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US 12,754,326 B2Granted
Estimating relative position of a receiver for a global navigation satellite system (GNSS) using time domain recursive filtering
AssigneeSRI International
InventorsJoseph M. Strus, Christian Gellrich
Life of this patent
Estimating the term…
Abstract
In general, the disclosure describes techniques for estimating a relative position of a receiver in a global navigation satellite system (GNSS) using time domain recursive filtering applied to GNSS data for an additional plurality of receivers. For example, multiple receivers each obtains GNSS data that indicates the raw position information for the receiver. A system applying techniques described herein may use the GNSS data, obtained for each receiver of the additional plurality of receivers, to improve position accuracy for a particular receiver using time domain recursive filtering.
Claims20
A method for estimating a position of a first receiver, the method comprising:
- obtaining, by a computing system, a first set of measurements for the first receiver, wherein the first set of measurements includes data indicating distances between the first receiver and a plurality of satellites;
- obtaining, by the computing system, a plurality of sets of measurements for a plurality of receivers, wherein each set of measurements of the plurality of sets of measurements includes data indicating distances between a corresponding receiver of the plurality of receivers and the plurality of satellites;
- performing, by the computing system, a time domain recursive filtering based on applying a Kalman filter to the first set of measurements for the first receiver and the plurality of sets of measurements, wherein the Kalman filter includes a plurality of states including a set of double difference float ambiguities and the position of the first receiver relative to each of the plurality of receivers;
- updating, by the computing system and based on the Kalman filter, the plurality of states including the set of double difference float ambiguities and the position of the first receiver relative to each of the plurality of receivers, wherein each double difference float ambiguity in the set of double difference float ambiguities is averaged over a period of time;
- estimating, by the computing system and based on the updated plurality of states, the position of the first receiver relative to each of the plurality of receivers;
- and
- performing, by the first receiver, an action based on the estimated position of the first receiver.
4 more elements
A computing system comprising processing circuitry and memory, the memory comprising instructions executable to cause the processing circuitry to:
- obtain a first set of measurements for a first receiver, wherein the first set of measurements includes data indicating distances between the first receiver and a plurality of satellites;
- obtain a plurality of sets of measurements for a plurality of receivers, wherein each set of measurements of the plurality of sets of measurements includes data indicating distances between a corresponding receiver of the plurality of receivers and the plurality of satellites;
- perform a time domain recursive filtering based on applying a Kalman filter to the first set of measurements for the first receiver and the plurality of sets of measurements, wherein the Kalman filter includes a plurality of states including a set of double difference float ambiguities and a position of the first receiver relative to each of the plurality of receivers;
- update, based on the Kalman filter, the plurality of states including the set of double difference float ambiguities and the position of the first receiver relative to each of the plurality of receivers, wherein each double difference float ambiguity in the set of double difference float ambiguities is averaged over a period of time;
- estimate, based on the updated plurality of states, the position of the first receiver relative to each of the plurality of receivers;
- and
- perform an action based on the estimated position of the first receiver.
4 more elements
Computer-readable storage media comprising instructions that, when executed by processing circuitry, cause the processing circuitry to:
- obtain a first set of measurements for a first receiver, wherein the first set of measurements includes data indicating distances between the first receiver and a plurality of satellites;
- obtain a plurality of sets of measurements for a plurality of receivers, wherein each set of measurements of the plurality of sets of measurements includes data indicating distances between a corresponding receiver of the plurality of receivers and the plurality of satellites;
- perform a time domain recursive filtering based on applying a Kalman filter to the first set of measurements for the first receiver and the plurality of sets of measurements, wherein the Kalman filter includes a plurality of states including a set of double difference float ambiguities and a position of the first receiver relative to each of the plurality of receivers;
- update, based on the Kalman filter, the plurality of states including the set of double difference float ambiguities and the position of the first receiver relative to each of the plurality of receivers, wherein each double difference float ambiguity in the set of double difference float ambiguities being averaged over a period of time;
- estimate, based on the updated plurality of states, the position of the first receiver relative to each of the plurality of receivers;
- and
- perform an action based on the estimated position of the first receiver.
4 more elements
Dependencies are inferred from the claim text.