GNSS signal processing methods and apparatus
First Claim
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1. A method of processing a set of GNSS signal data received from multiple satellites at multiple reference stations, comprising:
- a. for each reference station,applying to the GNSS signal data a station geometry filter to estimate values for local states representing parameters unique to that reference station and for common states representing parameters common to all reference stations,providing values for the common states and their covariance to a master filter, andpreparing updated estimates for the local states when updated values for the common states are provided by the master filter, andb. applying to the values for the common states and their covariances the master filter to estimate updated values for the common states, and to provide the updated values to the station geometry filters.
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Abstract
Methods and apparatus for processing of data from a network of GNSS reference stations are presented. An ionosphere-free, federated geometry filter is employed so that computation time increases only linearly with the increase in number of reference stations, significantly reducing processing time as compared to a centralized filter approach.
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Citations
27 Claims
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1. A method of processing a set of GNSS signal data received from multiple satellites at multiple reference stations, comprising:
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a. for each reference station, applying to the GNSS signal data a station geometry filter to estimate values for local states representing parameters unique to that reference station and for common states representing parameters common to all reference stations, providing values for the common states and their covariance to a master filter, and preparing updated estimates for the local states when updated values for the common states are provided by the master filter, and b. applying to the values for the common states and their covariances the master filter to estimate updated values for the common states, and to provide the updated values to the station geometry filters. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. Apparatus for processing a set of GNSS signal data received from multiple satellites at multiple reference stations, comprising:
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a. for each reference station, a station geometry filter having local states representing parameters unique to that reference station and common states representing parameters common to all reference stations, wherein the station geometry filter is operative to estimate values for the local states and for the common states, to provide values for the common states and their covariance to a master filter, and to prepare updated estimates for the local states when updated values for the common states are provided by the master filter, and b. the master filter having common states representing parameters common to all reference stations, the master filter being operative to receive values forte common states and their covariances from the station geometry filters, to estimate from the received values and their covariances updated values for the common states, and to provide the updated values to the station geometry filters. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27)
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Specification