the measuring of the relative positions for the at least a subset of the objects comprises measuring mutual distances and directions between individual objects.4. The method of claim 3 , wherein the measuring of the distances between the individual objects comprisesregistering the objects by a camera;triangulation between the objects; ...

TACTICAL DIFFERENTIAL GPS

A method for improving an accuracy of a radio based navigation system by correcting the position given by the radio based navigation system with a correction vector derived from localization data stored in a map database. Position coordinates of the radio based navigation system are measured. A set of 3D map data is selected based upon the measured position coordinates of the radio based navigation system position coordinates. The actual position is determined from the selected 3D map data. The actual position data coordinates are retrieved from the 3D map data based upon the determined actual position. The correction vector is calculated from position difference between measured radio based navigation system position coordinates and retrieved actual position coordinates. The position given by the radio based navigation system is corrected with the correction vector. 1. A method for improving the an accuracy of a radio based navigation system by correcting a position given by the radio based navigation system with a correction vector derived from localization data stored in a map database , the method comprising:measuring position coordinates of the radio based navigation system,selecting based upon the measured position coordinates of the radio based navigation system position coordinates a set of 3D map data,determining from the selected 3D map data an actual position,retrieving based upon the determined actual position actual position data coordinates from the 3D map data,calculating the correction vector from position difference between measured radio based navigation system position coordinates and retrieved actual position coordinates, andcorrecting the position given by the radio based navigation system with the correction vector.2. The method for improving the accuracy of a radio based navigation system according to claim 1 , wherein determining the actual position comprises:displaying the 3D map data as a 3D map on a display, andselecting actual position on ...

METHOD FOR DETERMINING THE POSITION OF A VEHICLE AND COMPUTER SYSTEM THEREFOR

A method and system are disclosed to account for improving the accuracy of a calculated position of a vehicle in transit. Position measurement values for different locations are collected. Position measurement values of a plurality of vehicles are collected such that the method is particularly effective in instances, in which dense traffic makes it desirable to determine the position of the vehicles in a particularly accurate fashion. Each position measurement value is allocated to a section of a traffic route. A systematic deviation is estimated based on a comparison of the position measurement values allocated to the section with a reference position. Finally, a position value measured along the traffic route section by the systematic deviation is corrected. 115-. (canceled)16. A method for determining the position of a vehicle along a traffic route , comprising:collecting position measurement values obtained at different locations;allocating each position measurement value to a section of the traffic route;estimating a systematic deviation based on a comparison of the position measurement values allocated to the section with a reference position; andcorrecting a position value measured along the traffic route section based on the systematic deviation.17. The method according to claim 16 , further comprising collecting position measurement values obtained from of a plurality of vehicles at different locations.18. The method according to claim 17 , further comprising:transmitting the position measurement values from the plurality of vehicles to a common server; andestimating the systematic deviation with the server.19. The method according to claim 18 , further comprising allocating the position measurement value to the section of the traffic route with the server.20. The method according to claim 18 , further comprising transmitting the determined systematic deviation for the traffic route section from the server to a vehicle.21. The method according to claim 18 , ...

GNSS Rover having Subscribed Precision

This application discloses a GNSS rover having a data receiver, a position processor and a vector error reverser. The data receiver receives GNSS position-determination reference data based on a reference erroneous position having one or more keyed intentional errors made confidential with confidential error keys. The position processor uses the GNSS position-determination reference data to determine a rover erroneous position corresponding to the reference erroneous position. The vector error reverser uses confidential access to at least one confidential error key to reverse the corresponding confidential keyed intentional error in the rover erroneous position to determine a subscribed rover position. 1. A GNSS rover for determining a GNSS-based position , including:a data receiver to receive GNSS position-determination reference data based on a reference erroneous position having one or more keyed intentional errors made confidential with one or more confidential error keys, respectively;a rover position processor to use the GNSS position-determination reference data to determine a rover erroneous position having a non-subscribed vector error based on the sum of the keyed intentional errors; anda vector error reverser having confidential access to at least one of the confidential error keys to reverse a corresponding at least one of the confidential keyed intentional errors from the rover erroneous position to compute a subscribed rover position.2. The GNSS rover of claim 1 , further including:a carrier phase processor to determine rover carrier phases from GNSS signals; wherein:the position-determination reference data includes GNSS reference carrier phases synthesized for the reference erroneous position; andthe rover position processor is configured to compare the synthesized reference carrier phases with the rover carrier phases to compute the rover erroneous position.3. The GNSS rover of claim 1 , wherein:the reference erroneous position is a vector ...

DOPPLER COMPENSATION FOR NON-TERRESTRIAL NETWORK

Various arrangements for compensating for Doppler shift on a non-terrestrial orthogonal frequency division multiplex (OFDM) network are presented. A received frequency of a downlink satellite message received from a satellite may be determined. A downlink frequency delta between an expected frequency of the downlink satellite message and the received frequency of the downlink satellite message can be calculated. An uplink frequency delta based on the calculated downlink frequency delta may be calculated. An uplink transmission frequency at which an uplink OFDM symbol is transmitted may be calculated based on the calculated uplink frequency delta. 1. A method for compensating for Doppler shift on a non-terrestrial orthogonal frequency division multiplex (OFDM) network , the method comprising:receiving, by a user equipment (UE) instance; a downlink satellite message received from a satellite;determining, by the UE instance, a received frequency of the downlink satellite message received from the satellite;determining, by the UE instance, an expected frequency of the downlink satellite message received from the satellite;calculating a downlink frequency delta between the expected frequency of the downlink satellite message and the received frequency of the downlink satellite message;calculating an uplink frequency delta based on the calculated downlink frequency delta;altering an uplink transmission frequency at which an uplink OFDM symbol is transmitted based on the calculated uplink frequency delta; andtransmitting, by the UE instance, the OFDM symbol at the altered uplink transmission frequency.2. The method for compensating for Doppler Shift on the non-terrestrial OFDM network of claim 1 , wherein calculating the uplink frequency delta based on the calculated downlink frequency delta comprises determining a value indicative of an angle between the satellite and the UE instance.4. The method for compensating for Doppler Shift on the non-terrestrial OFDM network of ...

APPARATUS AND METHOD FOR CALIBRATING INERTIAL SENSOR

In an apparatus for calibrating an inertial sensor configured to detect an angular velocity of a vehicle, an angular velocity estimator is configured to estimate a value for an angular velocity of the vehicle based on a value for an attitude of the vehicle and a value for a change in attitude of the vehicle estimated by the attitude estimator, and an error estimator is configured to estimate a value for an angular velocity error that is an error between the value for the angular velocity of the vehicle estimated by the angular velocity estimator and the value for the angular velocity of the vehicle detected by the inertial sensor. A calibrator is configured to calibrate the value for the angular velocity of the vehicle detected by the inertial sensor based on the value for the angular velocity error estimated by the error estimator. 1. An apparatus for calibrating an inertial sensor configured to detect an angular velocity of a vehicle , the vehicle being equipped with at least one reference receiver which receives signals from a plurality of positioning satellites , at least one first receiver which receives signals from the plurality of positioning satellites , and at least one second receiver which receives signals from the plurality of positioning satellites , the apparatus comprising:a position calculator configured to calculate a first relative position of the first receiver to a position of the reference receiver based on data based on the signals received by the reference receiver from the positioning satellites and data based on the signals received by the first receiver from the positioning satellites, and calculate a second relative position of the second receiver to the position of the reference receiver based on the data based on the signals received by the reference receiver from the positioning satellites and data based on the signals received by the second receiver from the positioning satellites;an attitude estimator configured to estimate a value ...

System and methods for estimating attitude and heading based on gnss carrier phase measurements with assured integrity

Systems and methods for estimating attitude and heading are provided. The systems and methods utilize carrier phase single difference (CSD) measurements or carrier phase double difference (CDD) measurements and a validation test for CSD or CDD measurement residuals. The systems and methods include applying a wrapping function with limit of ±half of the GNSS carrier signal wavelength to CSD or CDD measurement residuals to generate refined CSD or CDD measurement residuals and validating the refined CSD or CDD measurement residuals variance to determine valid CSD or CDD measurements. By using the validated CSD and CDD measurements, the systems and methods enable low grade hybrid inertial navigation systems to estimate attitude and heading with integrity and without a magnetometer or the need for integer ambiguity resolution even during the static or steady phases of flight/operation.

Accounting for Atmospheric and Terrestrial Obstacles in Geographic Positioning

A position fix identifying a geographic location of a receiver is received. The position fix was generated using signals received at the receiver from respective high-altitude signal sources (such as satellites). Imagery of a geographic area that includes the geographic location is also received. The imagery is automatically processed to determine whether one or more of the high-altitude signal sources were occluded from the geographic location when the position fix was generated. In response to determining that one or more of the high-altitude signal sources were occluded from the geographic location when the position fix was generated, the position fix is identified as being potentially erroneous. 113-. (canceled)14. A method implemented in a computing system on one or more processors for identifying line-of-sight conditions in geographic positioning , the method comprising:receiving an image of a geographic area;using the one or more processors, processing the image to identify obstacles that obstruct a line of sight between (i) a receiver disposed within the geographic area substantially at a surface level and (ii) a signal source disposed above the geographic area at a level significantly higher than the surface level; andusing the one or more processors, generating an obstacle map based on the identified obstacles, wherein the obstacle map indicates (i) first portions of the geographic area in which there is an unobstructed line of sight between the receiver and the signal source, and (ii) second portions of the geographic area in which the line of sight between the receiver and the signal source is obstructed.15. The method of claim 14 , further comprising:receiving a position fix from a receiver, wherein the position fix identifies a geographic location within the geographic area;using the obstacle map, determining whether an unobstructed line of sight to the signal source is available at the geographic location; andin response to determining that no line of ...

PERSONAL GOLFING ASSISTANT AND METHOD AND SYSTEM FOR GRAPHICALLY DISPLAYING GOLF RELATED INFORMATION AND FOR COLLECTION, PROCESSING AND DISTRIBUTION OF GOLF RELATED DATA

A personal golfing assistant system is comprised of software running on a PDA attached directly or remotely to a GPS receiver that enables the user to survey and/or electronically capture geophysical golf data. A handheld device connected to or integrated with a GPS receiver can instead be used. Software allows a golfer to use a handheld PDA/GPS unit during the course of play to mark a ball location automatically and/or determine the distance to golf course targets and/or objects, and to analyze golf related data and generate statistics. The system can send a set of parameters tailored for a specific course to a real time tunable GPS to adjust for optimal performance and can adjust measurements to compensate for environmental condition changes. The system provides an improved graphical method for measuring and displaying distances between a golfer and a golf course object, for displaying multiple measured distances along a line of sight between a golfer and a golf object or target, and for orienting a target or object on a display to coincide with a user's line of sight. There is also provided a method for collecting and uploading golf course geographic information services (GIS) data to an internet accessible server, processing the uploaded data, distributing data upon an authorized user request, and downloading the requested data to an electronic device. 1. A handheld apparatus for displaying a graphical representation of a golf course , comprising:a location measuring device configured to generate location information corresponding to a location of the handheld apparatus;a memory configured to store location information corresponding to each of a plurality of features of the golf course;a computing device connected to the location measuring device and the memory, and configured to retrieve a subset of the plurality of features of the golf course based on the measured location information generated by the location measuring device;a display connected to the ...

PRECISE POINT POSITIONING METHOD AND POSITIONING APPARATUS AND RECORDING MEDIUM THEREOF

Precise point positioning (PPP) method and a PPP device are provided. The precise point positioning method includes obtaining a first satellite signal of a target satellite and a second satellite signal of a reference satellite. The first satellite signal and the second satellite signal are combined to eliminate a signal error and obtain a combined satellite signal. A smoothing process is performed on a code data of the combined satellite signal, to obtain a satellite positioning data for positioning process. The satellite positioning data includes modified code data and modified carrier-phase data. 1. A precise point positioning method , performed by a user equipment , comprising:obtaining a first satellite signal of a target satellite and a second satellite signal of a reference satellite;combining the first satellite signal and the second satellite signal to eliminate a signal error and obtain a combined satellite signal; andperforming a smoothing process on a code data of the combined satellite signal, to obtain a satellite positioning data for a positioning process, wherein the satellite positioning data comprises a modified code data and a modified carrier-phase data.2. The precise point positioning method of claim 1 , wherein the step of combining the first satellite signal and the second satellite signal to eliminate the signal error and obtain the combined satellite signal comprises:eliminating a first ionospheric error of the first satellite signal; andeliminating a second ionospheric error of the second satellite signal.3. The precise point positioning method of claim 2 , wherein the step of combining the first satellite signal and the second satellite signal to eliminate the signal error and obtain the combined satellite signal further comprises:using the first satellite signal and the second satellite signal to perform a between satellite single difference (BSSD) process to eliminate a common error.4. The precise point positioning method of claim 3 , ...

DOPPLER SHIFT CORRECTION USING THREE-DIMENSIONAL BUILDING MODELS

Techniques for GNSS positioning using three-dimensional (3D) building models are described. A processor can determine a probable path for a signal from a GNSS space vehicle (e.g., a satellite) to reach the GNSS receiver. The probable path can include one or more specular reflections. The processor can determine a Doppler correction based on the probable path, including inverting a sense of a vector of the Doppler correction for each reflection. The processor can then incorporate the Doppler correction in an estimated velocity of the mobile device, an estimated position of the mobile device, or both. 1. A method comprising:determining, by a processor of a mobile device, a plurality of candidate locations of the mobile device based on an estimated position provided by the GNSS receiver;receiving geographic feature data, the geographic feature data including locations and heights of geographic features that are estimated to interfere with signals received by the GNSS receiver;determining an estimated signal path for a signal to reach from a satellite of the GNSS to the GNSS receiver, including determining one or more reflections of the signal by the geographic features and determining an uncertainty value based on the candidate locations;estimating a Doppler correction of the signal based on a count of the reflections in the signal path, wherein for each reflection, the processor inverts a sense of a vector of the Doppler correction; andproviding the estimated Doppler correction to the GNSS receiver for estimating at least one of a position of the mobile device or a velocity of the mobile device.2. The method of claim 1 , wherein determining the candidate locations comprises determining a sampling grid around the estimated position and designating locations on the sampling grid as the candidate locations.3. The method of claim 1 , wherein determining the estimated signal path comprises determining a probability value associated with the signal path based on the ...

APPARATUS AND METHOD FOR PRECISE POSITION CORRECTION USING POSITIONING DIFFERENCE

According to an embodiment, an apparatus for precise position correction using a positioning difference comprises a first distribution information obtaining unit gathering first distribution information from an external terminal, a global navigation satellite system (GNSS) receiver obtaining a GNSS positioning value of the apparatus based on a GNSS, and a positioning correcting unit obtain a corrected location of the apparatus by correcting the GNSS positioning value using the gathered first distribution information. The first distribution information includes a GNSS positioning value of the external terminal, a GNSS positioning time, a precise positioning value, and a positioning difference between the GNSS positioning value and the precise positioning value. 1. An apparatus for precise position correction using a positioning difference , the apparatus comprising:a first distribution information obtaining unit gathering first distribution information from an external terminal;a global navigation satellite system (GNSS) receiver obtaining a GNSS positioning value of the apparatus based on a GNSS; anda positioning correcting unit obtain a corrected location of the apparatus by correcting the GNSS positioning value using the gathered first distribution information, wherein the first distribution information includes a GNSS positioning value of the external terminal, a GNSS positioning time, a precise positioning value, and a positioning difference between the GNSS positioning value and the precise positioning value.2. The apparatus of claim 1 , further comprising a second distribution information generating unit generating second distribution information broadcast to an outside of the apparatus claim 1 , wherein the second distribution information includes the GNSS positioning value of the apparatus and the positioning time claim 1 , the corrected location of the apparatus claim 1 , and a positioning difference between the corrected location of the apparatus and the ...

Localization and Tracking Using Location, Signal Strength, and Pseudorange Data

A localization server improves position estimates of global navigation satellite systems (GNSS) using probabilistic shadow matching and pseudorange matching is disclosed herein. The localization server may utilize one or more of the following information: the locations of the satellites, the GNSS receiver's location estimate and associated estimated uncertainty, the reported pseudoranges of the satellites, the GNSS estimated clock bias, the SNRs of the satellites, and 3D environment information regarding the location of the receiver. The localization server utilizes a Bayesian framework to calculate an improved location estimate using the GNSS location fixes, pseudorange information, and satellite SNRs thereby improving localization and tracking for a user device. 1. A method for determining a location of a user device , the method comprising:receiving, from a satellite system, a first data point of GNSS, SNR, and pseudorange data at a GNSS receiver included in the user device, wherein the satellite system includes a plurality of satellites;initializing a first particle set based on the first data point, wherein each particle in the first particle set represents a hypothetical location of the user device;predicting a distribution of particle locations for each particle in the first particle set using a motion model;sampling the predicted distributions of particle locations for each particle in the first particle to create a second particle set, wherein each particle in the second particle set represents a hypothetical location of the user device after an update interval;receiving a second data point of GNSS, SNR, and pseudorange data, wherein the pseudorange data includes a plurality of pseudorange estimates, each pseudorange estimate associated with one of the plurality of satellites; determining a likelihood of a signal between each of the plurality of satellites and the hypothetical location of the particle being line-of-sight and a likelihood of the signal ...

MULTI-LEVEL ALTITUDE MAP MATCHING

A method is disclosed comprising: obtaining or gathering sample measurements, wherein one or more of the sample measurements are or comprise Global Navigation Satellite System, GNSS, available sample measurements, the one or more GNSS-available sample measurements respectively comprising information indicating that at least one GNSS signal is or was available at a respective location; matching, with a GNSS-availability altitude map, one or more of the GNSS-available sample measurements, wherein one or more of the respective locations are represented by the GNSS-availability altitude map; and based at least on the matching, determining or correcting altitude information respectively associated with one or more of the sample measurements. It is further disclosed an according apparatus, computer program and system. 1) A method , performed by at least one apparatus , comprising:obtaining or gathering sample measurements, wherein one or more of the sample measurements are or comprise Global Navigation Satellite System, GNSS, available sample measurements, the one or more GNSS-available sample measurements respectively comprising information indicating that at least one GNSS signal is or was available at a respective location;matching, with a GNSS-availability altitude map, one or more of the GNSS-available sample measurements, wherein one or more of the respective locations are represented by the GNSS-availability altitude map; andbased at least on the matching, determining or correcting altitude information respectively associated with one or more of the sample measurements.2. The method according to claim 1 , wherein the sample measurements are subsequent sample measurements claim 1 , and wherein the one or more GNSS-available sample measurements are one or more subsequent GNSS-available sample measurements claim 1 , the method further comprising:before obtaining or gathering the subsequent sample measurements that comprise the one or more subsequent GNSS-available ...

ESTIMATING DEVICE POSITION IN MULTIPATH ENVIRONMENTS

A device implementing a system for estimating device position includes at least one processor configured to receive a first sensor measurement of a device at a first time, the first sensor measurement having a first variance in measurement error, and to receive a second sensor measurement of the device at a second time, the second sensor measurement having a second variance in measurement error. The at least one processor is further configured to determine a speed of the device based on at least one of the first or second sensor measurements, and adjust the second variance in measurement error based on the determined speed. The at least one processor is further configured to estimate a device position based at least in part on the first variance in measurement error and the adjusted second variance in measurement error. 1. A method , comprising:receiving a first sensor measurement of a device at a first time, the first sensor measurement having a first variance in measurement error;receiving a second sensor measurement of the device at a second time, the second sensor measurement having a second variance in measurement error;determining a speed of the device based on at least one of the first or second sensor measurements;adjusting the second variance in measurement error based on the determined speed; andestimating a device position based at least in part on the first variance in measurement error and the adjusted second variance in measurement error.2. The method of claim 1 , wherein the first and second sensor measurements comprise respective Global Navigation Satellite System (GNSS) measurements.3. The method of claim 1 , wherein estimating the device position is further based on the first and second sensor measurements.4. The method of claim 1 , wherein the first and second variances in measurement error correspond to respective standard deviations of measurement error.5. The method of claim 1 , wherein adjusting the second variance in measurement error is ...

METHOD, SYSTEM, AND APPARATUS FOR REDUCING INACCURACY IN GLOBAL NAVIGATION SATELLITE SYSTEM POSITION AND VELOCITY SOLUTION

A Global Navigation Satellite System (GNSS) receiver determines a measurement error covariance from a reference position and a set of measured pseudoranges from a set of GNSS satellites. The position and velocity solution is determined from the measurement error covariance and the set of measured pseudoranges. The measurement error covariance is determined as function of the difference between a reference pseudorange and measured pseudorange. The reference pseudorange is computed from the reference position to a satellite. The measurement error covariance is determined as function of the difference only if the measured pseudorange is greater than the reference pseudorange. The GNSS receiver also determines measurement error covariance as function of one or more of correlation peak shape, difference, the correlation peak shape, a received signal to noise ratio and a tracking loop error. 1. A method comprising:determining a first pseudorange from a first Global Navigation Satellite System (GNSS) satellite;determining a reference range from a reference position to the first GNSS satellite; anddetermining a measurement error from the reference range and the first pseudorange.2. The method of claim 1 , further comprising:weighing the first pseudorange by the measurement error;computing a position solution from a set of pseudoranges comprising the weighed first pseudorange, wherein the position solution comprises at least one of a position, velocity, and error covariance.3. The method of claim 2 , wherein the reference position is an a priori position estimate of a Kalman filter determined from a prior position.4. The method of claim 1 , further comprising:determining a difference between the reference range and the first pseudorange; anddetermining the measurement error as function of the difference.5. The method of claim 4 , further comprising determining a measurement error covariance as function of the difference only if the measured pseudorange is greater than the ...

Determination of redundant absolute positions by means of vehicle-dynamics sensors

The invention relates to a method for determining a reference position as the basis for a correction of a GNSS position of a vehicle located using a Global Satellite Navigation System (GNSS), which contains an absolute position of the vehicle, comprising: recording the absolute position of the vehicle using the GNSS when an output signal (from a motion recording sensor in the vehicle has a characteristic progression; determining the reference position based on the sensed absolute position and assigning the reference position to the characteristic progression of the output signal. 120-. (canceled)21. A method for determining a reference position as the basis for a correction of an absolute position of a vehicle located using a Global Satellite Navigation System (GNSS) comprising:recording of the absolute position of the vehicle using the GNSS;recording an output signal of a motion recording sensor of the vehicle;recognizing when a characteristic progression is present in the output signal, wherein the characteristic progression represents a signal pattern which is dependent on uneven surfaces on the road;determining the absolute position as the reference position;assigning the reference position to the characteristic progression of the output signal; andcorrecting an already stored reference position based on the absolute position using a learning method or the formation of an average value if the absolute position lies in an area around the stored reference position and the output signal represents a known signal pattern.22. The method of claim 21 , wherein the characteristic progression of the output signal is based on a predetermined surface structure of a road on which the vehicle is driving.23. The method of claim 21 , wherein the motion recording sensor measures at least one of a position claim 21 , a velocity claim 21 , and an acceleration of at least one component of the vehicle.24. The method of claim 21 , further comprising correcting the reference position ...

Systems and methods for calibrating unstable sensors

Calibrating an unstable sensor of a mobile device. Systems and methods for calibrating a sensor of a mobile device determine a first estimated position of the mobile device without using any measurement from the sensor of the mobile device, generate a second estimated position of the mobile device using a measurement from the sensor, estimate a sensor error of the sensor using the first estimated position and the second estimated position, and use the sensor error to determine a calibration value for adjusting one or more measurements from the sensor.

TELEMATICS SYSTEM AND ASSOCIATED METHOD

Telematics system wherein a data processor is configured to: calculate a first rotation to isolate horizontal components of orientation data obtained from a three-axis accelerometer; calculate a second rotation of the orientation data dependent on acceleration data obtained from the velocity measuring device; and perform the first and second rotations on the orientation data to calibrate the orientation of the accelerometer relative to a vehicle on which the accelerometer is mounted. An associated method of calibrating the orientation of accelerometer is also provided. 1. A telematics system comprising a three-axis accelerometer associated with a moving object and configured to generate orientation data , a velocity measuring device , and a data processor , wherein the data processor is configured to:calculate a first rotation to isolate horizontal components of orientation data;calculate a second rotation of the orientation data dependent on acceleration data obtained from the velocity measuring device; andperform the first and second rotations on the orientation data to calibrate the orientation of the accelerometer relative to the moving object.2. The telematics system according to claim 1 , wherein the first and second rotations are combined to apply a single transformation to the orientation data.3. The telematics system according to claim 1 , wherein the data processor is configured to identify at least one first value representative of a first angle of orientation of the accelerometer relative to a first axis and at least one second value representative of a second angle of orientation of the accelerometer relative to a second axis claim 1 , the first axis being orthogonal to the second axis claim 1 , and to use the first value and the second value to calculate the first rotation.4. The telematics system according to claim 3 , wherein the first angle is between the gravity vector and an x-axis and the second angle is between the gravity vector and a z-axis.5. ...

METHOD AND SYSTEM FOR DETERMINING THE POINT LOCATION OF A STOPPED VEHICLE ON A STORAGE TRACK, USING VIRTUAL BEACONS

A method for determining the point location of a vehicle stopped on one storage track among a set of storage tracks, using virtual beacons is provided. It determines and compares the likelihood of a plurality of hypotheses as to the stopped location of the vehicle, corresponding to a first set of NBe predefined virtual beacons Be(i), i varying from 1 to NBe, the respective positions of which are known in an amount of one virtual beacon per storage track, by correlating the GNSS geo-positioning signals received at various synchronization reset times of a second set by the GNSS receiver located on board the vehicle with predicted GNSS geo-positioning signals of replicas expected for the various positions of the virtual beacons of the first set at the various times. The detected holding position of the vehicle is the position that corresponds to the maximum likelihood.

Calibrating A Pressure Sensor

Calibrating a pressure sensor of a mobile device incudes determining an absolute calibration value used to calibrate pressure measurements by a pressure sensor of a mobile device; determining a first revisit zone as a first location to which the mobile device repeatedly returns; determining first and second calibrations for first and second visits to the first revisit zone; determining a first relative calibration adjustment value based on a difference between the first and second calibrations; determining an adjusted absolute calibration value based on a sum of the absolute calibration value and the first relative calibration adjustment value; and estimating an altitude of the mobile device based on a pressure measurement by the pressure sensor and the adjusted absolute calibration value.

IMAGE-BASED TECHNIQUES FOR STABILIZING POSITIONING ESTIMATES

A device implementing a system for estimating device location includes at least one processor configured to receive a first estimated position of the device at a first time. The at least one processor is further configured to capture, using an image sensor of the device, images during a time period defined by the first time and a second time, and determine, based on the images, a second estimated position of the device, the second estimated position being relative to the first estimated position. The at least one processor is further configured to receive a third estimated position of the device at the second time, and estimate a location of the device based on the second estimated position and the third estimated position.

SYSTEMS AND METHODS FOR CALIBRATING UNSTABLE SENSORS

Calibrating an unstable sensor of a mobile device. Systems and methods for calibrating a sensor of a mobile device determine a first estimated position of the mobile device without using any measurement from the sensor of the mobile device, generate a second estimated position of the mobile device using a measurement from the sensor, estimate a sensor error of the sensor using the first estimated position and the second estimated position, and use the sensor error to determine a calibration value for adjusting one or more measurements from the sensor. 1. A method for calibrating a pressure sensor of a mobile device , the method comprising:determining a first estimated altitude of the mobile device without using any measurement from the pressure sensor of the mobile device;generating a second estimated altitude of the mobile device using a measurement from the pressure sensor;estimating a pressure sensor error of the pressure sensor using the first estimated altitude and the second estimated altitude; andusing the pressure sensor error to determine a calibration value for adjusting one or more measurements from the pressure sensor.2. The method of claim 1 , wherein the method comprises:adjusting a measurement from the sensor by the calibration value.3. The method of claim 1 , wherein using the pressure sensor error to determine a calibration value for adjusting one or more measurements from the pressure sensor comprises:retrieving one or more previously estimated sensor errors of the pressure sensor from storage;computing an average sensor error by averaging the estimated sensor error and the one or more previously estimated sensor errors; andusing the average sensor error as the calibration value.4. The method of claim 1 , wherein the calibration value is determined by:identifying a pressure sensor calibration equation that includes calibration coefficient values;identifying temperature measurements of the pressure sensor and corresponding sensor error measurements ...

Long Term Repeatability of Determined Position in GNSS Navigation System

A moveable object determines a preliminary position for the moveable object using received satellite navigation signals and satellite orbit correction information and satellite clock correction information. A position correction is determined by identifying which cell, of a predefined set of geographical cells, corresponds to the determined preliminary position, and obtaining from a database, pre-computed tectonic terrestrial plate position information for the identified cell. Based on the information for the identified cell, a tectonic terrestrial plate, corresponding to the determined preliminary position of the moveable object is identified. Based on the identified tectonic terrestrial plate, a position correction is determined, the position correction corresponding to the identified tectonic terrestrial plate and a reference epoch, and a corrected position of the moveable object is generated in accordance with the determined preliminary position of the moveable object and the determined position correction. 1. A computer system , comprising:one or more hardware processors;at least one transceiver for communication with a moveable object; andmemory storing one or more programs, and further storing a database having pre-computed tectonic terrestrial plate position information for each cell of a predefined set of geographical cells, which collectively correspond to a geographic area that includes a plurality of tectonic terrestrial plates, each cell of the predefined set of geographical cells corresponding to a geographic region; determine a preliminary position of the moveable object, using information received from the moveable object via the at least one transceiver;', 'in accordance with the determined preliminary position, identify a cell of a predefined set of geographical cells, which collectively correspond to a geographic area that includes a plurality of tectonic terrestrial plates, the identified cell corresponding to a geographic region that includes ...

Determining location information using a location data point provided by a computing device

A system and method for determining location information using a location data point provided by a computing device is described. A location data point is received by a system from a client computing device. The system determines whether the location data point is within a predefined region from a plurality of predefined regions configured by a user of the system. If the location data point is within a predefined region, location information corresponding to the predefined region is transmitted to the client device. If the location data point is not within a predefined region, one or more third-party reverse geocoding services can be used that translates the location data point to a street address.

METHOD AND SYSTEM FOR SHARING CONVERGENCE DATA

Systems and methods for sharing convergence data between GNSS receivers are disclosed. Convergence data received at a GNSS receiver via a communication connection may be utilized to determine a position of the GNSS receiver. 1. A method for sharing convergence data between Global Navigation Satellite System (GNSS) receivers , the method comprising:receiving convergence data at a first GNSS receiver from a second GNSS receiver, the first GNSS receiver operating in a non-converged state and the second GNSS receiver operating in a converged state, the convergence data generated at the second GNSS receiver;and thereafterdetermining a position of the first GNSS receiver using the convergence data from the second GNSS receiver.2. The method of wherein at least one of the first GNSS receiver or the second GNSS receiver is associated with a vehicle.3. The method of wherein the convergence data is Precise Point Positioning (PPP) convergence data.4. The method of wherein the first GNSS receiver and the second GNSS receiver are mobile receivers.5. The method of wherein the first GNSS receiver is configured to receive GNSS signals in one frequency band claim 1 , and the second GNSS receiver is configured to receive GNSS signals in at least two separate frequency bands.6. The method of wherein the convergence data is received at the first GNSS receiver using a wireless communication transceiver.7. The method of wherein the convergence data includes at least one of atmospheric models claim 1 , orbit models claim 1 , or satellite clock errors.8. The method of wherein the convergence data includes resolved carrier phase ambiguities.9. The method of wherein the convergence data indicates how long continuous tracking of GNSS signals from particular satellites has been maintained.10. The method of wherein the convergence data is generated at the second GNSS receiver using PPP correction data from a network of base stations.11. A system for sharing convergence data claim 1 , comprising ...

THREE-DIMENSIONAL CITY MODELS AND SHADOW MAPPING TO IMPROVE ALTITUDE FIXES IN URBAN ENVIRONMENTS

The disclosed embodiments use 3D city models and shadow mapping to improve altitude fixes in urban environments. In an embodiment, a method comprises: generating a set of three-dimensional (3D) candidate positions in a geographic area of interest; predicting global navigation satellite system (GNSS) signal visibility at selected ones of the 3D candidate positions; receiving GNSS signals at a current location of the mobile device; determining observed satellite visibility based on the received GNSS signals; comparing the predicted satellite visibility with the observed satellite visibility; determining a position fix based on a result of the comparing; determining an indoor environment where the mobile device is located based at least on an altitude component of the position fix; obtaining structural data for the identified indoor environment; and determining a floor lower bound for the current location of the mobile device based on the altitude component and the structural data. 1. A method comprising:generating, by a processor of a mobile device, a set of three-dimensional (3D) candidate positions in a geographic area of interest;predicting, by the processor, global navigation satellite system (GNSS) signal visibility at selected ones of the 3D candidate positions;receiving, by a GNSS receiver of the mobile device, GNSS signals at a current location of the mobile device;determining, by the processor, observed satellite visibility based on the received GNSS signals;comparing the predicted satellite visibility with the observed satellite visibility;determining, by the processor, a position fix based on a result of the comparing;determining, by the processor, an indoor environment where the mobile device is located based at least on an altitude component of the position fix;obtaining, by the processor, structural data for the identified indoor environment; anddetermining, by the processor, a floor lower bound for the current location of the mobile device based on the ...

SATELLITE RADIOWAVE RECEIVING DEVICE, ELECTRONIC TIMEPIECE, METHOD FOR CONTROLLING POSITIONING OPERATIONS, AND STORAGE DEVICE

A satellite radiowave receiving device includes a receiver and a processor. The receiver receives radiowaves from a positioning satellite. The processor performs a positioning operation based on the radiowaves received by the receiver to obtain a current position. The processor calculates an error range at the current position based on a positioning accuracy and a deviation. The positioning accuracy is obtained by combining each position of a plurality of positioning satellites and receiving state of radiowaves from each of the plurality of positioning satellites, and the deviation is a deviation of the current position and a predicted position calculated in accordance with a travelling state of the satellite radiowave receiving device. 1. A satellite radiowave receiving device , comprising:a receiver receiving radiowaves from a positioning satellite; anda processor performing a positioning operation based on the radiowaves received by the receiver to obtain a current position, whereinthe processor calculates an error range at the current position based on a positioning accuracy and a deviation, the positioning accuracy being obtained by combining each position of a plurality of positioning satellites and receiving state of radiowaves from each of the plurality of positioning satellites, the deviation being a deviation of the current position and a predicted position calculated in accordance with a travelling state of the satellite radiowave receiving device.2. The satellite radiowave receiving device according to claim 1 ,wherein the processor respectively calculates a first error range for the positioning accuracy and a second error range for the deviation of the current position and the predicted position, andwherein the processor calculates an error range of the current position based on the first error range and the second error range.3. The satellite radiowave receiving device according to claim 2 ,wherein the processor determines a larger one of the first ...

MOVING STATE DETERMINING DEVICE, ELECTRONIC TIMEPIECE, MOVING STATE DETERMINING METHOD, AND STORAGE DEVICE

A moving state determining device includes a receiver receiving radiowaves from a positioning satellite and a processor. The processor determines a moving state of a satellite radiowave receiving unit based on a motion state measured by a sensor which measures a motion state, and performs a positioning operation based on information received by the receiver to obtain a current position and an error range thereof. In determining the moving state, a positioning operation result obtained when the error range satisfies a predetermined accuracy standard can be used. The error range is calculated based on a positioning accuracy and a deviation of the obtained current position and a predicted position calculated in accordance with the moving state. The positioning accuracy is obtained by combining each position of positioning satellites from which radiowaves are received and each receiving state of the radiowaves. 1. A moving state determining device , comprising:a receiver receiving radiowaves from a positioning satellite; anda processor,wherein the processor determines a moving state of a satellite radiowave receiving unit based on a motion state measured by a sensor which measures a motion state of the satellite radiowave receiving unit,wherein the processor performs a positioning operation based on information received by the receiver to obtain a current position and an error range of the current position,wherein a result of the positioning operation can be used in determining the moving state, the result being obtained when the error range satisfies a predetermined accuracy standard, andwherein the error range is calculated based on a positioning accuracy and on a deviation of the current position relative to a predicted position calculated according to a moving state of the satellite radiowave receiving device, the positioning accuracy being obtained by combining a position receiving state of radiowaves for each of a plurality of positioning satellites from which ...

CORRECTION INFORMATION INTEGRITY MONITORING IN NAVIGATION SATELLITE SYSTEM POSITIONING METHODS, SYSTEMS, AND DEVICES

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. 110.-. (canceled)11. System configured for generating information ,hereinafter referred to as “correction information”, suitable for correcting observations useful for estimating at least one of: carrier phase ambiguities and a position of at least one global or regional navigation satellite system receiver, hereinafter abbreviated as NSS receiver, and for generating further information, hereinafter referred to as “integrity information”, suitable for indicating a trust which can be placed in a correctness of the correction information, the system comprising: satellite orbit correction information,', 'satellite clock correction information,', 'ionospheric correction information, and', 'tropospheric correction information; and, 'generating correction information based on NSS multiple-frequency signals observed at a network of reference stations, each of the reference stations having a NSS receiver, and based on estimating ambiguities ...

METHOD OF DETECTING ATTITUDE FAULTS BASED ON MAGNETOMETER MEASUREMENTS

An avionics system comprises one or more attitude sources, each configured to produce a respective calculated attitude solution; at least one magnetometer configured to measure magnetic field; and at least one attitude monitor configured to use the respective calculated attitude solution from one of the attitude sources to project the measured magnetic field estimate or an Earth Magnetic Field Model (EMFM) estimate such that the measured magnetic field estimate and the EMFM estimate are in a common shared frame. The at least one attitude monitor is further configured to determine a difference between the measured magnetic field estimate and the EMFM estimate in the common shared frame. The at least one attitude monitor is further configured to output an alert, which indicates that the respective calculated attitude solution used to project the measured magnetic field estimate or the EMFM estimate is in error, if the difference exceeds a predetermined threshold. 1. An avionics system comprising:one or more attitude sources, each configured to produce a respective calculated attitude solution;at least one magnetometer configured to measure magnetic field in a frame of the avionics system; andat least one attitude monitor configured to use the respective calculated attitude solution from at least one of the one or more attitude sources to project at least one of the measured magnetic field estimate or an Earth Magnetic Field Model estimate such that the measured magnetic field estimate and the Earth Magnetic Field Model estimate are in a common shared frame;wherein the at least one attitude monitor is further configured to determine a respective difference between the measured magnetic field estimate and the Earth Magnetic Field Model estimate in the common shared frame;wherein the at least one attitude monitor is further configured to output an alert, which indicates that the respective calculated attitude solution used to project at least one of the measured magnetic ...

GLOBAL NAVIGATION SATELLITE SYSTEM PRECISE POSITIONING ENGINE WITH ESTIMATED IONOSPHERE

Disclosed are various techniques for wireless communication. In one aspect, a user equipment (UE) may receive, from a satellite vehicle (SV), a signal of a first frequency band, estimate a first ionospheric delay residual error based on the signal of the first frequency band, calculate a first pseudorange measurement and a first carrier phase measurement based on the first ionospheric delay residual error, and estimate a position using the first pseudorange measurement and the first carrier phase measurement. In some aspects, the ionospheric delay residual error is estimated via a Klobuchar equation. In some aspects, the position is estimated using ultra-long baseline real-time kinematics (RTK) positioning. 1. A method for precise point positioning (PPP) , the method comprising:at a user equipment (UE):receiving, from a satellite vehicle (SV), a signal of a first frequency band;estimating a first ionospheric delay residual error based on the signal of the first frequency band;calculating a first pseudorange measurement and a first carrier phase measurement based on the first ionospheric delay residual error; andestimating a position using the first pseudorange measurement and the first carrier phase measurement.2. The method of claim 1 , wherein calculating the first pseudorange measurement or the first carrier phase measurement based on the first ionospheric delay residual error comprises calculating the first pseudorange measurement or the first carrier phase measurement based on the first ionospheric delay residual error and at least one of: a geometry range claim 1 , a receiver clock timing claim 1 , an inter-system time bias claim 1 , a tropospheric delay residual error claim 1 , an ambiguity term claim 1 , a noise or multipath delay claim 1 , or combinations thereof.5. The method of claim 1 , wherein estimating a first ionospheric delay residual error based on the signal of the first frequency band comprises estimating the first ionospheric delay residual ...

SYSTEM, INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING METHOD, AND STORAGE MEDIUM

Second position information is identified from a plurality of pieces of position information of a terminal device. The plurality of pieces of position information are obtained via a position information obtainer before first position information of the terminal device. The first position information is obtained via the position information obtainer. The second position information is used for correcting the first position information. The first position information is corrected based on the identified second position information. 1. A system comprising:an identifier configured to identify second position information from a plurality of pieces of position information of a terminal device, the plurality of pieces of position information being obtained via a position information obtainer before first position information of the terminal device, the first position information being obtained via the position information obtainer, the second position information being used for correcting the first position information; anda corrector configured to correct the first position information based on the second position information identified by the identifier.2. The system according to claim 1 , whereinthe identifier identifies the second position information used for correcting position information from the plurality of pieces of position information based on accuracy information, the accuracy information is included in the plurality of pieces of position information and corresponds to the respective pieces of the position information.3. The system according to claim 1 , whereinthe identifier identifies the second position information used for correcting the first position information from the plurality of pieces of position information based on whether an accuracy is equal to or more than a set level, the accuracy is indicated by the accuracy information included in the plurality of pieces of position information and corresponding to the respective pieces of the position ...

POSITIONING PROCESSING SYSTEM, METHOD, COMPUTER PROGRAM, POSITIONING PROCESSING DEVICE, AND USER TERMINAL

A technique for more providing precise and simple positioning processing includes configuring a positioning processing device to perform positioning processing using satellite positioning correction data from a satellite. 1. A positioning processing device comprising:a positioning calculator performing extraction of information necessary for performing point positioning, and/or point positioning, based on a positioning signal received from a navigation satellite, and executing positioning processing having an accuracy higher than that of the point positioning, using second observation data-related information; andan observation data-generating calculator operable to: receive satellite positioning correction data and information based on the positioning signal; receiving information related to the point positioning from the positioning calculator; generating the second observation data-related information, based on said information based on the positioning signal, the satellite positioning correction data and a result of the point positioning derived from the information related to the point positioning; and transmit the second observation data-related information to the positioning calculator.2. The positioning processing device of claim 1 , wherein the information based on the positioning signal comprises at least ephemeris data of the navigation satellite.3. The positioning processing device of claim 1 , wherein the information based on the positioning signal is transmitted from the navigation satellite to the positioning processing device claim 1 , or transmitted from the navigation satellite to the positioning processing device via another device.4. The positioning processing device of claim 1 , wherein the satellite positioning correction data is transmitted from the navigation satellite or a different navigation satellite to the observation data-generating calculator claim 1 , or transmitted from the navigation satellite or a different navigation satellite to ...

MOBILE REFERENCE STATION FOR GNSS POSITIONING

Methods for determining corrected positions of a global navigation satellite system (GNSS) rover using a GNSS base station and one or more GNSS reference stations include determining a statistical representation of position measurements from the GNSS reference stations and an instantaneous position measurement from the GNSS reference stations. A position correction is determined based on the statistical representation and the instantaneous position measurement. A corrected position of the GNSS rover is determined based on a position of the GNSS rover and the position correction. 113.-. (canceled)14. A method for determining corrected positions of a global navigation satellite system (GNSS) rover using a GNSS base station and a plurality of GNSS reference stations , the method comprising:performing a first plurality of position measurements at a first GNSS reference station, the first GNSS reference station being one of the plurality of GNSS reference stations, the first GNSS reference station arranged at a first location while the first plurality of position measurements are determined, the first plurality of position measurements determined using corrections received from the GNSS base station and signals received at the first GNSS reference station from GNSS satellites, wherein the first plurality of position measurements are determined while the first GNSS reference station is stationary;performing a second plurality of position measurements at a second GNSS reference station different from the first GNSS reference station, the second GNSS reference station being one of the plurality of GNSS reference stations, the second GNSS reference station arranged at a second location while the second plurality of position measurements are determined, the second plurality of position measurements determined using corrections received from the GNSS base station and signals received at the second GNSS reference station from GNSS satellites, wherein the second plurality of ...

Parking Lot Entrance Recognition Method and System

A parking lot entrance recognition method comprises the steps: reading GPS data of all vehicles appearing in a specified region within a specified time one-by-one; acquiring discontinuity points after it is confirmed that vehicle position information is lost; and comparing the discontinuity frequency of each discontinuity point with a frequency threshold to determine whether or not the discontinuity point is an entrance of an underground parking lot. In this way, the entrances of parking lots can be rapidly positioned, so that drivers can park conveniently and can also drive purposefully; and meanwhile, based on the analysis of the GPS data, the positioning accuracy is higher. 1. A parking lot entrance recognition method , characterized by comprising:reading GPS data of all vehicles appearing in a specified region within a specified time one-by-one;acquiring discontinuity points after it is confirmed that vehicle position information is lost; andcomparing a discontinuity frequency of each said discontinuity point with a frequency threshold to determine whether or not the discontinuity point is an entrance of an underground parking lot.2. The parking lot entrance recognition method according to claim 1 , wherein the step of reading the GPS data of all the vehicles appearing in the specified region within the specified time one-by-one specifically comprises the sub-steps:selecting the specified region defined by specific longitude and latitude;acquiring vehicle terminal numbers appearing within the specified time and classifying the vehicles according to the terminal numbers; andreading the GPS data of all the vehicles within the specified time one-by-one in time sequence;wherein, the GPS data include vehicle terminal number, longitude and latitude value, vehicle type, vehicle speed, driving direction and driving state.3. The parking lot entrance recognition method according to claim 1 , wherein after the GPS data of one said vehicle are read claim 1 , whether or not ...

Localization and Tracking Using Location, Signal Strength, and Pseudorange Data

A localization server improves position estimates of global navigation satellite systems (GNSS) using probabilistic shadow matching and pseudorange matching is disclosed herein. The localization server may utilize one or more of the following information: the locations of the satellites, the GNSS receiver's location estimate and associated estimated uncertainty, the reported pseudoranges of the satellites, the GNSS estimated clock bias, the SNRs of the satellites, and 3D environment information regarding the location of the receiver. The localization server utilizes a Bayesian framework to calculate an improved location estimate using the GNSS location fixes, pseudorange information, and satellite SNRs thereby improving localization and tracking for a user device. 1. A method for determining whether a user device is indoors , the method comprising:receiving, at a GNSS receiver included in the user device, a first data point of GNSS, SNR, and pseudorange data from a satellite system having a plurality of satellites;initializing a first particle set based on the first data point, wherein each particle in the first particle set represents a hypothetical location of the user device;predicting a distribution of particle locations for each particle in the first particle set using a motion model;sampling the predicted distributions of particle locations for each particle in the first particle to create a second particle set, wherein each particle in the second particle set represents a hypothetical location of the user device after an update interval;receiving a second data point of GNSS, SNR, and pseudorange data, wherein the pseudorange data includes a plurality of pseudorange estimates, each pseudorange estimate associated with one of the plurality of satellites; anddetermining, based on the second particle set and the received second data point, whether the user device is indoors.2. The method of claim 1 , wherein determining claim 1 , based on the second particle set ...

METHOD FOR ASCERTAINING OUTPUT DATA OF A GNSS LOCATING DEVICE BASED ON GNSS SATELLITE SIGNALS IN VEHICLE

A method for ascertaining output data of a global navigation satellite system (GNSS) locating device based on GNSS satellite signals in a vehicle, includes a) receiving surroundings data from the surroundings of the vehicle, b) generating a surroundings model to describe the surroundings of the vehicle using the surroundings data received in step a), c) receiving GNSS satellite signals from GNSS satellites using a GNSS receiver, and d) ascertaining output data of the GNSS locating device from the GNSS satellite signals received in step a). The surroundings model generated in step b) is used to compensate for anomalies caused by the surroundings of the propagation of the GNSS satellite signals from the GNSS satellites to the GNSS receiver. 1. A method for ascertaining output data of a global navigation satellite system (GNSS) locating device based on GNSS satellite signals in a vehicle , the method comprising:receiving surroundings data from surroundings of the vehicle;generating a surroundings model to describe the surroundings of the vehicle based on the received surroundings data;receiving the GNSS satellite signals from GNSS satellites using a GNSS receiver; 'using the surroundings model to compensate for anomalies, caused by the surroundings of the vehicle, of a propagation of the GNSS satellite signals from the GNSS satellites to the GNSS receiver.', 'ascertaining the output data of the GNSS locating device from the received GNSS satellite signals; and'}2. The method according to claim 1 , wherein the ascertained output data includes at least one of an item of position information and an item of velocity information.3. The method according to claim 1 , wherein:the surroundings data are received from at least one surroundings sensor of the vehicle, andthe at least one surroundings sensor includes at least one of a radar sensor, a camera sensor, and a lidar sensor.4. The method according to claim 1 , wherein the anomalies include reflections claim 1 , delays ...

DETERMINING TRANSMISSION CHARACTERISTICS FOR TRANSMITTING CORRECTION DATA

A method, performed by at least one apparatus, is provided that includes obtaining or determining one or more stability parameters for a specific satellite. The method also includes determining, at least partially based on the one or more stability parameters for the specific satellite, one or more transmission characteristics for transmitting correction data for the specific satellite. A corresponding apparatus and a computer readable storage medium are also provided. 1. A method , performed by at least one apparatus , comprising:obtaining or determining one or more stability parameters for a specific satellite; anddetermining, at least partially based on the one or more stability parameters for the specific satellite, one or more transmission characteristics for transmitting correction data for the specific satellite.2. The method according to claim 1 , further comprising:causing of transmitting, at least partially based on the one or more transmission characteristics for transmitting correction data for the specific satellite, the correction data for the specific satellite.3. The method according to claim 2 , wherein the specific satellite is a satellite of one satellite navigation system of the following:a NAVSTAR GPS navigation satellite system;a GLONASS navigation satellite system;a GALILEO navigation satellite system;a BeiDou navigation satellite system;an IRNSS navigation satellite system; ora QZSS navigation satellite system.4. The method according to claim 2 , wherein the causing of transmitting the correction data for the specific satellite further comprises:causing of sending, at least partially based on the one or more transmission characteristics for transmitting correction data for the specific satellite, the correction data for the specific satellite to at least one mobile device of a plurality of mobile devices.5. The method according to claim 4 , wherein a position estimate of a position of the at least one mobile device is determined at least ...

USING HISTORICAL DATA TO CORRECT GPS DATA IN A NETWORK OF MOVING THINGS

A system comprises model generation circuitry operable to process positioning data from a plurality of positioning system receivers of a network of vehicles to generate one or more statistical models of the positions of the vehicles, wherein the positioning data is received via a plurality of mobile access points of the network of vehicles. The system also comprises positioning circuitry operable to receive a reading from a particular one of the plurality of positioning system receivers, and compensate the reading from the particular one of the plurality of positioning system receivers based on the one or more statistical models to determine a most-probable location of the particular one of the plurality of positioning system receivers. 1. A system comprising:model generation circuitry operable to process positioning data from a plurality of positioning system receivers of a network of vehicles to generate one or more statistical models of the positions of the vehicles, wherein the positioning data is received via a plurality of mobile access points of the network of vehicles; and receive a reading from a particular one of the plurality of positioning system receivers; and', 'compensate the reading from the particular one of the plurality of positioning system receivers based on the one or more statistical models to determine a most-probable location of the particular one of the plurality of positioning system receivers., 'positioning circuitry operable to2. The system of claim 1 , wherein the one or more statistical models characterize the density of samples of the positioning data.3. The system of claim 1 , wherein the one or more statistical models is based on a spatial histogram generated from the positioning data from the plurality of positioning system receivers.4. The system of claim 1 , wherein the one or more statistical models is based on an average of paths of particular vehicles over time.5. The system of claim 1 , comprising data analysis circuitry ...

POSITION ESTIMATING APPARATUS AND METHOD

Disclosed is a position estimating method and apparatus that estimates a position based on main sensing data and secondarily determines the position based on the main sensing data and auxiliary sensing data when the auxiliary sensing data is found to be reliable. 1. A position estimating method performed by a processor , the method comprising:estimating a position of a target based on main sensing data acquired from a main sensor;verifying a reliability of auxiliary sensing data acquired from an auxiliary sensor; anddetermining the position of the target based on the main sensing data and the auxiliary sensing data, in response to the auxiliary sensing data being found to be reliable.2. The position estimating method of claim 1 , wherein the estimating of the position of the target comprises:applying a nonlinear filtering on the main sensing data to compensate for a positioning error.3. The position estimating method of claim 1 , further comprising:acquiring a global positioning system (GPS) signal and an inertial measurement unit (IMU) signal indicating an acceleration and an angular velocity of a target as the main sensing data.4. The position estimating method of claim 1 , further comprising:determining the position of the target estimated based on the main sensing data to be a position of the target, in response to the auxiliary sensing data being found to be unreliable.5. The position estimating method of claim 1 , wherein the verifying of the reliability of the auxiliary sensing data comprises:acquiring image data in front of the target from the auxiliary sensor; anddetermining a reliability of the image data.6. The position estimating method of claim 1 , further comprising:excluding auxiliary sensing data during a current time interval, in response to the auxiliary sensing data collected during the current time interval being found to be unreliable.7. The position estimating method of claim 1 , wherein the verifying of the reliability of the auxiliary sensing ...

NAVIGATION DEVICE, METHOD OF GENERATING NAVIGATION SUPPORT INFORMATION, AND NAVIGATION SUPPORT INFORMATION GENERATING PROGRAM

A navigation device may include a GNSS data editing part, an attitude angle calculating part, and a speed calculating part. The GNSS data editing part may generate GNSS attitude angle estimation data and GNSS speed estimation data by using first GNSS data based on a GNSS signal received by a first antenna, and second GNSS data obtained at a shorter cycle than the first GNSS data based on a GNSS signal received by a second antenna. The attitude angle calculating part may estimate an integrated attitude angle based on the IMU angular velocity outputted from an Inertial Measurement Unit (IMU) and the GNSS attitude angle estimation data. The speed calculating part may estimate an integrated speed based on an IMU acceleration outputted from the IMU, the GNSS speed estimation data, and the integrated attitude angle. 1. A navigation device , comprising:processing circuitry configured to:generate GNSS attitude angle estimation data and GNSS speed estimation data by using first GNSS data based on a GNSS signal received by a first antenna, and second GNSS data obtained at a shorter cycle than the first GNSS data based on a GNSS signal received by a second antenna;estimate an integrated attitude angle based on the IMU angular velocity outputted from an Inertial Measurement Unit (IMU) and the GNSS attitude angle estimation data; andestimate an integrated speed based on an IMU acceleration outputted from the IMU, the GNSS speed estimation data, and the integrated attitude angle.2. The navigation device of claim 1 , wherein the processing circuitry is further configured to:generate the GNSS speed estimation data based on the second GNSS data, and extract the second GNSS data at the cycle of the first GNSS data; andgenerate the GNSS attitude angle estimation data based on an extracted second GNSS data, and the first GNSS data.3. The navigation device of claim 1 , wherein the first antenna includes a plurality of first antennas.4. The navigation device of claim 1 , wherein the ...

System and method for calibrating inter-frequency hardware bias in rtk positioning using error correction information

In RTK positioning, a calibration memory stores calibration information for combinations of GNSS receivers. A memory processor retrieves the calibration information for a selected combination of a first GNSS receiver for a base station and a second GNSS receiver for a rover from the calibration memory. A calibration apparatus, by communicating with the rover and the memory processor, receives a first correction signal associated with the first GNSS receiver, obtains the calibration information and modifies the first correction signal therewith to generate a modified correction signal calibrated for the second GNSS receiver with respect to the first GNSS receiver, and transmits the modified correction signal to the rover. The rover performs the RTK positioning with respect to a known GNSS receiver of the base station using the modified correction signal, thereby automatically achieving the frequency-dependent hardware bias calibration for the second GNSS receiver with respect to the first GNSS receiver.

Method for classifying human mobility state using particle filter

Provided is a method of determining a mobility state of a specific target. The method of determining a mobility state of a specific target by using a particle filter having particles defined as N independent random variables, the method comprising: calculating a current speed of the specific target, and calculating a value relating to a cumulative probability at which the specific target has the current speed, repeating a particle update process of updating a value of each particle by a number of times according to a predetermined rule, and calculating an average value of values that the N particles updated have, and determining a mobility state of the specific target based on the average value, wherein a weigh is calculated to use for updating the value of the particle by using the cumulative probability.

METHOD AND SYSTEM FOR ADAPTING A NAVIGATION SYSTEM

A navigation system comprises a base system and at least one correction system, wherein the base system and the correction system each capture measured values. The measured values describe navigation data and are each burdened with error values. The error values describe discrepancies in the measured values from the described navigation data. The error values of the measured values of the base system are recognized by the measured values of the correction system. The recognition is effected by considering a capture uncertainty in the correction system. The consideration represents adaptation of parameters of a stochastic noise model, which prescribes a weighting for measured values of the correction system with respect to measured values of the base system in accordance with the parameters. The adaptation of the parameters is chosen on the basis of the capture uncertainty in accordance with a characteristic curve or a family of characteristic curves. 1. A method for adapting a navigation system , comprising:capturing measured values of navigation data from a base system and from at least one correction system, wherein the measured values include error values which describe discrepancies of the measured values from the navigation data;weighting of the measured values of the at least one correction system compared to the measured values of the base system to determine a stochastic noise model;adapting parameters of the stochastic noise model to take into consideration a capture uncertainty of the measured value of the at least one correction system in accordance with one of a characteristic curve and a characteristic family;determining the characteristic curve and the characteristic family by one of theoretical modeling, a series of measurements and a trial series, wherein the characteristic curve and the characteristic family describe a dependence of the capture uncertainty on influences acting on the navigation system; anddetecting at least one of the error values ...

Travel lane estimation system

A travel-lane estimation system includes: a GNSS receiver; a vehicle-speed calculator; an angular-velocity measurement mechanism; a subject-vehicle-position positioner calculating a vehicle's reference coordinate and reference orientation from a GNSS coordinate, and calculating time series data of vehicle's positions; a map information storage storing positional information about a division line of each lane; and a lane estimator calculating, as an optimal correction amount, an error pattern having a highest posterior probability among plural error patterns, correcting the time series data using the optimal correction amount, and comparing the corrected time series data with the division line, to estimate a vehicle's travel lane, the posterior probability calculated with the product of prior occurrence probability of the time series data by the plural error patterns and a likelihood calculated, under condition that the error pattern has occurred, based on a relative positional relationship between the corrected time series data and the division line.

Method of Developing Flight Infrastructure in Conjunction with a Sale of an Aircraft

A method for providing WAAS infrastructure in conjunction with the sale of a WAAS enabled aircraft includes developing a sales package for a customer. The price of the sales package preferably includes a WAAS enabled aircraft and a WAAS infrastructure. The method further includes assembling a WAAS enabled aircraft and developing the WAAS infrastructure using a computer. The method also includes providing the customer with the WAAS enabled aircraft and the WAAS infrastructure. 1. An aircraft , the aircraft being associated with a Wide Area Augmentation System (WAAS) infrastructure , the aircraft comprising:a WAAS compatible avionics system, including a WAAS compatible navigation unit; anda Global Positioning System (GPS) antenna for receiving GPS signals and providing the received GPS signals to the navigation unit,wherein the navigation unit includes a WAAS flight procedure that is private to a customer thereby allowing the customer to operate the WAAS enabled aircraft in a private WAAS environment.2. The aircraft according to claim 1 , wherein the WAAS infrastructure allows the customer of the WAAS enabled aircraft to operate the WAAS enabled aircraft in a WAAS environment.3. The aircraft according to claim 1 , wherein at least a portion of the WAAS infrastructure was created during the manufacturing of the aircraft.4. The aircraft according to claim 3 , wherein at least a portion of the WAAS flight procedure includes data generated during the manufacturing of the aircraft.5. The aircraft according to claim 4 , wherein the manufacturing the WAAS enabled aircraft and the generating of the WAAS flight procedure are performed by a persons under the direction of a single entity.6. The aircraft according to claim 1 , further comprising a Subscriber Identity Module (SIM) card for transferring the WAAS flight procedure to the navigation unit.7. The aircraft according to claim 1 , wherein the WAAS flight procedure includes a flight path between an operator desired ...

GPS DATA REPAIR

Repairing GPS data is disclosed. Repairing GPS data includes repairing an effort, comprising determining that the effort includes inaccurate GPS data; and adjusting the effort using a repaired base map. Repairing GPs data includes repairing a segment, comprising determining an inaccurate shape data in the segment; and adjusting shape data for the segment based on a repaired base. 1. (canceled)2. A system to repair an effort , comprising: determine that the effort includes inaccurate GPS data; and', 'modify at least a portion of a plurality of GPS data points associated with the effort using a repaired base map; and, 'a processor configured toa memory coupled to the processor and configured to provide the processor with instructions.3. The system of claim 1 , wherein the repaired base map is generated based at least in part on one or more of the following: user uploaded GPS data claim 1 , third party GPS data claim 1 , and GPS data associated with a validated segment.4. The system of claim 1 , wherein the repaired base map is generated based at least in part on one or more of the following: user uploaded GPS data claim 1 , third party GPS data claim 1 , and GPS data associated with a validated segment claim 1 , wherein the user uploaded GPS data includes a set of GPS data corresponding to another effort.5. The system of claim 1 , wherein to determine that the effort includes inaccurate GPS data includes to determine a type of error associated with the effort and wherein to modify the at least portion of the plurality of GPS data points associated with the effort using the repaired base map is further performed based at least in part on the determined type of error.6. The system of claim 1 , wherein to determine that the effort includes inaccurate GPS data includes to determine a type of error associated with the effort and wherein to modify the at least portion of the plurality of GPS data points associated with the effort using the repaired base map is further ...

METHOD AND INSTALLATION FOR CALIBRATING AN AIRBORNE GONIOMETRY APPARATUS

The invention relates to a method () for calibrating an airborne goniometry apparatus by means of a generator, referred to as calibration generator, remote from said airborne goniometry apparatus, said method () comprising the following steps: 1. A method for calibrating an airborne goniometry apparatus by means of a generator , wherein said generator comprises a calibration generator , remote from said airborne goniometry apparatus , said method comprising the following steps:sharing, between said airborne goniometry apparatus and said calibration generator, a calibration sequence,sharing, between said airborne goniometry apparatus and said calibration generator, a start time of said calibration sequence, andexecuting said calibration sequence by said airborne goniometry apparatus and by said calibration generator, at said start time;wherein said start time is determined in reference to a same clock comprising a reference clock, provided to said airborne goniometry apparatus and to said calibration generator, by an external source.2. The method according to claim 1 , wherein the reference clock comprises a clock signal provided by an atomic clock.3. The method according to claim 1 , wherein the reference clock is a clock of a satellite.4. The method according to claim 1 , wherein the reference clock is a clock of a satellite positioning system and is provided:to the to the airborne goniometry apparatus by a first receiver of said satellite positioning system coupled with said airborne goniometry apparatus; andto the to the calibration generator by a second receiver of said satellite positioning system coupled with said calibration generator.5. The method according to claim 1 , wherein the reference clock is a clock provided by a communication network claim 1 , wherein said communication network comprises a cell phone network.6. The method according to claim 1 , wherein said sharing said calibration sequence comprises a transmission claim 1 , by the airborne ...

METHOD AND SYSTEM FOR GUIDING AN AIRCRAFT IN AN APPROACH PROCEDURE WITH A VIEW TO LANDING ON A LANDING RUNWAY

A guidance system comprises a receiving module for receiving first and second pseudo-ranges sent by at least five satellites of a geopositioning system, a determining module for determining an ionospheric correction, a determining module for determining a usable pseudo-range, a determining module for determining a usable residual ionospheric error, a determining module for determining a usable standard deviation and a guiding module for guiding the aircraft from the pseudo-range of each of the at least five satellites and the usable standard deviation of each of the at least five satellites. The guidance system makes it possible to ensure the integrity of the two-frequency ionospheric corrections of the geopositioning system. 1. A method for guiding an aircraft in an approach procedure with a view to landing on a landing runway , using a satellite geopositioning system comprising a set of satellites , comprising the following steps implemented iteratively onboard the aircraft:receiving, implemented by a receiving module, comprising receiving at least one first signal carried by a first frequency and sent by at least five satellites of the geopositioning system and at least one second signal carried by a second frequency and sent by each of the at least five satellites, the first signal comprising at least one item of information representative of a first pseudo-range measured by each of the at least five satellites, the second signal comprising at least one item of information representative of a second pseudo-range measured by each of the at least five satellites,a first determining, implemented by a first determining module, comprising determining a first ionospheric correction for each of the at least five satellites from the first pseudo-range and from the second pseudo-range measured by each of the at least five satellites,a second determining, implemented by a second determining module, comprising determining a usable pseudo-range for each of the at least five ...

Method and apparatus for estimating position

A method of estimating a position includes: determining a first rotation reference point based on localization information estimated for a target and map data; estimating a second rotation reference point from image data associated with a front view of the target; and correcting the localization information using a rotation parameter calculated based on the first rotation reference point and the second rotation reference point.

REAL-TIME COMMUNICATION BETWEEN SATELLITES AND MOBILE DEVICES

Systems and methods for communicating with one or more satellites to acquire information related to a region on a map that is displayed on a mobile device. A mobile device includes: a communication device for directly communicating data with a satellite; a display for displaying a graphic user interface (GUI) that shows an image of a map; one or more processors; and a non-transitory computer-readable medium comprising one or more sequences of instructions which, when executed by the one or more processors, causes steps to be performed comprising: responsive to a touch on the GUI, sending a request signal for information related to a region on the map directly to the satellite via the communication device; receiving the information related to the region on the map directly from a satellite; and displaying the information on the display. 1. A mobile device for communicating with one or more satellites via a ground station , comprising:a communication device for communicating data with a ground station;a display for displaying a graphic user interface (GUI) that shows an image of a map;one or more processors; and responsive to a touch on the GUI, sending a request signal for a real-time satellite image of a region on the map to the ground station via the communication device;', 'receiving the real-time satellite image from the ground station; and', 'displaying the real-time satellite image on the display., 'a non-transitory computer-readable medium comprising one or more sequences of instructions which, when executed by the one or more processors, causes steps to be performed comprising2. A mobile device as recited in claim 1 , wherein the request signal includes information of global positioning system (GPS) coordinates of the mobile device claim 1 , GPS coordinates of the region on the map claim 1 , and an identification (ID) of a user of the mobile device.3. A mobile device as recited in claim 1 , wherein the non-transitory computer-readable medium further comprises ...

METHOD AND SYSTEM FOR CORRECTING ERRORS IN LOCATION DATA

A method for correcting errors in location data. The method provides a planned route of travel of vehicle to server system. The vehicle uses planned route to travel on a route of travel. The vehicle records location measurement raw data of vehicle using location measurement system in vehicle during travel. Moreover, the vehicle determines a relative location of each object of a plurality of objects present in a vicinity of the route of travel. The vehicle acquires a portion of a first set of location correction data streams from the server system. The vehicle utilizes the acquired portion of the first set to determine errors in the location measurement raw data to derive correct location data of the vehicle. A correct location of each object is derived based on the derived correct location data of vehicle for georeferencing plurality of objects. 1. A method for correcting errors in location data , the method comprising:providing a planned route of travel of a vehicle to a server system;using the planned route of travel to travel, with the vehicle, a route of travel;recording, by the vehicle, a location measurement raw data of the vehicle using a location measurement system in the vehicle during the travel;determining, by the vehicle, a relative location of at least one object of a plurality of objects present in a vicinity of the route of travel with respect to a position of the vehicle;acquiring, by the vehicle, a portion of a first set of location correction data streams from the server system, wherein the acquired portion comprises a second set of location correction data stream; andutilizing, by the vehicle, the acquired portion of the first set of location correction data streams to determine errors in the location measurement raw data to derive correct location data of the vehicle from the location measurement raw data; andderiving correct location of each object of the plurality of objects based on the derived correct location data of the vehicle for ...

EVENT DETECTION FOR VEHICLES

In an exemplary embodiment, a vehicle is provided that includes an event detection system, one or more sensors, a processor, and a transceiver. The one or more sensors are configured to generate sensor data. The processor is configured to at least facilitate: receiving a first indication of a possible event having occurred for a vehicle, based at least in part on a loss of communications with the event detection system; upon receiving the first indication, determining whether the vehicle is moving, based at least in part on the sensor data; and providing instructions for transmitting an emergency call from the vehicle to a remote server, when both of the following conditions are satisfied, namely: the first indication has been received; and the vehicle is not moving. The transceiver is coupled to the processor, and is configured for transmitting the emergency call in accordance with the instructions from the processor. 1. A method comprising:receiving a first indication of a possible event having occurred for a vehicle;upon receiving the first indication, determining, via a processor, whether the vehicle is moving; and the first indication has been received; and', 'the vehicle is not moving., 'transmitting an emergency call from the vehicle to a remote server, via instructions provided by the processor, when both of the following conditions are satisfied, namely2. The method of claim 1 , wherein the step of receiving the first indication comprises receiving an indication of a loss of communications with a system of the vehicle.3. The method of claim 2 , wherein the step of receiving the first indication comprises receiving an indication of a loss of communications with an event detection system of the vehicle.4. The method of claim 3 , wherein the step of receiving the first indication further comprises receiving an additional indication of a loss of communications with a global navigation satellite systems (GNSS) for the vehicle.5. The method of claim 1 , wherein ...

POSITIONING METHOD AND ELECTRONIC DEVICE

This application provide a positioning method, including: obtaining, by a first electronic device, a first location of a second electronic device; determining a plurality of candidate locations by using the first location as a center point; selecting a plurality of candidate positioning locations from the plurality of candidate locations based on elevations and azimuths of a plurality of satellites relative to the candidate locations, grid data corresponding to the plurality of candidate locations, and signal parameters of broadcast signals received by the second electronic device from the plurality of satellites; and correcting the first location based on the plurality of candidate positioning locations, to output a corrected second location. 1. A positioning method used by a first electronic device to position a second electronic device , the second electronic device receiving broadcast signals transmitted by a plurality of satellites , the method comprising:obtaining, by the first electronic device, a first location of the second electronic device;determining, by the first electronic device, a plurality of candidate locations using the first location as a center point;selecting, by the first electronic device, a plurality of candidate positioning locations from the plurality of candidate locations based on elevations and azimuths of the plurality of satellites relative to the plurality of candidate locations, selecting grid data corresponding to the plurality of candidate locations, and selecting signal parameters of the broadcast signals received by the second electronic device from the plurality of satellites, each grid data corresponding to each candidate location comprises location information and a sky blocking curve, and a first sky blocking curve of a first candidate location indicates one candidate elevations and azimuths, relative to the one candidate location, of a plurality of first obstructions around the first candidate location; andcorrecting, by ...

Geographical feature/artificial structures detection and application for gnss navigation with map information

A method of navigating with a global navigation satellite system (GNSS) includes receiving a GNSS signal, calculating a GNSS navigation solution according to the GNSS identifying map information corresponding to the GNSS navigation solution, detecting features from the identified map information, and correcting a GNSS navigation based on the features detected from the map information and the GNSS signal.

METHOD AND APPARATUS FOR DETERMINING LOCATION BY CORRECTING GLOBAL NAVIGATION SATELLITE SYSTEM BASED LOCATION AND ELECTRONIC DEVICE THEREOF

The present disclosure relates to a location measurement method using a processor. The location measurement method includes: acquiring a surrounding image photographed by an electronic device; acquiring first location information of the electronic device using a global navigation satellite system; and acquiring second location information obtained by correcting the first location information using the surrounding image photographed by the electronic device, in which a correction value for correction from the first location information to the second location information is calculated by detection of an image including a static object included in the photographed surrounding image from a pre-stored real-world image map. 1. A location measurement method using a processor , comprising:acquiring a surrounding image photographed by an electronic device;acquiring first location information of the electronic device using a global navigation satellite system; andacquiring second location information obtained by correcting the first location information using the surrounding image photographed by the electronic device,wherein a correction value for correction from the first location information to the second location information is calculated by detection of an image including a static object included in the photographed surrounding image from a pre-stored real-world image map.2. The location measurement method of claim 1 , further comprising:wherein the acquired surrounding image includes a front image photographed by a first camera and a rear image photographed by a second camera,generating a combined image in which the front image and the rear image are combined in consideration of an angle of view of a camera, andin the acquiring of the second location information, the second location information obtained by correcting the first location information using the combined image is acquired.3. The location measurement method of claim 1 , further comprising:generating an image ...

SYSTEM AND METHOD FOR DETECTING AMBIGUITIES IN SATELLITE SIGNALS FOR GPS TRACKING OF VESSELS

The present invention relates to a system for detecting ambiguities in a satellite signal for the GPS tracking of vessels, which includes: a GNSS receiving unit obtaining a vessel position using a plurality of satellites; a vessel position calculating unit calculating a second vessel position from a first vessel position after a specific amount of time elapses using dead-reckoning; a distance calculating unit calculating prediction distances between each of the satellites and the vessel and an error monitoring unit comparing the calculated prediction distances between the satellites and the vessel, and pseudoranges between the satellites and the GNSS receiving unit at the second vessel position, and monitoring for the occurrence of errors at the satellites on the basis of the existence of an increase in errors at each of the satellites. 1. A system for detecting ambiguities in satellite signals for vessel positioning , comprising:a Global Navigation Satellite System (GNSS) reception unit for acquiring a position of a vessel using a plurality of satellites;a vessel position calculation unit for calculating a second vessel position of the vessel after a specific time (t) has elapsed from a first vessel position of the vessel, using dead-reckoning;a distance calculation unit for calculating predicted distances between the respective satellites and the vessel, using position values of the respective satellites at the second vessel position, calculated using ephemeris information of the satellites, and a position value of the second vessel position; andan error monitoring unit for individually comparing the predicted distances between the respective satellites and the vessel calculated by the distance calculation unit, with pseudoranges between the respective satellites and the GNSS reception unit at the second vessel position, and then monitoring whether errors have occurred in the satellites depending on whether an error in each satellite has increased.2. The system of ...

Method and Device for Determining a Trajectory of a Vehicle

A device estimates an actual trajectory of a vehicle. The device is designed to determine a sequence of measured position values over a corresponding sequence of times by use of a position sensor. The device is further designed to determine a sequence of odometry values on the basis of sensor data from one or more vehicle sensors. The device is also designed to determine, as an estimation of the actual trajectory of the vehicle, a sequence of estimated pose values for the sequence of times and a systematic position offset for the sequence of measured position values so that an optimization criterion is improved, in particular is optimized at least locally. 117.-. (canceled)18. A device for estimating an actual trajectory of a vehicle , comprising:a control unit configured to:ascertain a sequence of measured position values over a corresponding sequence of times based on sensor data from a position sensor, wherein a measured position value at any one time indicates a position of the vehicle at that time relative to a reference coordinate system;ascertain a sequence of odometry values based on sensor data from one or more vehicle sensors, wherein an odometry value at any one time indicates how a pose of the vehicle has changed in comparison with a previous time; andascertain a sequence of estimated pose values for the sequence of times and a position offset for the sequence of measured position values as an estimate of the actual trajectory of the vehicle so as to improve an optimization criterion, whereinan estimated pose value at any one time indicates the pose of the vehicle at that time relative to the reference coordinate system,the optimization criterion comprises a position value deviation term for each time of the sequence of times,the position value deviation term at any one time depends on a deviation of the estimated pose value at that time from the measured position value shifted by the position offset at that time,the optimization criterion comprises an ...

EXTENDED KALMAN FILTER POSITIONING METHOD BASED ON HEIGHT CONSTRAINT

A positioning method using height-constraint-based extended Kalman filter, suitable for a GNSS navigation and positioning system, comprises: obtaining an estimated state value of a current epoch by using an extended Kalman filter algorithm and according to an estimated state value of a previous epoch; constraining a positioning height of the current epoch by establishing a height constraint condition, so as to obtain an optimum estimated value of the current epoch and a corresponding mean square error, wherein the optimum estimated value satisfies the height constraint condition; further correcting the estimated state value by using a pseudorange obtained from the mean square error and a measured. Doppler shift residual to obtain a final estimated state value of the current epoch, thus more accurately obtaining positioning information of a target to be positioned in the current epoch and enhancing the accuracy of GNSS navigation and positioning. 1. A positioning method using height-constraint-based extended Kalman filter , comprising the following steps:{'sub': k', 'k', 'k−1', 'k−1, 'sup': −', '−, '(1) estimating, by using a prediction formula, a prior estimated state value) {circumflex over (x)} of a target to be positioned of a current epoch and a mean square error P of the prior estimated state value of the current epoch from a final estimated state value {circumflex over (x)}of a previous epoch and a mean square error Pof the final estimated state value of the previous epoch;'}{'sub': k', 'k, 'sup': ˜', '˜, '(2) constructing a height constraint condition, and obtaining, by using a minimum mean square error principle, an optimum estimated state value {circumflex over (x)} of the current epoch under the height constraint condition and a mean square error P of the optimum estimated state value; and'}{'sub': k', 'k', 'k', 'k', 'k, 'sup': ˜', '˜, '(3) correcting, by using a Kalman filter gain matrix K, the optimum estimated state value {circumflex over (x)} of the ...

METHOD AND DEVICE FOR DETERMINING THE POSITION OF A VEHICLE

A method for determining the position of a vehicle, including: determination of a GNS vehicle position by a GNS unit, sensor acquisition of a surrounding environment of the GNS vehicle position by a radar sensor unit of the vehicle in order to ascertain radar data corresponding to the acquired surrounding environment, detection of objects situated in the surrounding environment based on the radar data, ascertaining of a direction vector that points from a detected object to a reference point fixed to the vehicle, comparison of the radar data and the ascertained direction vector to a digital map that has objects and direction vectors assigned to the objects, the direction vectors assigned to the objects pointing to a position in the digital map from which the corresponding object was acquired by a radar sensor unit, and ascertaining of a corrected vehicle position based on the GNS vehicle position and the comparison. 18-. (canceled)9. A method for determining the position of a vehicle , the method comprising:determining a GNS vehicle position by a GNS unit;acquiring a surrounding environment of the GNS vehicle position by a radar sensor unit of the vehicle to ascertain radar data corresponding to the acquired surrounding environment;detecting objects situated in the surrounding environment based on the radar data;ascertaining, for each of the detected objects, a respective direction vector that points from the detected object to a reference point fixed to the vehicle;comparing the radar data and the ascertained direction vectors to a digital map that has objects and direction vectors assigned to the objects, the direction vectors assigned to the objects pointing to a position in the digital map from which the corresponding object was acquired by a radar sensor unit; andascertaining a corrected vehicle position based on the GNS vehicle position and the comparison.10. The method as recited in claim 9 , further comprising:ascertaining, based on the radar data, which ...