US 12,468,047 B2Granted

Method and apparatus for GNSS-based motion detection

AssigneeTopcon Positioning Systems, Inc.

InventorsSergey Vladislavovich Averin, Andrey Valeryevich Plenkin, Andrey Andreevich Trofimov, Vyacheslav Viktorovich Lanovets

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Abstract

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.

Claims12

Dependent claims

A method for detecting the motion of a physical object using global navigation satellite system (GNSS) signals, the method comprising:

(i) evaluating distances between a GNSS antenna and GNSS satellites using carrier phase measurements at a first time;
(ii) computing distances between known position of the GNSS antenna and known positions of the GNSS satellites at the first time;
(iii) for each GNSS satellite in (i) and (ii), calculating a first set of residuals as the distances in (i) minus the distances in (ii);
(iv) evaluating distances between the GNSS antenna and the GNSS satellites using carrier phase measurements at a second time, which is later than the first time;
(v) computing distances between known position of the GNSS antenna and known positions of the GNSS satellites at the second time;
(vi) for each GNSS satellite in (iv) and (v), calculating a second set of residuals as the distances in (iv) minus the distances in (v);
(vii) computing a set of differences between the first set of residuals and the second set of residuals;
(viii) computing a metric based on the set of differences in (vii);
(ix) comparing the metric to a threshold;
(x) based on the comparison in (ix), deciding that either:
a) the object has been static, b) the object has been moved between the first time and the second time, c) there is insufficient information to reliably detect whether or not the object has been moved;
(xi) issuing an alert message in case of (b) or (c) in (x).

9 more elements

An apparatus for detecting the motion of physical objects with help of global navigation satellite system (GNSS) signals, the apparatus comprising:

antenna for receiving the GNSS signals (GNSS antenna) installed on the physical object;
a receiver GNSS receiver connected to the GNSS antenna;
wherein the GNSS receiver is configured to:
(i) evaluate distances between a GNSS antenna and GNSS satellites using carrier phase measurements at a first time;
(ii) compute distances between known position of the GNSS antenna and known positions of the GNSS satellites at the first time;
(iii) for each GNSS satellite in (i) and (ii), calculate a first set of residuals as the distances in (i) minus the distances in (ii);
(iv) evaluate distances between the GNSS antenna and the GNSS satellites using carrier phase measurements at a second time, which is later than the first time;
(v) compute distances between known position of the GNSS antenna and known positions of the GNSS satellites at the second time;
(vi) for each GNSS satellite in (iv) and (v), calculate a second set of residuals as the distances in (iv) minus the distances in (v);
(vii) compute a set of differences between the first set of residuals and the second set of residuals;
(viii) compute a metric based on the set of differences in (vii);
(ix) compare the metric to a threshold;
(x) based on the comparison in (ix), decide that either:
a) the object has been static, b) the object has been moved between the first time and the second time, c) there is insufficient information to reliably detect whether or not the object has been moved;
(xi) issue an alert message in case of (b) or (c) in (x).

12 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/909,058Filed 3 Mar 2022
Published: US 2024/0248215 A125 Jul 2024
Granted: 11 Nov 2025
Term ends: Not estimatedThe source records don’t support an estimate.

Classification7 codes

G01S 19/39
Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system: the satellite radio beacon positioning…
G01S 19/43
Determining position: using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
G01S 19/04
Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers: providing…
G01S 19/16
Specially adapted for specific applications: anti-theft; Abduction