GPS navigation using successive differences of carrier-phase measurements
First Claim
Patent Images
1. A method for navigating an object according to signals from satellites, comprising:
- determining at least one matrix for solving for a change in position of the object based on a measurement sensitivity matrix associated with a current geometry of the satellites; and
repeatedly using the at least one matrix to determine subsequent changes in the position of the object based on successive changes in carrier-phase measurements obtained at the object according to signals from the satellites.
2 Assignments
0 Petitions
Accused Products
Abstract
The present invention includes a process for navigating an object according to signals from satellites by propagating the position of the object forward in time using successive changes in the carrier-phase measurements. The process computes at a low rate matrices required for solving for the position of the objects, and repeatedly uses the most recently computed matrices to compute position updates at a high rate until the next low-rate computation is completed.
-
Citations
20 Claims
-
1. A method for navigating an object according to signals from satellites, comprising:
-
determining at least one matrix for solving for a change in position of the object based on a measurement sensitivity matrix associated with a current geometry of the satellites; and repeatedly using the at least one matrix to determine subsequent changes in the position of the object based on successive changes in carrier-phase measurements obtained at the object according to signals from the satellites. - View Dependent Claims (2, 3)
-
-
4. A process for navigating an object, comprising:
-
an initialization process for determining an initial position of the object; a first process for determining a position update of the object once per each of a series of minor epochs after the initialization process, the position update being determined based on differences in carrier-phase measurements obtained during consecutive minor epochs; and a second process for determining, in a respective major epoch of a series of major epochs, at least one matrix for solving for a change in position of the object based on a measurement sensitivity matrix associated with a current geometry of the satellites; wherein the first process repeatedly uses the at least one matrix determined by the second process to determine subsequent changes in the position of the object based on successive changes in carrier-phase measurements obtained at the object according to signals from the satellites. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
-
-
15. A computer readable medium storing therein computer readable instructions that when executed by a processor cause the processor to perform a process for navigating an object according to signals from satellites, the computer instructions comprising:
-
instructions for determining at least one matrix for solving for a change in position of the object based on a measurement sensitivity matrix associated with a current geometry of the satellites; and instructions for repeatedly using the at least one matrix to determine subsequent changes in the position of the object based on successive changes in carrier-phase measurements. - View Dependent Claims (16, 17)
-
-
18. A system for navigating an object, comprising:
-
a satellite receiver for receiving signals from satellites; a processor; instructions, executable by the processor, for determining at least one matrix for solving for a change in position of the object based on a measurement sensitivity matrix associated with a current geometry of the satellites; and instructions, executable by the processor, for repeatedly using the at least one matrix to determine subsequent changes in the position of the object based on successive changes in carrier-phase measurements. - View Dependent Claims (19, 20)
-
Specification