IMPROVED GNSS RECEIVER USING A COMBINATION OF VELOCITY INTEGRATION AND PRECISE POINT POSITIONING
First Claim
1. A GNSS receiver comprising:
- first computing logic configured to calculate a first location and a second location of the GNSS receiver, the first location based on position data in a PVT vector and calculated on one or more channels from a plurality of GNSS signals operating at two or more frequencies, the second location based on a result of an integration of velocity data in the PVT vector and calculated on the one or more channels from GNSS signals each operating at a single frequency;
second computing logic configured to determine one or more weighting factors of the first location and the second location and to cause the first computing logic to output a calculated location of the GNSS receiver as a weighted average of the first location and the second location.
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Abstract
The invention discloses an improved GNSS receiver which determines a location of the receiver by combining a first location determined either from the standard PVT of a multi-frequency receiver and/or from a positioning aid like a map matching algorithm, inertial navigation system, WiFi localization system or other, and a second location determined by integrating the velocity from the standard PVT. The combination is based on a duty cycle or a combination of the duty cycle with a weighting of the error budgets of the first position and the second location. The improved receiver is preferably based on a standard receiver with an add-on software module which receives and processes data transmitted from the standard receiver by, for example, NMEA messages. The improved receiver allows a determination of a more precise and smoother trajectory in a simple way.
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Citations
21 Claims
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1. A GNSS receiver comprising:
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first computing logic configured to calculate a first location and a second location of the GNSS receiver, the first location based on position data in a PVT vector and calculated on one or more channels from a plurality of GNSS signals operating at two or more frequencies, the second location based on a result of an integration of velocity data in the PVT vector and calculated on the one or more channels from GNSS signals each operating at a single frequency; second computing logic configured to determine one or more weighting factors of the first location and the second location and to cause the first computing logic to output a calculated location of the GNSS receiver as a weighted average of the first location and the second location. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A localization method using a GNSS receiver, the method comprising:
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calculating a first location and a second location of the GNSS receiver, the first location based on position data in a PVT vector calculated by the GNSS receiver on one or more channels from a plurality of GNSS signals operating at two or more frequencies, the second location based on a result of an integration of velocity data in the PVT vector and calculated on the one or more channels from GNSS signals each operating at a single frequency; determining one or more weighting factors of the first location and the second location and causing the first computing logic to output a calculated location of the GNSS receiver as a weighted average of the first location and the second location.
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Specification