Centimeter positioning using low cost single frequency GNSS receivers
First Claim
1. A method for determining global position, the method including the steps of:
- operating one or more rover GNSS receivers to capture line-of-sight GNSS satellite signals transmitted in a given single frequency band over a capture window from a plurality of satellites large enough to provide a carrier phase data set from which a solution to associated integer carrier phase ambiguities is over determined;
processing samples of the satellites signals to determine code phase delays, carrier phase measurements and associated signal power;
determining a search space in which to resolve the integer carrier cycle ambiguities based on the satellites in view, code phase delays and position uncertainty;
resolving integer carrier cycle ambiguities using the carrier phase measurements and power measurements from the rover GNSS receiver and carrier phase measurements from one or more base GNSS receivers that alone or together have clear views of the sky, by manipulating carrier phase double difference measurements to identify a single set of solutions for the integer carrier cycle ambiguities over the capture window in the search space; and
determining the position of the rover GNSS receiver to an accuracy within centimeters using resolved carrier phase measurements.
1 Assignment
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Accused Products
Abstract
A global positioning system includes a base GNSS receiver that determines position and carrier phase measurements for GNSS satellites in view and a rover GNSS receiver, which is a single frequency receiver that captures GNSS satellite signals transmitted in the single frequency band during a capture window from a plurality of GNSS satellites, the plurality being large enough to provide a carrier phase data set from which a solution to associated integer carrier phase ambiguities is over determined. The system determining from the captured signals, a search space associated with the satellites in view, the code phase delays and associated position uncertainty. The system resolving the integer carrier cycle ambiguities using double difference carrier phase measurements associated with signal power values that are over a predetermined threshold value. The system resolving the carrier cycle ambiguities over the capture window to a single solution set and determining the position of the rover GNSS receiver to an accuracy within centimeters using the resolved carrier phase measurements.
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Citations
23 Claims
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1. A method for determining global position, the method including the steps of:
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operating one or more rover GNSS receivers to capture line-of-sight GNSS satellite signals transmitted in a given single frequency band over a capture window from a plurality of satellites large enough to provide a carrier phase data set from which a solution to associated integer carrier phase ambiguities is over determined; processing samples of the satellites signals to determine code phase delays, carrier phase measurements and associated signal power; determining a search space in which to resolve the integer carrier cycle ambiguities based on the satellites in view, code phase delays and position uncertainty; resolving integer carrier cycle ambiguities using the carrier phase measurements and power measurements from the rover GNSS receiver and carrier phase measurements from one or more base GNSS receivers that alone or together have clear views of the sky, by manipulating carrier phase double difference measurements to identify a single set of solutions for the integer carrier cycle ambiguities over the capture window in the search space; and determining the position of the rover GNSS receiver to an accuracy within centimeters using resolved carrier phase measurements. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A system for determining global position including:
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one or more base GNSS receivers that alone or together have a clear view of at least portions of the sky, the base GNSS receivers determining position and carrier phase measurements for satellites in view; a rover GNSS receiver for capturing during a capture window GNSS satellite signals transmitted in a given frequency band by a plurality of GNSS satellites in view, the plurality being large enough to provide a carrier phase data set from which a solution to associated integer carrier phase ambiguities is over determined, one or more processors for determining code phase delays, carrier phase measurements and signal power values for the captured GNSS satellite signals, the one or more processors resolving integer carrier cycle ambiguities using the code phase delays, carrier phase measurements and signal power values from the rover GNSS receiver and the position and carrier phase measurements from base GNSS receiver by manipulating double difference carrier phase measurements over a search space determined for the satellites in view, and based on code phase delays and associated position uncertainties at the rover GNSS receiver, and determining the position of the rover GNSS receiver to an accuracy within centimeters using resolved carrier phase measurements. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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Specification