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US 12,429,603 B2Granted
GNSS positioning based on changes in carrier range
Assigneeu-blox AG
InventorAlex Parkins
Life of this patent
Estimating the term…
Abstract
A GNSS receiver, a method of estimating position, and an associated computer program are provided. An example method includes calculating a first (full) position solution based on pseudorange measurements made at a first time. One or more position updates are then calculated based on the first position solution, using delta carrier range measurements which compare first carrier range measurements, made at the first time, with second carrier range measurements, made at a second time. When calculating the one or more position updates, the delta carrier range measurements may be corrected to compensate for satellite motion between the first time and the second time. Corrections may also be made to compensate for changes in ionospheric delay.
Claims15
A method of estimating a position of a Global Navigation Satellite System (GNSS) receiver based on GNSS signals, the method comprising:
- obtaining first GNSS measurements made by a signal processing unit of the GNSS receiver at a first position and a first time, the first GNSS measurements comprising first pseudorange measurements and first carrier range measurements associated with a plurality of GNSS satellites observed by the GNSS receiver;
- obtaining satellite ephemeris data for at least one satellite among the plurality of satellites;
- estimating a first satellite position and a first satellite velocity for the at least one satellite, for the first time, based on the obtained satellite ephemeris data;
- calculating a first position solution for the GNSS receiver, based on the first GNSS measurements;
- obtaining second GNSS measurements made by the signal processing unit of the GNSS receiver at a second position and a second time, the second GNSS measurements comprising second carrier range measurements associated with the plurality of GNSS satellites;
- predicting a change in satellite position for the at least one satellite between the first time and the second time, based on the first satellite position and the first satellite velocity;
- determining, for each of the plurality of satellites, a change in carrier range over time, by comparing the first carrier range measurements with the second carrier range measurements;
- calculating a position difference between the first position and the second position, based on the determined changes in carrier range and the predicted change in satellite position;
- and
- calculating a second position solution for the GNSS receiver, by combining the first position solution with the position difference.
7 more elements
At least one tangible, non-transitory, computer readable medium storing software that, when executed by one or more computing devices, cause the one or more computing devices to perform operations comprising:
- obtaining first Global Navigation Satellite System (GNSS) measurements made by a signal processing unit of a GNSS receiver at a first position and a first time, the first GNSS measurements comprising first pseudorange measurements and first carrier range measurements associated with a plurality of GNSS satellites observed by the GNSS receiver;
- obtaining satellite ephemeris data for at least one satellite among the plurality of satellites;
- estimating a first satellite position and a first satellite velocity for the at least one satellite, for the first time, based on the obtained satellite ephemeris data;
- calculating a first position solution for the GNSS receiver, based on the first GNSS measurements;
- obtaining second GNSS measurements made by the signal processing unit of the GNSS receiver at a second position and a second time, the second GNSS measurements comprising second carrier range measurements associated with the plurality of GNSS satellites;
- predicting a change in satellite position for the at least one satellite between the first time and the second time, based on the first satellite position and the first satellite velocity;
- determining, for each of the plurality of satellites, a change in carrier range over time, by comparing the first carrier range measurements with the second carrier range measurements;
- calculating a position difference between the first position and the second position, based on the determined changes in carrier range and the predicted change in satellite position;
- and
- calculating a second position solution for the GNSS receiver, by combining the first position solution with the position difference.
7 more elements
A GNSS receiver comprising:
- a signal processing unit;
- and
- at least one processor, configured to:
- obtain, from the signal processing unit, first GNSS measurements made by the signal processing unit at a first position and a first time, the first GNSS measurements comprising first pseudorange measurements and first carrier range measurements associated with a plurality of GNSS satellites observed by the GNSS receiver;
- obtain satellite ephemeris data for at least one satellite among the plurality of satellites;
- estimate a first satellite position and a first satellite velocity for the at least one satellite, for the first time, based on the obtained satellite ephemeris data;
- calculate a first position solution, based on the first GNSS measurements;
- obtain, from the signal processing unit, second GNSS measurements made by the signal processing unit at a second position and a second time, the second GNSS measurements comprising second carrier range measurements associated with the plurality of GNSS satellites;
- predict a change in satellite position for the at least one satellite between the first time and the second time, based on the first satellite position and the first satellite velocity;
- determine, for each of the plurality of satellites, a change in carrier range over time, by comparing the first carrier range measurements with the second carrier range measurements;
- calculate a position difference between the first position and the second position, based on the determined changes in carrier range and the predicted change in satellite position;
- and
- calculate a second position solution for the GNSS receiver, by combining the first position solution with the position difference.
10 more elements
Dependencies are inferred from the claim text.