Distributed kalman filter architecture for carrier range ambiguity estimation
First Claim
1. An apparatus for determining navigation data using carrier range measurements obtained by a GNSS receiver for a plurality of GNSS satellites, the apparatus comprising:
- a first Kalman filter configured to determine an a posteriori estimate of a first state vector based at least in part on a first set of GNSS measurements obtained by the, and/or a further, GNSS receiver and an a priori estimate of the first state vector, the first state vector comprising carrier range ambiguity values relating to the plurality of GNSS satellites and a position of the, and/or the further, GNSS receiver; and
a second Kalman filter configured to determine an a posteriori estimate of a second state vector, which comprises the navigation data, based at least in part on a second set of GNSS measurements obtained by the, and/or a further, GNSS receiver, an a priori estimate of the second state vector, and carrier range ambiguity data based on the carrier range ambiguity values determined in the a posteriori estimate of the first state vector.
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Accused Products
Abstract
Methods and apparatus for determining navigation data (124) using carrier range measurements obtained by a GNSS receiver for a plurality of GNSS satellites, the apparatus comprising: a first Kalman filter (100) configured to determine an a posteriori estimate of a first state vector based at least in part on a first set of GNSS measurements (104) obtained by the, and/or a further, GNSS receiver and an a priori estimate of the first state vector, the first state vector comprising carrier range ambiguity values relating to the plurality of GNSS satellites and a position of the, and/or the further, GNSS receiver; and a second Kalman filter (102) configured to determine an a posteriori estimate of a second state vector, which comprises the navigation data (124), based at least in part on a second set of GNSS measurements (106) obtained by the, and/or a further, GNSS receiver, an a priori estimate of the second state vector, and carrier range ambiguity data (126) based on the carrier range ambiguity values determined in the a posteriori estimate of the first state vector.
9 Citations
19 Claims
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1. An apparatus for determining navigation data using carrier range measurements obtained by a GNSS receiver for a plurality of GNSS satellites, the apparatus comprising:
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a first Kalman filter configured to determine an a posteriori estimate of a first state vector based at least in part on a first set of GNSS measurements obtained by the, and/or a further, GNSS receiver and an a priori estimate of the first state vector, the first state vector comprising carrier range ambiguity values relating to the plurality of GNSS satellites and a position of the, and/or the further, GNSS receiver; and a second Kalman filter configured to determine an a posteriori estimate of a second state vector, which comprises the navigation data, based at least in part on a second set of GNSS measurements obtained by the, and/or a further, GNSS receiver, an a priori estimate of the second state vector, and carrier range ambiguity data based on the carrier range ambiguity values determined in the a posteriori estimate of the first state vector. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A method for determining navigation data using carrier range measurements obtained by a GNSS receiver for a plurality of GNSS satellites, the method comprising:
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determining, by a first Kalman filter an a posteriori estimate of a first state vector based at least in part on a first set of GNSS measurements obtained by the, and/or a further, GNSS receiver and an a priori estimate of the first state vector, the first state vector comprising carrier range ambiguity values relating to the plurality of GNSS satellites and a position of the, and/or the further, GNSS receiver; and determining, by a second Kalman filter an a posteriori estimate of a second state vector, which comprises the navigation data, based at least in part on a second set of GNSS measurements obtained by the, and/or a further, GNSS receiver, an a priori estimate of the second state vector, and carrier range ambiguity data based on the carrier range ambiguity values determined in the a posteriori estimate of the first state vector.
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19. A non-transitory computer-readable storage medium storing instructions for determining navigation data using carrier range measurements obtained by a GNSS receiver for a plurality of GNSS satellites, the instructions when executed by one or more processors, cause the one or more processors to perform operations comprising:
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determining, by a first Kalman filter an a posteriori estimate of a first state vector based at least in part on a first set of GNSS measurements obtained by the, and/or a further, GNSS receiver and an a priori estimate of the first state vector, the first state vector comprising carrier range ambiguity values relating to the plurality of GNSS satellites and a position of the, and/or the further, GNSS receiver; and determining, by a second Kalman filter an a posteriori estimate of a second state vector, which comprises the navigation data, based at least in part on a second set of GNSS measurements obtained by the, and/or a further, GNSS receiver, an a priori estimate of the second state vector, and carrier range ambiguity data based on the carrier range ambiguity values determined in the a posteriori estimate of the first state vector.
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Specification