公开(公告)号：US20110210888A1

公开(公告)日：2011-09-01

申请号：US13119638

申请日：2009-09-21

申请人： Flavien Mercier ,  Denis Laurichesse

发明人： Flavien Mercier ,  Denis Laurichesse

IPC分类号： G01S19/44

CPC分类号： G01S19/44 ,  G01S19/07 ,  G01S19/25

摘要： A method for processing radionavigation signals coming from satellites that broadcast the radionavigation signals on at least two distinct frequencies, comprises receiving the signals for each satellite, realising, for each satellite, non-differentiated measurements of code and phase (10), determining the widelane ambiguities in a coherent manner on the group of satellites (12, 13, 14) by using the widelane biases associated with the satellites, received from a reference system, and global positioning of the receiver with the help of measurements of code and phase and the coherent widelane ambiguities (16, 18). The global positioning comprises, for each satellite, the determination (16) of a pseudo distance by means of an ionosphere-free combination of the measurements of code and of the difference of the phase measurements, compensated for the widelane ambiguity, this ionosphere-free combination being optimised in terms of noise. The pseudo distance is determined by receiving the satellite clock values associated with the ionosphere-free combination from the reference system.

摘要翻译： 一种用于处理来自卫星的无线电导航信号的方法，所述卫星在至少两个不同的频率上广播无线电导航信号，包括接收每个卫星的信号，为每个卫星实现码和相（10）的非差分测量，确定宽带 通过使用从参考系统接收到的与卫星相关联的宽边偏移，以及借助于代码和相位的测量以及接收机的全球定位，以卫星组合（12,13,14）的方式，以一致的方式对模糊度进行识别 一致的宽恕歧义（16,18）。 全球定位包括对于每个卫星，借助于无电离层的代码测量和相位测量的差异的组合，伪距离的确定（16），补偿了宽带模糊度，这种无电离层 组合在噪声方面进行了优化。 通过从参考系统接收与无电离子组合相关联的卫星时钟值来确定伪距离。

公开(公告)号：US20110187590A1

公开(公告)日：2011-08-04

申请号：US13122214

申请日：2009-10-05

申请人： Rodrigo Leandro

发明人： Rodrigo Leandro

IPC分类号： G01S19/44

CPC分类号： G01S19/43 ,  G01S19/40

摘要： 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.

摘要翻译： 一种确定GNSS接收机天线的位置的方法包括以下步骤：对于多个时代中的每一个，获取包含GNSS卫星的至少时钟和位置信息的信号在GNSS接收机天线处的观测值的输入数据。 然后估计来自每个历元的输入数据的状态向量的浮点参数。 浮动参数包括接收机天线位置，接收机时钟以及至少一个每个卫星的模糊度。 检测到从一个时期到另一个时期的至少一个卫星的至少一个模糊度的跳跃。 然后估计来自至少一个时期的输入数据和估计的浮动参数的桥参数。 桥参数包括足以更新浮点参数以补偿跳转的值，然后桥参数用于更新浮点参数。

公开(公告)号：US20110156949A1

公开(公告)日：2011-06-30

申请号：US13059428

申请日：2009-08-05

申请人： Ulrich Vollath ,  Nicholas Charles Talbot

发明人： Ulrich Vollath ,  Nicholas Charles Talbot

IPC分类号： G01S19/44

CPC分类号： G01S19/44

摘要： Methods and apparatus are provided for estimating parameters, i.e. ambiguities, derived from GNSS signals. Observations of each of received frequencies of a GNSS signal from a plurality of GNSS satellites are obtained for a plurality of instances in time (3120). The time sequence of observations is fed to a filter to estimate a state vector comprising float ambiguities, wherein each float ambiguity constitutes a non integer estimate of an integer number of wavelengths for a received frequency of a GNSS signal between a receiver of the GNSS signal and the GNSS satellite from which it is received and wherein the float ambiguities of the state vector are updated over time on the basis of the observations (3140). The occurrence of an interruption in tracking of at least one signal of a satellite is determined (3121). The float ambiguity of the state vector for the at least one signal for which an interruption in tracking occurred is maintained at the value before the interruption in tracking occurred (3122). Integer values are assigned to at least a subgroup of the estimated float values to define a plurality of integer ambiguity candidate sets (3160). A quality measure is determined for each of the candidate sets. A weighted average of the candidate sets is formed (3200). Ambiguities of the weighted average can be used in subsequent operations to aid in determining a position of the receiver or can be used to prepare data, e.g., in a network processor that can be used to augment position information of a rover.

摘要翻译： 提供了用于估计从GNSS信号导出的参数，即模糊度的方法和装置。 在多个时间（3120）中获得来自多个GNSS卫星的GNSS信号的每个接收频率的观察。 将观测的时间序列馈送到滤波器以估计包括浮点模糊度的状态向量，其中每个浮点模糊度构成GNSS信号的接收机与GNSS信号的接收频率的接收频率的整数个波长的非整数估计，以及 接收GNSS卫星并且其中根据观测值（3140）随时间更新状态向量的浮点模糊度。 确定跟踪卫星的至少一个信号的中断的发生（3121）。 跟踪发生中断的至少一个信号的状态向量的浮点模糊度维持在跟踪发生中断之前的值（3122）。 将整数值分配给估计浮点值的至少一个子组以定义多个整数模糊度候选集（3160）。 确定每个候选组的质量度量。 形成候选集的加权平均值（3200）。 可以在随后的操作中使用加权平均值的不确定性来帮助确定接收机的位置，或者可以用于准备数据，例如在网络处理器中，该网络处理器可用于增加流动站的位置信息。

公开(公告)号：US20110140958A1

公开(公告)日：2011-06-16

申请号：US12964559

申请日：2010-12-09

申请人： Patrick Henkel ,  Zhibo Wen ,  Christoph Guenther

发明人： Patrick Henkel ,  Zhibo Wen ,  Christoph Guenther

IPC分类号： G01S19/44

CPC分类号： G01S19/04 ,  G01S19/32 ,  G01S19/44

摘要： A new method for bias estimation on multiple frequencies with a Kalman filter is proposed. It consists of four steps: First, a least-squares estimation of ranges, ionospheric delays, ambiguities, receiver phase biases and satellite phase biases is performed. The code biases are absorbed in the ranges and ionospheric delays, and a subset of ambiguities is mapped to the phase biases to remove linear dependencies between the unknown parameters. In a second step, the accuracy of the bias estimates is efficiently improved by a Kalman filter. The real-valued a posteriori ambiguity estimates are decorrelated by an integer ambiguity transformation to reduce the time of ambiguity resolution. Once the float ambiguities have sufficiently converged, they are fixed sequentially in a third step. Finally, a second Kalman filter is used to separate the receiver and satellite code biases and the tropospheric delays from the ranges.

摘要翻译： 提出了一种利用卡尔曼滤波器对多个频率进行偏差估计的新方法。 它包括四个步骤：首先，进行范围的最小二乘估计，电离层延迟，模糊度，接收器相位偏差和卫星相位偏差。 代码偏差被吸收在范围和电离层延迟中，并且模糊的子集被映射到相位偏移以去除未知参数之间的线性依赖性。 在第二步中，通过卡尔曼滤波器有效地提高偏差估计的精度。 实值后验模糊度估计是通过整数模糊度变换去相关的，以减少模糊度解析的时间。 一旦浮动模糊度已经充分收敛，它们在第三步骤中依次固定。 最后，使用第二卡尔曼滤波器将接收机和卫星码偏差和对流层延迟从范围分离。

公开(公告)号：US20110102254A1

公开(公告)日：2011-05-05

申请号：US12917625

申请日：2010-11-02

申请人： Patrick C. Fenton

发明人： Patrick C. Fenton

IPC分类号： G01S19/44

CPC分类号： G01S19/44

摘要： A global positioning system includes a base GNSS receiver that determines position and carrier phase measurements for GNSS satellites in view and a rover GNSS receiver, which is a single frequency receiver that captures GNSS satellite signals transmitted in the single frequency band during a capture window from a plurality of GNSS satellites, the plurality being large enough to provide a carrier phase data set from which a solution to associated integer carrier phase ambiguities is over determined. The system determining from the captured signals, a search space associated with the satellites in view, the code phase delays and associated position uncertainty. The system resolving the integer carrier cycle ambiguities using double difference carrier phase measurements associated with signal power values that are over a predetermined threshold value. The system resolving the carrier cycle ambiguities over the capture window to a single solution set and determining the position of the rover GNSS receiver to an accuracy within centimeters using the resolved carrier phase measurements.

摘要翻译： 一个全球定位系统包括一个基本的GNSS接收机，用于确定视野中的GNSS卫星的位置和载波相位测量，以及一个漫游器GNSS接收机，它是一个单频接收机，捕获在一个捕获窗口中从单个频带发射的GNSS卫星信号 多个GNSS卫星，所述多个足够大以提供载波相位数据集，从其中相关联的整数载波相位模糊度的解决过程被确定。 该系统根据所捕获的信号确定与视频中的卫星相关联的搜索空间，码相位延迟和相关的位置不确定性。 该系统使用与超过预定阈值的信号功率值相关联的双差分载波相位测量来解决整数载波周期模糊度。 系统将捕获窗口上的载波周期模糊度解析为单个解决方案集，并使用解析的载波相位测量将漫游器GNSS接收机的位置确定为厘米以内的精度。

公开(公告)号：US20100169001A1

公开(公告)日：2010-07-01

申请号：US12690287

申请日：2010-01-20

申请人： Bruno M. Scherzinger ,  Joseph J. Hutton ,  Ulrich Vollath

发明人： Bruno M. Scherzinger ,  Joseph J. Hutton ,  Ulrich Vollath

IPC分类号： G01C21/00 ,  G01S19/40 ,  G01S19/44 ,  G01S19/41

CPC分类号： G01C21/005 ,  G01S19/43

摘要： A method of generating post-mission position and orientation data comprises generating position and orientation data representing positions and orientations of a mobile platform, based on global navigation satellite system (GNSS) data and inertial navigation system (INS) data acquired during a data acquisition period by the mobile platform, using a network real-time kinematic (RTK) subsystem to generate correction data associated with the data acquisition period, and correcting the position and orientation data based on the correction data. The RTK subsystem may implement a virtual reference station (VRS) technique to generate the correction data.

摘要翻译： 一种产生任务后位置和方向数据的方法包括基于在数据采集周期期间获取的全球导航卫星系统（GNSS）数据和惯性导航系统（INS）数据，生成表示移动平台的位置和方向的位置和方向数据 通过移动平台，使用网络实时运动学（RTK）子系统来生成与数据采集周期相关联的校正数据，并且基于校正数据来校正位置和取向数据。 RTK子系统可以实现虚拟参考站（VRS）技术来生成校正数据。

公开(公告)号：US20050203702A1

公开(公告)日：2005-09-15

申请号：US10800178

申请日：2004-03-12

申请人： Richard Sharpe ,  Frederick Nelson ,  Terence Pickett ,  Ronald Hatch ,  Yunchun Yang

发明人： Richard Sharpe ,  Frederick Nelson ,  Terence Pickett ,  Ronald Hatch ,  Yunchun Yang

IPC分类号： G01S19/43 ,  G01S1/00 ,  G01S5/02 ,  G01S5/14 ,  G01S19/07 ,  G01S19/11 ,  G01S19/32 ,  G01S19/44 ,  G01S19/48 ,  G01C21/26

CPC分类号： G01S19/44 ,  G01S19/32

摘要： The present invention includes a method for performing backup dual-frequency navigation during a brief period when one of two frequencies relied upon by dual-frequency navigation is unavailable. The method includes synthesizing the code and carrier-phase measurements on the unavailable frequency using the carrier-phase measurements on the retained frequency and a model of ionospheric refraction effects, which is updated when measurements on both frequencies are available.

摘要翻译： 本发明包括一种用于在由双频导航依赖的两个频率中的一个不可用的短暂时间内执行备用双频导航的方法。 该方法包括使用关于保留频率的载波相位测量和电离层折射效应的模型来对不可用频率合成码和载波相位测量，当两个频率上的测量可用时更新。

公开(公告)号：US20050114074A1

公开(公告)日：2005-05-26

申请号：US11010468

申请日：2004-12-13

申请人： Francisco Green

发明人： Francisco Green

IPC分类号： G01S19/44 ,  G01B11/16 ,  G01S5/02 ,  G01S19/46 ,  G06F15/00

CPC分类号： G01S5/0257 ,  G01S5/0294

摘要： A device for spatial positioning systems includes a programmable measurement filter that is dynamically tuned by the device signal processing unit. The signal processing unit analyzes available data including the measurement signal to determine the likelihood that a detected measurement comprises true device movement and adjusts the measurement filter bandwidth accordingly.

摘要翻译： 用于空间定位系统的装置包括可由设备信号处理单元动态调谐的可编程测量滤波器。 信号处理单元分析包括测量信号的可用数据，以确定检测到的测量包括真实设备移动的可能性，并相应地调整测量滤波器带宽。

公开(公告)号：US06879875B1

公开(公告)日：2005-04-12

申请号：US10946598

申请日：2004-09-20

申请人： Guohui Hu ,  Ching-Fang Lin

发明人： Guohui Hu ,  Ching-Fang Lin

IPC分类号： G01C21/16 ,  G01C21/26 ,  G01C21/28 ,  G01C21/34 ,  G01C21/36 ,  G01S1/00 ,  G01S5/14 ,  G01S19/44 ,  G01S19/49 ,  G01S19/52 ,  G01S19/55

CPC分类号： G01C21/165 ,  G01S19/44 ,  G01S19/49 ,  G01S19/52 ,  G01S19/55

摘要： The design of the low cost GPS/IMU positioning and data integrating method, which employs integrated global positioning system/inertial measurement unit enhanced with dual antenna GPS carrier phase measurements to initialize and stabilize the azimuth of the low cost GPS/IMU integrated system, is performed. The utilization of the raw carrier phase measurement for the integration speeds up the ambiguity search.

摘要翻译： 低成本GPS / IMU定位和数据集成方法的设计采用综合全球定位系统/惯性测量单元，采用双天线GPS载波相位测量，初始化和稳定低成本GPS / IMU集成系统的方位角，是 执行。 利用原始载波相位测量进行集成可加快模糊搜索。

公开(公告)号：US6167347A

公开(公告)日：2000-12-26

申请号：US246883

申请日：1999-02-08

申请人： Ching-Fang Lin

发明人： Ching-Fang Lin

IPC分类号： G01S5/14 ,  G01S19/44 ,  G01S19/49 ,  G01S19/55 ,  G01C21/00 ,  H04B7/185

CPC分类号： G01C21/165 ,  G01S19/215 ,  G01S19/26 ,  G01S19/44

摘要： An improved fully-coupled vehicle positioning process and system thereof can substantially solve the problems encountered in global positioning system-only and inertial navigation system-only, such as loss of global positioning satellite signal, sensibility to jamming and spoofing, and inertial solution's drift over time, in which the velocity and acceleration from an inertial navigation processor are used to aid the code and carrier phase tracking of the global positioning system satellite signals, so as to enhance the performance of the global positioning and inertial integration system, even in heavy jamming and high dynamic environments. The improved fully-coupled GPS/IMU vehicle positioning system includes an IMU (inertial measurement unit) and a GPS processor which are connected to a central navigation processor to produce navigation solution that is output to an I/O (input/output) interface.

摘要翻译： 改进的全耦合车辆定位过程及其系统可以基本上解决仅在全球定位系统和惯性导航系统中遇到的问题，例如全球定位卫星信号的丢失，干扰和欺骗的敏感度以及惯性解的漂移 时间，其中使用来自惯性导航处理器的速度和加速度来辅助全球定位系统卫星信号的码和载波相位跟踪，以便增强全球定位和惯性集成系统的性能，即使在重度干扰 和高动态环境。 改进的全耦合GPS / IMU车辆定位系统包括连接到中央导航处理器以产生输出到I / O（输入/输出）接口的导航解决方案的IMU（惯性测量单元）和GPS处理器。