Position estimation methods and apparatus
First Claim
1. A method of determining position of a GNSS receiver antenna, comprising:
- a. operating an engine to acquire input data for each of a plurality of epochs, the input data comprising observations at the GNSS receiver antenna of signals of GNSS satellites, and clock and position information for each of the satellites,b. operating a recursive filter to estimate float parameters of a state vector from the input data of each epoch, the float parameters comprising receiver antenna position, receiver clock, and at least one ambiguity per satellite,c. operating a jump detector to detect a jump in the at least one ambiguity of at least one satellite from one epoch to another epoch,d. operating a bridge estimator to estimate bridge parameters from the input data of at least one epoch and from the estimated float parameters, the bridge parameters comprising values sufficient to update the float parameters to compensate for the jump, ande. using the bridge parameters to update the float parameters.
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Accused Products
Abstract
A method of determining the position of a GNSS receiver antenna includes steps of acquiring input data which includes observations at the GNSS receiver antenna of signals of at least clock and position information of GNSS satellites, for each of a plurality of epochs. Float parameters of a state vector from the input data of each epoch are then estimated. The float parameters include receiver antenna position, receiver clock, and at least one ambiguity per satellite. A jump in the at least one ambiguity of at least one satellite from one epoch to another epoch is detected. Then bridge parameters from the input data of at least one epoch and from the estimated float parameters are estimated. The bridge parameters include values sufficient to update the float parameters to compensate for the jump, and the bridge parameters are then used to update the float parameters.
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Citations
52 Claims
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1. A method of determining position of a GNSS receiver antenna, comprising:
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a. operating an engine to acquire input data for each of a plurality of epochs, the input data comprising observations at the GNSS receiver antenna of signals of GNSS satellites, and clock and position information for each of the satellites, b. operating a recursive filter to estimate float parameters of a state vector from the input data of each epoch, the float parameters comprising receiver antenna position, receiver clock, and at least one ambiguity per satellite, c. operating a jump detector to detect a jump in the at least one ambiguity of at least one satellite from one epoch to another epoch, d. operating a bridge estimator to estimate bridge parameters from the input data of at least one epoch and from the estimated float parameters, the bridge parameters comprising values sufficient to update the float parameters to compensate for the jump, and e. using the bridge parameters to update the float parameters. - 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, 52)
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26. Apparatus for determining position of a GNSS receiver antenna, comprising:
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an engine to acquire input data for each of a plurality of epochs, the input data comprising observations at a GNSS receiver antenna of GNSS satellites, and clock and position information for each of the satellites, a recursive filter to estimate float parameters of a state vector from the input data of each epoch, the float parameters comprising receiver antenna position, receiver clock, and at least one ambiguity per satellite, a jump detector to detect a jump in the at least one ambiguity of at least one satellite from one epoch to another epoch, a bridge estimator to estimate bridge parameters from the input data of at least one epoch and from the estimated float parameters, the bridge parameters comprising values sufficient to update the float parameters to compensate for the jump, and a float parameter updater to update the float parameters using the bridge. - View Dependent Claims (27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51)
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Specification