Satellite navigation receiver and method for switching between real-time kinematic mode and precise positioning mode
First Claim
1. A method for operating one or more satellite navigation receivers, the method comprising:
- receiving, by a reference receiver, one or more satellite signals;
measuring, by the reference receiver, a carrier phase of the received satellite signals;
receiving, at the reference receiver, a precise signal encoded with precise correction data;
determining, by a precise positioning estimator of the reference receiver, 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;
determining a base offset vector between the precise position and a reference real-time kinematic (RTK) position for the reference receiver;
transmitting, via an RTK signal, RTK correction data, which comprises a representation of the base offset vector, to a mobile receiver;
receiving, by the mobile receiver, one or more satellite signals;
measuring, by the mobile receiver, a carrier phase of the received satellite signals;
receiving, at the mobile receiver, the RTK correction data comprising the base offset vector;
smoothing the base offset vector to yield a reliable smoothed base offset vector after an initialization time period;
determining, by a real-time kinematic (RTK) position estimator of the mobile receiver, 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, at the mobile receiver, a precise signal encoded with precise correction data;
determining, by a precise positioning estimator of the mobile receiver, 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; and
upon loss or interruption of the RTK signal, while reaching an end of the initialization time period with the smoothed base offset vector and while having attained convergence on the precise position in conjunction with ambiguity resolution of the measured carrier phase associated with the precise position at the mobile receiver, switching to a precise position mode, wherein a next precise position estimate is compensated by the smoothed base offset vector to avoid a jump or discontinuity in the next precise position estimate.
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Accused Products
Abstract
A system or method uses an offset vector to provide seamless switching between a real- time kinematic (RTK) mode and a precise positioning mode. A correction wireless device is adapted to receive, at the reference receiver, a precise signal encoded with precise correction data. A precise positioning estimator of the reference receiver is arranged to determine 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. At the reference receiver, an offset module can determine a base offset vector between the precise position and a reference RTK position for the reference receiver. At the reference receiver, a wireless communications device is capable of transmitting, via an RTK signal, RTK correction data.
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Citations
17 Claims
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1. A method for operating one or more satellite navigation receivers, the method comprising:
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receiving, by a reference receiver, one or more satellite signals; measuring, by the reference receiver, a carrier phase of the received satellite signals; receiving, at the reference receiver, a precise signal encoded with precise correction data; determining, by a precise positioning estimator of the reference receiver, 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; determining a base offset vector between the precise position and a reference real-time kinematic (RTK) position for the reference receiver; transmitting, via an RTK signal, RTK correction data, which comprises a representation of the base offset vector, to a mobile receiver; receiving, by the mobile receiver, one or more satellite signals; measuring, by the mobile receiver, a carrier phase of the received satellite signals; receiving, at the mobile receiver, the RTK correction data comprising the base offset vector; smoothing the base offset vector to yield a reliable smoothed base offset vector after an initialization time period; determining, by a real-time kinematic (RTK) position estimator of the mobile receiver, 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, at the mobile receiver, a precise signal encoded with precise correction data; determining, by a precise positioning estimator of the mobile receiver, 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; and upon loss or interruption of the RTK signal, while reaching an end of the initialization time period with the smoothed base offset vector and while having attained convergence on the precise position in conjunction with ambiguity resolution of the measured carrier phase associated with the precise position at the mobile receiver, switching to a precise position mode, wherein a next precise position estimate is compensated by the smoothed base offset vector to avoid a jump or discontinuity in the next precise position estimate. - View Dependent Claims (2, 3, 4, 5)
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6. A method for operating one or more satellite navigation receivers, the method comprising:
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receiving, by a reference receiver, one or more satellite signals; measuring, by the reference receiver, a carrier phase of the received satellite signals; receiving, at the reference receiver, a precise signal encoded with precise correction data; determining, by a precise positioning estimator of the reference receiver, 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; determining a base offset vector between the precise position and a reference real-time kinematic (RTK) position for the reference receiver; transmitting, via an RTK signal, RTK correction data, which comprises a representation of the base offset vector, to a mobile receiver; and upon loss, interruption, or corruption of the RTK signal, while not reaching the end of an initialization time period or while reaching the end of the initialization time period without the base offset vector determined over a threshold duration and while not converging on resolved phase ambiguities underlying the precise position for the base offset vector, switching to the precise position mode, wherein a next precise position estimate is compensated by a rover offset vector to avoid a jump or discontinuity in the next precise position estimate. - View Dependent Claims (7, 8, 9)
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10. A system for operating one or more satellite navigation receivers, comprising:
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at a reference receiver, a measurement module for measuring a carrier phase of the received satellite signals; a correction wireless device for receiving, at the reference receiver, a precise signal encoded with precise correction data; a precise positioning estimator of the reference receiver for determining 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; at the reference receiver, an offset module for determining a base offset vector between the precise position and a reference RTK position for the reference receiver; at the reference receiver, a wireless communications device for transmitting, via an RTK signal, RTK correction data, which comprises a representation of the base offset vector, to a mobile receiver; at the mobile receiver, an offset module for determining a mobile offset vector between the precise position and the RTK position for the same measurement time or epoch; upon loss, interruption or corruption, of the RTK signal, while attaining the smoothed base offset vector and while not having converged on resolved phase ambiguities underlying the precise position for the base offset vector, a mode controller adapted to switch to the precise position mode, wherein a next precise position estimate is compensated by the mobile offset vector to avoid a lump or discontinuity in the next precise position estimate. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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Specification