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US 11,237,276 B2Granted
System and method for gaussian process enhanced GNSS corrections generation
AssigneeSwift Navigation, Inc.
InventorAlexander Kleeman
Life of this patent
Estimating the term…
Abstract
A system and method for generating a set of GNSS corrections using a GNSS corrections model comprising a Gaussian process.
Claims20
A method for determining a mobile receiver position comprising:
- receiving, from a set of reference stations, a set of satellite observations;
- and
- generating a set of GNSS corrections using a set of Gaussian processes, wherein inputs to the set of Gaussian processes comprise a set of covariance functions relating undifferenced and uncombined satellite observations from the set of satellite observations, wherein the set of covariance functions comprise:
- a covariance function relating satellite orbit errors between two satellite observations, comprising:
- a constant function combined with a squared exponential function combined with an Ornstein-Uhlenbeck function;
- a covariance function relating hardware bias between two satellite observations, comprising:
- a squared exponential bias function combined with an Ornstein-Uhlenbeck function;
- a covariance function relating clock errors between two satellite observations comprising an Ornsten-Uhlenbeck function;
- and
- a covariance function relating atmospheric delays comprising a squared exponential function;
- wherein a mobile receiver receives a second set of satellite observations, corrects the second set of satellite observations using the set of GNSS corrections;
- and determines the mobile receiver position using the set of corrected satellite observations.
9 more elements
A method for generating GNSS corrections comprising:
- receiving, from a set of reference stations, a set of satellite observations corresponding to one or more satellites of one or more satellite constellations;
- generating a set of GNSS corrections using a GNSS corrections model, wherein the GNSS corrections model comprises a Gaussian process, wherein inputs to the GNSS corrections model comprise undifferenced and uncombined satellite observations from the set of satellite observations;
- constraining a GNSS correction associated with a first time and a GNSS correction associated with a second time to ensure a smooth transition between the GNSS corrections between the first and second time;
- and
- determining a position of a GNSS receiver based on the set of GNSS corrections and a set of satellite observations received by the GNSS receiver.
2 more elements
A method for generating GNSS corrections comprising:
- receiving, from a set of reference stations, a set of satellite observations corresponding to one or more satellites of one or more satellite constellations;
- generating a set of GNSS corrections using a GNSS corrections model, wherein the GNSS corrections model comprises a Gaussian process, wherein inputs to the GNSS corrections model comprise undifferenced and uncombined satellite observations from the set of satellite observations;
- constraining a GNSS correction associated with a first time and a GNSS correction associated with a second time to ensure a smooth transition between the GNSS corrections between the first and second time;
- validating the GNSS corrections by:
- selecting a set of validation satellite observations, wherein the set of validation satellite observations are not used to generate the GNSS corrections;
- estimating a GNSS correction associated with the set of validation satellite observations based on the GNSS correction model;
- and
- when a residual associated with the GNSS correction associated with the set of validation satellite observations is less than a threshold, validating the GNSS corrections;
- and
- determining a position of a GNSS receiver based on the set of GNSS corrections and a set of satellite observations received by the GNSS receiver.
7 more elements
Dependencies are inferred from the claim text.