Satellite navigation receiver and method for switching between real-time kinematic mode and relative positioning mode
First Claim
1. A method for operating a satellite navigation receiver, the method comprising:
- receiving one or more satellite signals;
measuring a carrier phase of the received satellite signals;
receiving a real-time kinematic (RTK) signal encoded with RTK correction data;
determining, by a real-time kinematic (RTK) position estimator, a real-time kinematic position based on the measured carrier phase of the received satellite signals and the received RTK correction data in an RTK correction mode;
receiving a precise signal encoded with precise correction data;
determining, by a precise positioning estimator, a precise position based on the measured carrier phase of the received satellite signals and the received precise correction data in a precise correction mode comprising precise orbit corrections and clock corrections with reference to corresponding specific satellites;
determining a reference frame bias or offset vector between the precise position and the RTK position for the same measurement time or epoch; and
upon loss, interruption or corruption of the RTK signal, switching a mobile receiver to a relative position mode based a last available RTK position, wherein a next position estimate is compensated by an offset vector or reference frame bias to avoid a jump or discontinuity in the next position estimate;
detecting a cycle slip in the tracking of the received carrier signal in the relative position mode; and
supporting a relative position estimation framework that allows relative navigation over an arbitrarily long time interval, which exceeds multiple epochs, by establishing a series of chained relative position vectors of the mobile receiver from a next initial position that is established or coextensive with a last known relative position of the relative position estimator of the mobile receiver prior to detection of the cycle slip.
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Accused Products
Abstract
An offset module or navigation positioning estimator determines a reference frame bias between precise point positioning (PPP) reference frame and an RTK reference frame, where the PPP reference frame is associated with relative position estimates generated by the relative position estimator and where the RTK reference frame is associated RTK position estimates generated by the RTK position estimator. Upon loss of the RTK correction signal, the navigation positioning estimator or controller switches to a relative position mode based a last available RTK position. The relative position estimator determines an estimated relative position based on time-differenced phase measurements by the mobile receiver in the relative position mode. The relative position estimator or offset module offsets the estimated relative position in the relative position mode.
66 Citations
21 Claims
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1. A method for operating a satellite navigation receiver, the method comprising:
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receiving one or more satellite signals; measuring a carrier phase of the received satellite signals; receiving a real-time kinematic (RTK) signal encoded with RTK correction data; determining, by a real-time kinematic (RTK) position estimator, a real-time kinematic position based on the measured carrier phase of the received satellite signals and the received RTK correction data in an RTK correction mode; receiving a precise signal encoded with precise correction data; determining, by a precise positioning estimator, a precise position based on the measured carrier phase of the received satellite signals and the received precise correction data in a precise correction mode comprising precise orbit corrections and clock corrections with reference to corresponding specific satellites; determining a reference frame bias or offset vector between the precise position and the RTK position for the same measurement time or epoch; and upon loss, interruption or corruption of the RTK signal, switching a mobile receiver to a relative position mode based a last available RTK position, wherein a next position estimate is compensated by an offset vector or reference frame bias to avoid a jump or discontinuity in the next position estimate; detecting a cycle slip in the tracking of the received carrier signal in the relative position mode; and supporting a relative position estimation framework that allows relative navigation over an arbitrarily long time interval, which exceeds multiple epochs, by establishing a series of chained relative position vectors of the mobile receiver from a next initial position that is established or coextensive with a last known relative position of the relative position estimator of the mobile receiver prior to detection of the cycle slip. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A mobile receiver comprising:
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a relative position estimator configured to determine an estimated relative position based on time-differenced phase measurements by the mobile receiver in a relative position mode; a real-time kinematic (RTK) position estimator configured to determine an RTK position in an RTK mode based on correction data received by a wireless device via an RTK correction signal; a reference frame compensator configured to determine a reference frame bias between precise point positioning (PPP) reference frame and an RTK reference frame, where the PPP reference frame is associated with relative position estimates generated by the relative position estimator and where the RTK reference frame is associated RTK position estimates generated by the RTK position estimator; upon loss of the RTK correction signal, a controller configured to switch to a relative position mode based a last available RTK position; the reference frame compensator offsetting the estimated relative position in the relative position mode by the determined reference frame bias to avoid a jump or discontinuity in the relative position estimates; a cycle slip detector configured to detect a cycle slip in the tracking of the received carrier signal in the relative position mode; and a continuity module configured to support a relative position estimation framework that allows relative navigation over an arbitrarily long time interval, which exceeds multiple epochs, by establishing a series of chained relative position vectors of the mobile receiver from a next initial position that is established or coextensive with a last known relative position of the relative position estimator of the mobile receiver prior to detection of the cycle slip. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21)
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Specification