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1.发明公开公开(公告)号：US20240353577A1
公开(公告)日：2024-10-24
申请号：US18415513
申请日：2024-01-17
摘要： A method can include receiving a set of satellite signals, refining the set of satellite signals to generate a refined set of satellite signals, determining a satellite solution for each satellite associated with a satellite signal in the refined set of satellite signals, applying an a-priori correction to the satellite signals, determining a set of time differenced satellite signals between the satellite signals from a current epoch and a previous epoch; and determining the positioning solution of the rover using a fusion engine that processes the differenced satellite signals and inertial measurement unit (IMU) data.
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公开(公告)号：US12123947B2
公开(公告)日：2024-10-22
申请号：US17194502
申请日：2021-03-08
IPC分类号： G01S13/95 , G01S13/74 , G01S19/07 , G01S19/14 , G01S19/40 , G01S19/43 , G01S19/47 , G01W1/02
CPC分类号： G01S13/955 , G01S13/74 , G01S19/072 , G01S19/14 , G01S19/40 , G01S19/43 , G01S19/47 , G01W1/02
摘要： 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 σΦ 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 σΦ 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.
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公开(公告)号：US12106017B2
公开(公告)日：2024-10-01
申请号：US17607914
申请日：2020-05-28
发明人： Shinji Ishihara , Shiho Izumi , Shinichi Kotake
IPC分类号： E02F3/43 , E02F3/30 , E02F3/36 , E02F9/12 , E02F9/20 , G01S19/43 , G01S19/47 , G01S19/54 , G06F30/17 , G06F30/20 , G06F119/02
CPC分类号： G06F30/17 , E02F3/30 , E02F3/36 , E02F9/121 , E02F9/20 , G01S19/43 , G01S19/47 , G01S19/54 , G06F30/20 , G06F2119/02
摘要： A position/posture computing section determines that an azimuth of an upper swing structure calculated at a GNSS receiver is of low quality when at least one of a posture angle of the upper swing structure acquired at a machine-body IMU and a posture angle of a front work implement acquired at a boom IMU is equal to or larger than a threshold value, executes a bias removal computation on the basis of the quality of the azimuth and the azimuth of the upper swing structure calculated at the GNSS receiver, calculates a corrected azimuth of the upper swing structure on the basis of the azimuth of the upper swing structure calculated at the GNSS receiver, and an angular velocity of the upper swing structure from which a gyro bias has been removed, and computes a three-dimensional position and posture of the front work implement by using the corrected azimuth.
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公开(公告)号：US20240319380A1
公开(公告)日：2024-09-26
申请号：US18614560
申请日：2024-03-22
发明人： Bojan SUBASIC , Alon GREEN
摘要： A system includes a base station that includes an RTK base unit and a static RTK rover unit, the RTK base unit and the static RTK rover unit being at a same fixed location; a GPS antenna corresponding to the base station and being at a first position; and a management center in communication with the base station. The RTK base unit includes a first GPS receiver coupled to the GPS antenna, the static RTK rover unit includes a second GPS receiver coupled to the GPS antenna, the static RTK rover unit is configured to determine its position as a second position according to GPS information received via the GPS antenna and RTK correction information received from the RTK base unit, and the management center is configured to determine whether the RTK correction information is valid.
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公开(公告)号：US12055645B2
公开(公告)日：2024-08-06
申请号：US17772342
申请日：2020-12-06
申请人： Elta Systems Ltd.
发明人： Moshe Fireaizen
摘要： A positioning system and method for determination of location data of an object are described. The positioning system includes one or more transmitting units configured to transmit a multi-frequency signal that comprises at least two different signal frequency components. The positioning system also includes a receiver system mounted on the object, and configured to receive the multi-frequency signals from the transmitting units, and to determine phases of each signal frequency component of the multi-frequency signal. The positioning system also includes a processing system configured to receive the phases of each signal frequency component of the multi-frequency signal, and to determine a distance between the transmitting units and the object, and the location data of the object.
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公开(公告)号：US20240248215A1
公开(公告)日：2024-07-25
申请号：US17909058
申请日：2022-03-03
发明人： Sergey Vladislavovich Averin , Andrey Valeryevich Plenkin , Andrey Andreevich Trofimov , Vyacheslav Viktorovich Lanovets
摘要： Method for detecting motion of an object using GNSS signals, including (i) measuring distances between a GNSS antenna and GNSS satellites with carrier phases at a first time; (ii) computing distances between known positions of antenna and satellites at first time; (iii) for each satellite, calculating first set of residuals=distances in (i)— distances in (ii); (iv) measuring distances between antenna and satellites with carrier phases at a second time; (v) computing distances between known positions of antenna and satellites at second time; (vi) for each satellite, calculating second set of residuals=distances in (iv)— distances in (v); (vii) differencing first and second sets of residuals; (viii) computing a metric based on set of differences in (vii); (ix) comparing metric to a threshold; (x) based on comparison in (ix), determining if object moved or possibly moved between first time and second time.
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公开(公告)号：US20240219581A1
公开(公告)日：2024-07-04
申请号：US18091675
申请日：2022-12-30
申请人： Trimble Inc.
发明人： Adam Clare , Shawn Weisenburger , Greg Wallace
摘要： A device for determining coordinates of a location can include two GNSS receiver antennas positioned in fixed relation to each other and separated by a short baseline. Signals received from the two receiver antennas can be processed to estimate a degree to a multipath effect may be impairing reliability of observables extracted from the received signals. Where both antennas observe signals at the same carrier frequency from the same satellite, each antenna can determine a carrier phase, and a single-difference carrier phase (SDCP) can be computed and used to estimate multipath effects. Where both antennas observe signals at two (or more) carrier frequencies from the same satellite, a “geometry-free” SDCP can be computed and used to estimate multipath effects. Observations of different satellites can be weighted based on the estimated multipath effects.
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公开(公告)号：US20240159915A1
公开(公告)日：2024-05-16
申请号：US18512590
申请日：2023-11-17
CPC分类号： G01S19/40 , G01S19/04 , G01S19/072 , G01S19/43
摘要： A system or method for generating GNSS corrections can include receiving satellite observations associated with a set of satellites at a reference station, determining atmospheric corrections valid within a geographical area; wherein geographical areas associated with different atmospheric corrections can be overlapping, and wherein the atmospheric corrections can be provided to a GNSS receiver when the locality of the GNSS receiver is within a transmission region of the geographical area.
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公开(公告)号：US11966235B2
公开(公告)日：2024-04-23
申请号：US17051191
申请日：2019-05-02
IPC分类号： G05D1/02 , A63C19/06 , B25J13/00 , E01C23/16 , G01S19/07 , G01S19/12 , G01S19/14 , G01S19/19 , G01S19/43 , G01S19/48 , G05D1/00
CPC分类号： G05D1/0278 , A63C19/06 , B25J13/006 , E01C23/163 , G01S19/07 , G01S19/071 , G01S19/073 , G01S19/12 , G01S19/14 , G01S19/19 , G01S19/43 , G01S19/48 , G05D1/02 , G05D1/0274 , G05D1/028 , A63C2019/067
摘要： Provided is a method for marking a ground surface according to a predefined marking pattern using a system including a robot unit and a local base station including acts of providing two flag points, receiving global positioning data of the robot unit using a robot GNSS receiver, receiving global positioning data of the local base station using a base GNSS receiver, and establishing a local base station position using the received global positioning data of the local base station. A method wherein the predefined marking pattern is arranged relative to the two flag point positions and wherein the local base station position is a system reference point of the system. Also provided is a system for marking a ground surface according to a predefined marking pattern and the use thereof or parts thereof.
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公开(公告)号：US20240094412A1
公开(公告)日：2024-03-21
申请号：US17933456
申请日：2022-09-19
发明人： Min WANG
摘要： Aspects presented herein may enable a UE to reduce sensor initialization time for one or more sensors that are to be used for DR positioning during a GNSS signal outage. In one aspect, a UE initiates a first positioning engine based on an availability of a GNSS signal, where the first positioning engine measures a relative position of the UE without ambiguity processing. The UE calibrates at least one IMU sensor based on the relative position of the UE measured by the first positioning engine. The UE performs a positioning calculation of the UE via the at least one IMU sensor in response to the GNSS signal being unavailable.
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