GNSS tracking using cascaded probabilistic estimators

A system for tracking a state of a device based on transmissions from a global navigation satellite system (GNSS), the system comprising a processor coupled with stored instructions, wherein the stored instructions, when executed by the processor cause the system to:

• collect GNSS measurement data of satellite signals transmitted from multiple satellites, wherein the GNSS measurement data include code measurements, carrier phase measurements, and doppler measurements of the satellite signals;
• execute multiple probabilistic estimators concurrently tracking the position state of the object device using different measurement models connecting the GNSS measurement data with the state of the device, wherein the multiple probabilistic estimators include a first estimator tracking the position state of the object device based on a first measurement model using the code measurements, and wherein the multiple probabilistic estimators include a second estimator tracking the state of the device based on a second measurement model using the GNSS measurement data masked by a binary mask blocking a subset of the GNSS measurement data formed in a subset of the satellite signals based on values of coefficients of the binary mask, wherein the first measurement model is smaller than the second measurement model;
• determine the values of coefficients of the binary mask based on outputs of the first estimator;
• determine the state of the device based on outputs of the second estimator;
• output the state of the device determined by the second estimator, wherein the device is a GNSS receiver of a vehicle, such that the state of the device indicates a state of the vehicle;
• and
• control movement of the vehicle based on the state of the vehicle.

A non-transitory computer-readable storage medium embodied thereon a program executable by a processor for performing a method for estimating movement of a device based on a state of the device tracked using transmissions from a global navigation satellite system (GNSS), the method comprising:

• collecting GNSS measurement data of satellite signals transmitted from multiple satellites, wherein the GNSS measurement data code measurements, and carrier phase measurements of the satellite signals;
• executing multiple probabilistic estimators concurrently tracking the position state of the object device using different measurement models connecting the GNSS measurement data with the state of the device, wherein the multiple probabilistic estimators include a first estimator tracking the position state of the object device based on a first measurement model using the code measurements, and wherein the multiple probabilistic estimators include a second estimator tracking the state of the device based on a second measurement model using the GNSS measurement data masked by a binary mask blocking a subset of the GNSS measurement data formed in a subset of the satellite signals based on values of coefficients of the binary mask, wherein the first measurement model is smaller than the second measurement model;
• determining the values of coefficients of the binary mask based on outputs of the first estimator;
• determining the state of the device based on outputs of the second estimator;
• outputting the state of the device determined by the second estimator, wherein the device is a GNSS receiver of a vehicle, such that the state of the device indicates a state of the vehicle;
• and
• controlling movement of the vehicle based on the state of the vehicle.