Error mitigation in doppler based satellite positioning system measurements

A User Equipment (UE) comprising:

• a Global Navigation Satellite System (GNSS) receiver capable of receiving GNSS signals, wherein the GNSS receiver is configured to measure GNSS Doppler measurements and corresponding GNSS pseudorange measurements for GNSS satellites;
• and
• a processor coupled to the GNSS receiver, wherein the processor is configured to:
• determine GNSS Doppler estimates corresponding to the one or GNSS Doppler measurements, wherein for a GNSS Doppler measurement, a corresponding GNSS Doppler estimate is determined based, in part, on the GNSS Doppler measurement and a GNSS pseudorange measurement corresponding to the GNSS Doppler measurement;
• and
• determine a speed of the UE based, at least in part, on the GNSS Doppler estimates.

A User Equipment (UE) comprising:

• means for measuring GNSS Doppler measurements and corresponding GNSS pseudorange measurements for GNSS satellites;
• means for determining one or more GNSS Doppler estimates corresponding to the GNSS Doppler measurements, wherein for a GNSS Doppler measurement, a corresponding GNSS Doppler estimate is determined based, in part, on the GNSS Doppler measurement and a GNSS pseudorange measurement corresponding to the GNSS Doppler measurement;
• and
• means for determining a speed of the UE based, at least in part, on the GNSS Doppler estimates.

A non-transitory computer-readable medium comprising executable instructions that, when executed, cause to configure a processor on a User Equipment (UE) to:

• obtain measure one or more GNSS Doppler measurements and one or more corresponding GNSS pseudorange measurements for one or more GNSS satellites;
• determine one or more GNSS Doppler estimates corresponding to the one or more GNSS Doppler measurements, wherein for a GNSS Doppler measurement, a corresponding GNSS Doppler estimate is determined based, in part, on the GNSS Doppler measurement and a GNSS pseudorange measurement corresponding to the GNSS Doppler measurement;
• and
• determine a speed of the UE based, at least in part, on the one or more GNSS Doppler estimates.