×

Satellite navigation receiver and method for switching between real-time kinematic mode and precise positioning mode

  • US 10,627,528 B2
  • Filed: 03/18/2016
  • Issued: 04/21/2020
  • Est. Priority Date: 06/29/2015
  • Status: Active Grant
First Claim
Patent Images

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.

View all claims
  • 1 Assignment
Timeline View
Assignment View
    ×
    ×