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    Systems, methods, devices and subassemblies for creating and delivering a GNSS augmentation service
    3.
    发明授权
    Systems, methods, devices and subassemblies for creating and delivering a GNSS augmentation service 有权
    用于创建和交付GNSS增强服务的系统，方法，设备和子组件

    公开(公告)号：US09557422B1

    公开(公告)日：2017-01-31

    申请号：US14103752

    申请日：2013-12-11

    Applicant: Apple Inc.

    Inventor： Isaac T. Miller ,  William J. Bencze ,  Robert Brumley ,  Brent M. Ledvina

    IPC: G01S19/46 ,  G01S19/38 ,  G01S19/45 ,  G01S19/05 ,  G01S19/07

    CPC classification number: G01S19/07

    Abstract: Systems, methods, devices and subassemblies for creating and delivering a GNSS augmentation service include one or more reference stations for receiving signals transmitted by navigation beacons and an augmentation server coupled to the reference stations. At least one of the reference stations is able to receive at least one of the signals from a low earth orbit satellite. Each of the reference stations determines first navigation observables based on the received signals and transmit information associated with the first navigation observables to the augmentation server. The augmentation server is configured to determine and distribute augmentation information to a receiver. The augmentation information is based on the received information associated with the first navigation observables, locations of the reference stations, and computational models. The distributed augmentation information is usable by the receiver to determine a high-precision position, velocity, and time solution for the receiver based on second navigation observables associated with the receiver.

    Abstract translation: 用于创建和传送GNSS增强服务的系统，方法，设备和子组件包括用于接收由导航信标发送的信号的一个或多个参考站和耦合到参考站的增强服务器。 参考站中的至少一个能够从低地球轨道卫星接收至少一个信号。 每个参考站基于接收到的信号确定第一导航观测值，并将与第一导航可观测值相关联的信息发送到增强服务器。 增强服务器被配置为确定并将增强信息分发给接收器。 增强信息基于与第一导航可观测量相关联的接收信息，参考站的位置和计算模型。 接收机可以使用分布式增强信息，以基于与接收机相关联的第二导航观测值确定接收机的高精度位置，速度和时间解。

    Iterative estimation of non-holonomic constraints in an inertial navigation system
    5.
    发明授权
    Iterative estimation of non-holonomic constraints in an inertial navigation system 有权

    公开(公告)号：US11441906B2

    公开(公告)日：2022-09-13

    申请号：US16924104

    申请日：2020-07-08

    Applicant: Apple Inc.

    Inventor： Changlin Ma ,  Isaac T. Miller

    IPC: G01C21/28 ,  G01S19/31 ,  G01C21/16 ,  B60G17/016 ,  B60R21/0132 ,  G01S19/39 ,  G01S19/50 ,  B60W50/00

    Abstract: A device implementing a system for estimating device location includes at least one processor configured to receive a first and second set of signals, each set corresponding to location data and being received based on a sampling interval. The at least one processor is configured to, for each sampling period defined by the sampling interval, obtain sensor data corresponding to device motion during the sampling period, determine an orientation of the device relative to that of the vehicle based on the sensor data, calculate a non-holonomic constraint based on the orientation of the device relative to that of the vehicle such that the non-holonomic constraint is iteratively updated, and estimate a device state based on the non-holonomic constraint.

    Systems, Methods, Devices And Subassemblies For Rapid-Acquisition Access To High-Precision Positioning, Navigation And/Or Timing Solutions
    6.
    发明申请
    Systems, Methods, Devices And Subassemblies For Rapid-Acquisition Access To High-Precision Positioning, Navigation And/Or Timing Solutions 审中-公开
    用于快速采集高精度定位，导航和/或定时解决方案的系统，方法，设备和子组件

    公开(公告)号：US20160313449A1

    公开(公告)日：2016-10-27

    申请号：US15174957

    申请日：2016-06-06

    Applicant: Apple Inc.

    Inventor： Isaac T. Miller ,  Clark E. Cohen ,  Robert W. Brumley ,  William J. Bencze ,  Brent M. Ledvina ,  Thomas J. Holmes ,  Mark L. Psiaki

    IPC: G01S19/25 ,  G01S19/26

    CPC classification number: G01S19/256 ,  G01S19/13 ,  G01S19/26 ,  G01S19/43 ,  G01S19/46

    Abstract: Position, navigation and/or timing (PNT) solutions may be provided with levels of precision that have previously and conventionally been associated with carrier phase differential GPS (CDGPS) techniques that employ a fixed terrestrial reference station or with GPS PPP techniques that employ fixed terrestrial stations and corrections distribution networks of generally limited terrestrial coverage. Using techniques described herein, high-precision PNT solutions may be provided without resort to a generally proximate, terrestrial ground station having a fixed and precisely known position. Instead, techniques described herein utilize a carrier phase model and measurements from plural satellites (typically 4 or more) wherein at least one is a low earth orbiting (LEO) satellite. For an Iridium LEO solution, particular techniques are described that allow extraction of an Iridium carrier phase observables, notwithstanding TDMA gaps and random phase rotations and biases inherent in the transmitted signals.

    Abstract translation: 位置，导航和/或定时（PNT）解决方案可以具有以前和传统上与使用固定地面参考站的载波相位差GPS（CDGPS）技术或采用固定地面的GPS PPP技术相关联的精度水平 车站和修正分布网络的普遍有限的地面覆盖。 使用本文描述的技术，可以提供高精度PNT解决方案，而不需要借助于具有固定和精确已知位置的基本接近的地面站。 相反，本文描述的技术利用来自多个卫星（通常为4个或更多个）的载波相位模型和测量，其中至少一个是低地球轨道（LEO）卫星。 对于铱星LEO解决方案，描述了允许提取铱载体相可观察的特定技术，尽管TDMA间隙和随机相位旋转以及传输信号中固有的偏置。

    Systems, methods, devices and subassemblies for rapid-acquisition access to high-precision positioning, navigation and/or timing solutions
    7.
    发明授权
    Systems, methods, devices and subassemblies for rapid-acquisition access to high-precision positioning, navigation and/or timing solutions 有权
    用于快速获取高精度定位，导航和/或定时解决方案的系统，方法，设备和子组件

    公开(公告)号：US09360557B1

    公开(公告)日：2016-06-07

    申请号：US13935885

    申请日：2013-07-05

    Applicant: Apple Inc.

    Inventor： Isaac T. Miller ,  Clark E. Cohen ,  Robert W. Brumley ,  William J. Bencze ,  Brent M. Ledvina ,  Thomas J. Holmes ,  Mark L. Psiaki

    IPC: G01S19/13

    CPC classification number: G01S19/256 ,  G01S19/13 ,  G01S19/26 ,  G01S19/43 ,  G01S19/46

    Abstract: Position, navigation and/or timing (PNT) solutions may be provided with levels of precision that have previously and conventionally been associated with carrier phase differential GPS (CDGPS) techniques that employ a fixed terrestrial reference station or with GPS PPP techniques that employ fixed terrestrial stations and corrections distribution networks of generally limited terrestrial coverage. Using techniques described herein, high-precision PNT solutions may be provided without resort to a generally proximate, terrestrial ground station having a fixed and precisely known position. Instead, techniques described herein utilize a carrier phase model and measurements from plural satellites (typically 4 or more) wherein at least one is a low earth orbiting (LEO) satellite. For an Iridium LEO solution, particular techniques are described that allow extraction of an Iridium carrier phase observables, notwithstanding TDMA gaps and random phase rotations and biases inherent in the transmitted signals.

    Abstract translation: 位置，导航和/或定时（PNT）解决方案可以具有以前和传统上与使用固定地面参考站的载波相位差GPS（CDGPS）技术或采用固定地面的GPS PPP技术相关联的精度水平 车站和修正分布网络的普遍有限的地面覆盖。 使用本文描述的技术，可以提供高精度PNT解决方案，而不需要借助于具有固定和精确已知位置的基本接近的地面站。 相反，本文描述的技术利用来自多个卫星（通常为4个或更多个）的载波相位模型和测量，其中至少一个是低地球轨道（LEO）卫星。 对于铱星LEO解决方案，描述了允许提取铱载体相可观察的特定技术，尽管TDMA间隙和随机相位旋转以及传输信号中固有的偏置。

    ROUTE RECONSTRUCTION USING SPARSE DATA SET
    9.
    发明申请
    ROUTE RECONSTRUCTION USING SPARSE DATA SET 有权

    公开(公告)号：US20240401958A1

    公开(公告)日：2024-12-05

    申请号：US18680791

    申请日：2024-05-31

    Applicant: Apple Inc.

    Inventor： Saurabh Godha ,  James T. Curran ,  Fatemeh Ghafoori ,  Changlin Ma ,  Isaac T. Miller

    IPC: G01C21/34

    Abstract: Techniques are described for improving driver efficiency. An example method can include a device accessing sparse location data indicative of one or more geographic locations along a route of the user device during a first time period. The route includes a starting location data point and an ending location data point. The device can access motion data collected by the sensors of the user device. The motion data can be collected by the sensors during the first time period. After a conclusion of the first time period, the device can generate, using the sparse location data and the motion data, a dense data set to reconstruct a route that includes the starting location data point and the ending location data point. The reconstructed route can include second dense location data and velocity data. The device can store the reconstructed route in a local memory of the user device.

    Estimating device position in multipath environments
    10.
    发明授权
    Estimating device position in multipath environments 有权

    公开(公告)号：US11513234B2

    公开(公告)日：2022-11-29

    申请号：US16865203

    申请日：2020-05-01

    Applicant: Apple Inc.

    Inventor： Mark G. Petovello ,  Isaac T. Miller ,  Kenneth M. Pesyna, Jr.

    IPC: G01S19/22 ,  G01S19/39 ,  G01S19/40

    Abstract: 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.

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