GNSS signal processing methods and apparatus
First Claim
1. A method of determining a position of an antenna of a global navigation satellite system (GNSS) rover from single-frequency observations of GNSS signals collected at the antenna and from correction data, comprising:
- obtaining, from a GNSS chipset associated with the antenna, coded raw data in a binary format, the coded raw data obtained from the single-frequency observations,decoding, external to the GNSS chipset, the coded raw data to obtain decoded raw data, the decoded raw data including receiver clock offset data, measurement time data, pseudorange data, and Doppler data, wherein the measurement time data, the pseudorange data, and the Doppler data are not corrected to account for receiver clock offsets,using the decoded raw data to construct a plurality of epochs of measurement data of time, range, and phase, the measurement data constructed by determining the receiver clock offsets using the receiver clock offset data, correcting the measurement time data, the pseudorange data, and the Doppler data to account for the receiver clock offsets, and using the corrected Doppler data to construct the phase,obtaining correction data for at least one of the epochs from a source external to the GNSS chipset,processing the measurement data with the correction data in a realtime kinematic positioning engine to obtain an estimate of the position of the antenna for each of the plurality of epochs.
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Abstract
Methods and apparatus are presented for determining position a GNSS rover antenna from single-frequency observations of GNSS signals collected at the antenna over multiple epochs and from correction data for at least one of the epochs. Coded raw data prepared from the single-frequency observations in a binary format are obtained and decoded to obtain decoded raw data. The decoded raw data are used to construct multiple epochs of measurement data of time, range and phase. Correction data are obtained for at least one of the epochs. The measurement data are processed with the correction data in a realtime kinematic positioning engine to obtain a position estimate for each of a plurality of epochs.
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Citations
22 Claims
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1. A method of determining a position of an antenna of a global navigation satellite system (GNSS) rover from single-frequency observations of GNSS signals collected at the antenna and from correction data, comprising:
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obtaining, from a GNSS chipset associated with the antenna, coded raw data in a binary format, the coded raw data obtained from the single-frequency observations, decoding, external to the GNSS chipset, the coded raw data to obtain decoded raw data, the decoded raw data including receiver clock offset data, measurement time data, pseudorange data, and Doppler data, wherein the measurement time data, the pseudorange data, and the Doppler data are not corrected to account for receiver clock offsets, using the decoded raw data to construct a plurality of epochs of measurement data of time, range, and phase, the measurement data constructed by determining the receiver clock offsets using the receiver clock offset data, correcting the measurement time data, the pseudorange data, and the Doppler data to account for the receiver clock offsets, and using the corrected Doppler data to construct the phase, obtaining correction data for at least one of the epochs from a source external to the GNSS chipset, processing the measurement data with the correction data in a realtime kinematic positioning engine to obtain an estimate of the position of the antenna for each of the plurality of epochs. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. Apparatus for determining a position of an antenna of a global navigation satellite system (GNSS) rover from single-frequency observations of GNSS signals collected at the antenna and from correction data, comprising at least one processor with instructions enabling the at least one processor to:
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a. obtain, from a GNSS chipset associated with the antenna, coded raw data in a binary format, the coded raw data obtained from the single-frequency observations, b. decode the coded raw data to obtain decoded raw data, the decoded raw data including receiver clock offset data, measurement time data, pseudorange data, and Doppler data, wherein the measurement time data, the pseudorange data, and the Doppler data are not corrected to account for receiver clock offsets, c. use the decoded data to construct a plurality of epochs of measurement data of time, range and phase, the measurement data constructed by determining the receiver clock offsets using the receiver clock offset data, correcting the measurement time data, the pseudorange data, and the Doppler data to account for the receiver clock offsets, and using the corrected Doppler data to construct the phase, d. obtain correction data for at least one of the epochs from an external source, e. process the measurement data with the correction data in a realtime kinematic positioning engine to obtain an estimate of the position of the antenna for each of the plurality of epochs. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification