PPP-RTK method and system for GNSS signal based position determination
First Claim
1. A method for calculating global navigation satellite system (GNSS) corrections for transmission to a mobile, using a global navigation satellite (GNS) signal correction system comprising a reference station and a system signal transmitter, the method comprising:
- acquiring at the reference station GNSS data comprising pseudo range system observations and carrier phase system observations from a plurality of GNSS satellites transmitted over multiple epochs;
applying the GNSS data received from the reference station to a dynamic system state model having the pseudo range system observations and carrier phase system observations as measurements;
dynamically estimating satellite-single-differenced floating value mixed code-and-phase system hardware delays for distinct carrier phase observations via the dynamic system state model; and
transmitting the mixed code-and-phase system hardware delays to the mobile in real time via the system signal transmitter to improve at least one of an accuracy and a convergence time for estimating a mobile earth position.
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Accused Products
Abstract
GNS signal correction system and method for calculating GNSS corrections, and complementary mobile and mobile position determination method based on these GNSS corrections. The methods employ satellite-single-differenced mixed code-and-phase system hardware delays in modelling carrier phase system observables. These system hardware delays are dynamically estimated by the signal correction system using a dynamic system state model. The estimated system hardware delays are transmitted to the mobile, which applies these delays to a dynamic mobile state model, in order to improve the accuracy and/or convergence time of mobile position estimations.
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Citations
23 Claims
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1. A method for calculating global navigation satellite system (GNSS) corrections for transmission to a mobile, using a global navigation satellite (GNS) signal correction system comprising a reference station and a system signal transmitter, the method comprising:
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acquiring at the reference station GNSS data comprising pseudo range system observations and carrier phase system observations from a plurality of GNSS satellites transmitted over multiple epochs; applying the GNSS data received from the reference station to a dynamic system state model having the pseudo range system observations and carrier phase system observations as measurements; dynamically estimating satellite-single-differenced floating value mixed code-and-phase system hardware delays for distinct carrier phase observations via the dynamic system state model; and transmitting the mixed code-and-phase system hardware delays to the mobile in real time via the system signal transmitter to improve at least one of an accuracy and a convergence time for estimating a mobile earth position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for determining a mobile earth position, comprising:
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providing the mobile comprising a mobile GNSS receiver at the mobile earth position; acquiring GNSS data comprising pseudo range mobile observations and carrier phase mobile observations from a plurality of GNSS satellites transmitted over multiple epochs; receiving GNSS corrections from a GNS signal correction system in real time, the GNSS corrections comprising satellite-single-differenced mixed code-and-phase system hardware delays; applying the mixed code-and-phase system hardware delays to a dynamic mobile state model having the pseudo range mobile observations and carrier phase mobile observations as measurements, to improve at least one of an accuracy and a convergence time for estimating the mobile earth position, and dynamically estimating the mobile earth position via the dynamic mobile state model. - View Dependent Claims (11, 12, 13, 14)
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15. A global navigation satellite (GNS) signal correction system for estimating and transmitting global navigation satellite system (GNSS) corrections to a mobile, the GNS signal correction system comprising:
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a reference station comprising; a system GNSS receiver configured to acquire GNSS data comprising pseudo range system observations and carrier phase system observations from a plurality of GNSS satellites transmitted over multiple epochs; a system control center, configured to receive the GNSS data from the reference station in real time, and comprising; a system processor unit configured to apply the GNSS data to a dynamic system state model having the pseudo range system observations and carrier phase system observations as measurements; and a system signal transmitter configured to transmit signals to the mobile; wherein the system processor unit is configured to dynamically estimate the GNSS corrections comprising satellite-single-differenced mixed code-and-phase system hardware delays for distinct carrier phase observations and carrier frequencies, and the system control center is configured to transmit the mixed code-and-phase hardware delays in real time. - View Dependent Claims (16, 17, 18)
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19. A mobile, comprising:
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a mobile GNSS receiver configured to acquire GNSS data comprising pseudo range mobile observations and carrier phase mobile observations from a plurality of GNSS satellites transmitted over multiple epochs; a mobile signal receiver configured to receive GNSS corrections from a system control center, wherein the GNSS corrections comprise satellite-single-differenced mixed code-and-phase system hardware delays; and
,a mobile processing unit configured to apply the mixed code-and-phase system hardware delays to a dynamic mobile state model having the pseudo range mobile observations and carrier phase mobile observations as measurements to improve at least one of an accuracy and a convergence time for estimating a mobile earth position, and for deriving a mobile earth position. - View Dependent Claims (20, 21)
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22. At least one non-transitory computer readable medium storing instructions, which when executed by one or more processors, causes the one or more processors to:
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receive GNSS data comprising pseudo range system observations and carrier phase system observations acquired by a reference station from a plurality of GNSS satellites transmitted over multiple epochs; apply the pseudo range system observations and carrier phase system observations to a dynamic system state model having the pseudo range system observations and carrier phase system observations as measurements; dynamically estimate satellite-single-differenced floating value mixed code-and-phase system hardware delays for distinct carrier phase observations via the dynamic system state model, and store the mixed code-and-phase system hardware delays for transmission to a mobile in real time via a system signal transmitter, to enable a mobile processing unit of the mobile to apply the mixed code-and-phase system hardware delays to the dynamic mobile state model, to improve at least one of an accuracy and a convergence time for estimating a mobile earth position.
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23. At least one non-transitory computer readable medium storing instructions which when executed by a processor, cause the processor to:
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receive GNSS data comprising pseudo range mobile observations and carrier phase mobile observations acquired by a mobile receiver from a plurality of GNSS satellites transmitted over multiple epochs; apply the pseudo range mobile observations and carrier phase mobile observations to a dynamic system state model having the pseudo range system observations and carrier phase system observations as measurements; apply GNSS corrections comprising satellite-single-differenced mixed code-and-phase system hardware delays received from a GNS signal correction system to the dynamic mobile state model, to improve at least one of an accuracy and a convergence time for estimating a mobile earth position, and dynamically estimate a mobile earth position using the dynamic mobile state model.
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Specification