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US 12,656,506 B2Granted
System and method for gaussian process enhanced GNSS corrections generation
AssigneeSwift Navigation, Inc.
InventorsAlexander Thomas Kleeman, Seth Toplosky
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Abstract
A system and method for generating a set of GNSS corrections using a GNSS corrections model comprising a Gaussian process.
Claims11
A method for determining a mobile receiver position comprising:
- receiving 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 combinations of 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;
- a covariance function relating hardware bias between two satellite observations;
- a covariance function relating clock errors between two satellite observations;
- and
- a covariance function relating atmospheric delays comprising:
- a radial covariance function relating a first pierce point associated with a first satellite observation and a second pierce point associated with a second satellite observation comprising a squared exponential function relating a great circle distance between the first pierce point and the second pierce point;
- and
- an altitude covariance function relating an altitude of the first pierce point and an altitude of the second pierce point;
- 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 a position of the mobile receiver using the set of corrected satellite observations.
10 more elements
A method for determining a mobile receiver position comprising:
- receiving 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 combinations of 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;
- a covariance function relating hardware bias between two satellite observations;
- and
- a covariance function relating clock errors between two satellite observations;
- wherein at least one of:
- the covariance function relating satellite orbit errors between two satellite observations comprises a sum of a constant function, a squared exponential function, and an Ornstein-Uhlenbeck function;
- the covariance function relating hardware bias between two satellite observations comprises a sum of a squared exponential function and an Ornstein-Uhlenbeck function;
- or
- the covariance function relating clock errors between two satellite observations comprises an Ornstein-Uhlenbeck 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 a position of the mobile receiver using the set of corrected satellite observations.
11 more elements
Dependencies are inferred from the claim text.