US 2026/0243902 A1 · Optimization-Based GNSS Positioning with Integrated Cycle-Slip Detection

Abstract

A system for probabilistically tracking the state of a receiver of a global navigational satellite system (GNSS) is disclosed. The system includes a processor and a memory storing instructions that, when executed, enable the system to receive GNSS measurement data from a plurality of satellites, including carrier-phase signals and code signals. The system processes the measurement data to detect irregularities, such as cycle slips or multipath effects, and utilizes an adaptive probabilistic estimator to track the state of the receiver. The estimator iteratively predicts the state of the receiver using a state evolution model subject to process noise and updates the predicted state using a measurement model subject to measurement noise. The process noise is dynamically adjusted in response to the detected irregularities, allowing for improved robustness and accuracy in state estimation.

Claims20

Dependent claims

A system for probabilistically tracking a state of a receiver of a global navigational satellite system (GNSS), comprising:

a processor;
and a memory having instructions stored thereon that, when executed by the processor, cause the system to:
receive GNSS measurement data transmitted from a plurality of satellites, including carrier phases and code signals;
process the GNSS measurement data to detect irregularities;
track the state of the receiver using an adaptive probabilistic estimator iteratively predicting the state of the receiver using a state estimation model of the receiver subject to process noise and updating the state of the receiver using a measurement model processing the GNSS measurement data subject to measurement noise, wherein the adaptive probabilistic estimator is configured to vary the process noise in response to detecting the irregularities in the GNSS measurement data;
and
output the tracked state of the receiver.

4 more elements

A method for tracking a state of a receiver of a global navigational satellite system (GNSS) using two-stage factor graph optimization (FGO), the method comprising:

receiving a batch of GNSS measurement data from a plurality of satellites, the data including carrier-phase signals and code signals collected over a sequence of time instances;
detecting signal irregularities, including one or more of cycle slips and multipath effects, by analyzing discrepancies between predicted and measured signals in the GNSS data;
executing a first FGO to estimate a trajectory of the receiver state and real-valued ambiguities, wherein the first FGO optimizes an objective function that minimizes errors associated with carrier-phase factors, code factors, motion model factors, and ambiguity factors;
resolving integer ambiguities by fixing the real-valued ambiguities to their closest integer values;
and
executing a second FGO using the fixed integer ambiguities to refine the trajectory of the receiver state.

3 more elements

Dependencies are inferred from the claim text.

Optimization-Based GNSS Positioning with Integrated Cycle-Slip Detection

Life of this patent

Optimization-Based GNSS Positioning with Integrated Cycle-Slip Detection

Life of this patent

Abstract

Claims20