Gnss position outlier detection using code bias deviation
AssigneeTrimble Inc.
InventorJau-Hsiung Wang
Life of this patent
Estimating the term…
Abstract
Described herein are systems, methods, and other techniques for detecting GNSS position outliers. GNSS observables are generated based on satellite signals received at a GNSS receiver. A position estimate is computed based on the GNSS observables. A set of code biases for the set of satellite signals are generated based on the position estimate and the GNSS observables. A set of code bias deviations for the set of satellite signals are computed as a difference between, for each of the set of satellite signals, a code bias of the set of code biases and a code bias model of a set of code bias models. A position error estimate is computed based on the set of code bias deviations.
Claims20
A method comprising:
- receiving, at a global navigation satellite system (GNSS) receiver, a set of satellite signals from a set of satellites;
- generating GNSS observables based on the set of satellite signals;
- computing a position estimate based on the GNSS observables;
- generating a set of code biases for the set of satellite signals based on the position estimate and the GNSS observables;
- computing a set of code bias deviations for the set of satellite signals as a difference between, for each of the set of satellite signals, a code bias of the set of code biases and a code bias model of a set of code bias models;
- and
- computing a position error estimate based on the set of code bias deviations.
A non-transitory computer-readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:
- generating global navigation satellite system (GNSS) observables based on a set of satellite signals received at a GNSS receiver from a set of satellites;
- computing a position estimate based on the GNSS observables;
- generating a set of code biases for the set of satellite signals based on the position estimate and the GNSS observables;
- computing a set of code bias deviations for the set of satellite signals as a difference between, for each of the set of satellite signals, a code bias of the set of code biases and a code bias model of a set of code bias models;
- and
- computing a position error estimate based on the set of code bias deviations.
A system comprising:
- one or more processors;
- and
- a computer-readable medium comprising instructions that, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
- generating global navigation satellite system (GNSS) observables based on a set of satellite signals received at a GNSS receiver from a set of satellites;
- computing a position estimate based on the GNSS observables;
- generating a set of code biases for the set of satellite signals based on the position estimate and the GNSS observables;
- computing a set of code bias deviations for the set of satellite signals as a difference between, for each of the set of satellite signals, a code bias of the set of code biases and a code bias model of a set of code bias models;
- and
- computing a position error estimate based on the set of code bias deviations.
Dependencies are inferred from the claim text.