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US 12,710,553 B2Granted
System and method for fusing sensor and satellite measurements for positioning determination
AssigneeSwift Navigation, Inc.
InventorsChristian Reimer, Ivan Smolyakov, Joseph Angelo, Sebastien Carcanague
Life of this patent
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Abstract
A method can include receiving a set of satellite signals, refining the set of satellite signals to generate a refined set of satellite signals, determining a satellite solution for each satellite associated with a satellite signal in the refined set of satellite signals, applying an a-priori correction to the satellite signals, determining a set of time differenced satellite signals between the satellite signals from a current epoch and a previous epoch; and determining the positioning solution of the rover using a fusion engine that processes the differenced satellite signals and inertial measurement unit (IMU) data.
Claims17
A system for determining a positioning solution of a body comprising:
- an inertial measurement magnetometer unit (IMMU) comprising at least one of an accelerometer, a gyroscope, or a magnetometer;
- an antenna configured to receive satellite signals corresponding to one or more satellite frequencies associated with one or more satellite constellations;
- and
- a processor comprising a fusion engine configured to determine whether to operate in a time difference of carrier phase (TDCP) mode or a measured doppler mode, wherein in the TDCP mode, the processor is configured to:
- select a subset of the satellite signals to generate a TDCP subset of the satellite signals based on a quality of satellites associated with the satellite signals;
- select a reference satellite from satellites associated with the TDCP subset of satellite signals;
- apply an a-priori correction to the satellites signals associated with the TDCP subset of satellite signals to generate corrected satellite signals;
- determine single differenced carrier phase information from the corrected satellite signals by differencing the corrected satellite signal associated with the reference satellite and each of the corrected satellite signals associated with the remaining satellites associated with the subset of satellite signals;
- and
- determine a set of time differenced satellite signals between the differenced satellite signals from a current epoch and a previous epoch;
- and
- determine the positioning solution of the body based on IMMU data measured by the IMMU and the set of time differenced satellite signals;
- wherein in the measured doppler mode, the processor is configured to:
- select a second subset of the satellite signals based on a quality associated with the satellite signals;
- select a second reference satellite from satellites associated with the second subset of satellite signals;
- apply an a-priori correction to each satellite signal associated with the second subset of satellite signals to generate corrected satellite signals;
- determine differenced satellite signals by computing a difference between each corrected satellite signal and the corrected satellite signal associated with the second reference satellite;
- determine a set of doppler shifts from the differenced satellite signals for a current epoch;
- and
- determine the positioning solution of the body based on the IMMU data and the set of doppler shifts;
- wherein the fusion engine operates in the measured doppler mode when integer ambiguities are not available for the satellite signals of the subset of satellite signals.
18 more elements
A method for determining a positioning solution of a body, comprising:
- receiving satellite signals corresponding to one or more satellite frequencies associated with one or more satellite constellations;
- measuring sensor data using at least one of an accelerometer, a gyroscope, or a magnetometer;
- determining whether to operate in a time difference of carrier phase (TDCP) mode or a measured doppler mode;
- wherein, in the TDCP mode, the method further comprises:
- selecting a subset of the satellite signals to generate a TDCP subset of the satellite signals based on a quality associated with satellites corresponding to the satellite signals;
- selecting a TDCP reference satellite from satellites corresponding to the TDCP subset of the satellite signals;
- applying an a-priori correction to satellite signals associated with the TDCP subset of the satellite signals to generate corrected satellite signals;
- determining single differenced carrier-phase information from the corrected satellite signals by differencing the corrected satellite signals associated with the TDCP reference satellite and each of the corrected satellite signals associated with remaining satellites associated with the subset of the satellite signals;
- determining a set of time-differenced satellite signals between the differenced satellite signals from a current epoch and a previous epoch;
- and
- determining the positioning solution of the body based on sensor data measured by the sensor and the set of time differenced satellite signals;
- wherein the method operates in the measured doppler mode when integer ambiguities are not available for carrier-phase information associated with the satellite signals, operating in the measured doppler mode comprising:
- selecting a second subset of the satellite signals based on a quality associated with the satellite signals;
- selecting a second reference satellite from satellites associated with the second subset of the satellite signals;
- applying an a-priori correction to each satellite signal associated with the second subset of the satellite signals to generate corrected measured satellite signals;
- determining differenced satellite signals by computing a difference between each corrected satellite signal and the corrected satellite signal associated with the second reference satellite;
- determining a set of doppler shifts from the corrected measured doppler signals for a current epoch;
- and
- determining the positioning solution of the body based on the sensor data and the set of doppler shifts.
16 more elements
Dependencies are inferred from the claim text.