Fast decimeter-level GNSS positioning
First Claim
1. A method of preparing GNSS reference data for processing data acquired by a GNSS receiver at times corresponding to first intervals, comprising:
- a. Accessing reference data having measurements taken at times corresponding to second intervals longer than the first intervals,b. Determining a geometric component for each measurement,c. Producing for each measurement a geometry-free residual by subtracting the geometric component from the measurement,d. Interpolating the geometry-free residuals to produce interpolated residuals for times corresponding to the first intervals,e. Determining a geometric component for each time corresponding to an interpolated residual,f. For each time corresponding to the first intervals, combining the interpolated residual for that time with the geometric component for that time to produce an interpolated reference measurement for that time.
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Abstract
Methods and apparatus for processing of data from GNSS receivers are presented. A post-processing engine and a post-processed accuracy predictor are described. The post-processing engine provides high accuracy GNSS (GPS) position determination with short occupation time for GIS applications. The post-processed accuracy predictor calculates during data collection an estimate of the accuracy likely to be achieved after post-processing. This helps to optimize productivity when collecting GNSS data for which post-processed accuracy is important. The predictor examines the quality of carrier measurements and estimates how well the post-processed float solution will converge in the time since carrier lock was obtained.
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Citations
54 Claims
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1. A method of preparing GNSS reference data for processing data acquired by a GNSS receiver at times corresponding to first intervals, comprising:
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a. Accessing reference data having measurements taken at times corresponding to second intervals longer than the first intervals, b. Determining a geometric component for each measurement, c. Producing for each measurement a geometry-free residual by subtracting the geometric component from the measurement, d. Interpolating the geometry-free residuals to produce interpolated residuals for times corresponding to the first intervals, e. Determining a geometric component for each time corresponding to an interpolated residual, f. For each time corresponding to the first intervals, combining the interpolated residual for that time with the geometric component for that time to produce an interpolated reference measurement for that time. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25)
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26. The method of 25, wherein the backward estimate and the forward estimate are prepared with GNSS receiver data collected over a period substantially longer than a feature-occupation time.
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27. The method of 25, further comprising combining the backward estimate and the forward estimate to produced a smoothed position estimate.
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28. Apparatus for preparing GNSS reference data for processing data acquired by a GNSS receiver at times corresponding to first intervals, comprising:
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An element to access reference data having measurements taken at times corresponding to second intervals longer than the first intervals, An element to determine a geometric component for each measurement, An element to produce for each measurement a geometry-free residual by subtracting the geometric component from the measurement, An element to interpolate the geometry-free residuals to produce interpolated residuals for times corresponding to the first intervals, An element to determine a geometric component for each time corresponding to an interpolated residual, An element to combine, for each time corresponding to the first intervals, the interpolated residual for that time with the geometric component for that time to produce an interpolated reference measurement for that time. - View Dependent Claims (29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54)
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Specification