Satellite navigation receiver with improved ambiguity resolution
First Claim
1. A method for determining a position of a satellite navigation receiver, comprising:
- determining estimated float narrow lane ambiguities of measured carrier phases associated with received signals from one or more satellites, based on estimated integer wide lane ambiguities and ionospheric-free float ambiguities;
at a regular interval, determining a weighted sum of candidate narrow lane integer ambiguities for the measured carrier phases, based on the estimated float narrow lane ambiguities, using a modified best integer equivariant (BIE) process;
during a search of the candidate narrow lane integer ambiguities, generating weighted sums of the candidate narrow lane integer ambiguities and a sum of weights, based on minimizing a mean-squared error (MSE) of the candidate narrow lane integer ambiguities and real valued parameters of a float solution comprising a state vector and a covariance matrix;
calculating determined ambiguity values based on the weighted sums of the candidate narrow lane integer ambiguities and the sum of weights;
forming a first constraint based on the determined ambiguity values, wherein the first constraint is for applying to a first copy of the float solution to calculate a first ambiguity determined position solution comprising a first ambiguity determined position estimate; and
weighting the first ambiguity determined position solution to generate a first weighted ambiguity determined position solution by blending the float solution and the first ambiguity determined position solution.
1 Assignment
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Accused Products
Abstract
A satellite navigation receiver and associated methods are described that can provide improved integer ambiguity resolution and more accurate positioning information. A modified BIE process may be utilized to enable the receiver to perform the integer ambiguity resolution more optimally. The output of the modified BIE process may be time-domain smoothed to provide a solution which is smoother in ambiguity space, and therefore also provide a position solution that is smoother in time. Transitions between an ambiguity-determined solution to a float solution, when necessary, may be smoothed in time. A weighting scheme may dynamically blend the ambiguity-determined solution and the float solution to leverage the advantages of both solutions, such as faster pull-in, higher accuracy, and more stable and smooth performance.
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Citations
28 Claims
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1. A method for determining a position of a satellite navigation receiver, comprising:
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determining estimated float narrow lane ambiguities of measured carrier phases associated with received signals from one or more satellites, based on estimated integer wide lane ambiguities and ionospheric-free float ambiguities; at a regular interval, determining a weighted sum of candidate narrow lane integer ambiguities for the measured carrier phases, based on the estimated float narrow lane ambiguities, using a modified best integer equivariant (BIE) process; during a search of the candidate narrow lane integer ambiguities, generating weighted sums of the candidate narrow lane integer ambiguities and a sum of weights, based on minimizing a mean-squared error (MSE) of the candidate narrow lane integer ambiguities and real valued parameters of a float solution comprising a state vector and a covariance matrix; calculating determined ambiguity values based on the weighted sums of the candidate narrow lane integer ambiguities and the sum of weights; forming a first constraint based on the determined ambiguity values, wherein the first constraint is for applying to a first copy of the float solution to calculate a first ambiguity determined position solution comprising a first ambiguity determined position estimate; and weighting the first ambiguity determined position solution to generate a first weighted ambiguity determined position solution by blending the float solution and the first ambiguity determined position solution. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A satellite navigation receiver, comprising:
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one or more processors; a receiver for receiving satellite navigation signals from a plurality of satellites; a memory in communication with the one or more processors and the receiver, the memory comprising a navigation positioning estimator executable by the one or more processors to; determine estimated float narrow lane ambiguities of measured carrier phases associated with received signals from one or more satellites, based on estimated integer wide lane ambiguities and ionospheric-free float ambiguities; at a regular interval, determine a weighted sum of candidate narrow lane integer ambiguities for the measured carrier phases, based on the estimated float narrow lane ambiguities, using a modified best integer equivariant (BIE) process; during a search of the candidate narrow lane integer ambiguities, generate weighted sums of the candidate narrow lane integer ambiguities and a sum of weights, based on minimizing a mean-squared error (MSE) of the candidate narrow lane integer ambiguities and real valued parameters of a float solution comprising a state vector and a covariance matrix; calculate determined ambiguity values based on the weighted sums of the candidate narrow lane integer ambiguities and the sum of weights; form a first constraint based on the determined ambiguity values, wherein the first constraint is for applying to a first copy of the float solution to calculate a first ambiguity determined position solution comprising a first ambiguity determined position estimate; and weight the first ambiguity determined position solution to generate a first weighted ambiguity determined position solution by blending the float solution and the first ambiguity determined position solution. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
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Specification