Extended wide-lane carrier phase availability using inertial measurement unit (IMU) feedback

A positioning apparatus for a mobile device, comprising:

• an inertial measurement unit (IMU);
• a multi-band global navigation satellite system (GNSS) receiver;
• a memory;
• and
• one or more processors communicatively coupled with the IMU, the multi-band GNSS receiver, and the memory, wherein the one or more processors are configured to:
• determine an IMU-based position differential based on first IMU data received from the IMU;
• detect a wide-lane cycle slip based on a wide-lane differential carrier phase (DCP) measurement received from the multi-band GNSS receiver and the IMU-based position differential;
• responsive to detecting the wide-lane cycle slip, adjust the wide-lane DCP measurement based on the IMU-based position differential to obtain a corrected wide-lane DCP measurement using a wide-lane integer ambiguity offset associated with the wide-lane cycle slip;
• and
• generate a GNSS-based positioning estimate for the mobile device based on the corrected wide-lane DCP measurement.

A positioning apparatus for a mobile device, comprising:

• means for determining an inertial measurement unit (IMU)-based position differential based on first IMU data received from an IMU of the mobile device;
• means for detecting a wide-lane cycle slip based on a wide-lane differential carrier phase (DCP) measurement and the IMU-based position differential;
• means for, responsive to detecting the wide-lane cycle slip, adjusting the wide-lane DCP measurement based on the IMU-based position differential to obtain a corrected wide-lane DCP measurement using a wide-lane integer ambiguity offset associated with the wide-lane cycle slip;
• and
• means for generating a global navigation satellite system (GNSS)-based positioning estimate for the mobile device based on the corrected wide-lane DCP measurement.

A non-transitory computer-readable medium storing instructions for positioning for a mobile device, the instructions comprising code to:

• determine an inertial measurement unit (IMU)-based position differential based on first IMU data received from an IMU of the mobile device;
• detect a wide-lane cycle slip based on a wide-lane differential carrier phase (DCP) measurement and the IMU-based position differential;
• responsive to the detected wide-lane cycle slip, adjust the wide-lane DCP measurement based on the IMU-based position differential to obtain a corrected wide-lane DCP measurement using a wide-lane integer ambiguity offset associated with the wide-lane cycle slip;
• and
• generate a global navigation satellite system (GNSS)-based positioning estimate for the mobile device based on the corrected wide-lane DCP measurement.