GNSS surveying methods and apparatus
First Claim
1. A method of determining a static position of an antenna of a rover from observations of GNSS signals collected at the antenna over multiple epochs and from correction data for at least one of the epochs, comprising:
- acquiring, using the antenna of the rover, a first observation of GNSS signals received at the antenna during a first epoch, wherein the rover is at a first position;
obtaining first correction data, wherein the first correction data correlates to the first epoch;
determining a first calculation of the position of the rover for the first epoch from the first observation and the first correction data;
acquiring, using the antenna of the rover, a second observation of GNSS signals received at the antenna during a second epoch, wherein;
correction data is unavailable for the second epoch; and
the rover is at a second position;
acquiring, using the antenna of the rover, a third observation of GNSS signals received at the antenna during a third epoch, wherein the rover is at the second position;
determining that the antenna remained static for the second epoch and the third epoch; and
determining a second calculation of the position of the rover by combining the first calculation of the position of the rover with a calculated difference between the second position and the first position, after determining that the antenna remained static for the second epoch and the third epoch, wherein the calculated difference between the second position and the first position is determined based on the second observation and the third observation.
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Accused Products
Abstract
Methods and apparatus are presented for improved productivity in determining static position of an antenna of a GNSS rover, such as in stop-and-go surveying. Computer-implemented methods and apparatus provide for determining a static position of an antenna of a GNSS rover from observations of GNSS signals collected at the antenna over multiple epochs and from correction data for at least one of the epochs. In some forms this comprises: acquiring first-epoch rover observations of GNSS signals received at the antenna during a first epoch, obtaining first-epoch correction data for the first epoch, determining a synchronized rover antenna position for the first epoch from the first-epoch rover observations and the first-epoch correction data, acquiring subsequent-epoch rover observations from the received GNSS satellite signals for at least one subsequent epoch for which correction data is unavailable, determining that the antenna position remained static for at least two static epochs, and determining an updated rover antenna position from the synchronized rover antenna position and the subsequent-epoch rover observations of at least one static epoch of the at least one subsequent epoch.
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Citations
22 Claims
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1. A method of determining a static position of an antenna of a rover from observations of GNSS signals collected at the antenna over multiple epochs and from correction data for at least one of the epochs, comprising:
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acquiring, using the antenna of the rover, a first observation of GNSS signals received at the antenna during a first epoch, wherein the rover is at a first position; obtaining first correction data, wherein the first correction data correlates to the first epoch; determining a first calculation of the position of the rover for the first epoch from the first observation and the first correction data; acquiring, using the antenna of the rover, a second observation of GNSS signals received at the antenna during a second epoch, wherein; correction data is unavailable for the second epoch; and the rover is at a second position; acquiring, using the antenna of the rover, a third observation of GNSS signals received at the antenna during a third epoch, wherein the rover is at the second position; determining that the antenna remained static for the second epoch and the third epoch; and determining a second calculation of the position of the rover by combining the first calculation of the position of the rover with a calculated difference between the second position and the first position, after determining that the antenna remained static for the second epoch and the third epoch, wherein the calculated difference between the second position and the first position is determined based on the second observation and the third observation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A surveying system for determining a position of a rover from observations of GNSS signals collected at an antenna over multiple epochs and from correction data for at least one of the epochs, comprising:
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a rover body; a receiver coupled with the rover body and configured to; acquire, using the antenna, a first observation of GNSS signals received at the antenna during a first epoch, wherein the rover is at a first position; acquire, using the antenna, a second observation of GNSS signals received at the antenna during a second epoch, wherein; correction data is unavailable for the second epoch; and the rover is at a second position; and acquire, using the antenna, a third observation of GNSS signals received at the antenna during a third epoch, wherein the rover is at the second position; the antenna coupled with the receiver; a data link coupled with the rover body and configured to obtain first correction data provided by a correction source, wherein; the first correction data correlates to the first epoch; and the correction source is separated by a distance from the rover body; and one or more processors configured to; determine a first calculation of the position of the rover for the first epoch from the first observation and the first correction data; and determine a second calculation of the position of the rover by combining the first calculation of the position of the rover with a calculated difference between the second position and the first position, after determining that the antenna remained static for the second epoch and the third epoch, wherein the calculated difference between the second position and the first position is determined based on the second observation and the third observation. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. A memory device having instructions, for determining a position a rover from observations of GNSS signals collected at the antenna over multiple epochs and from correction data for at least one of the epochs, that when executed cause one or more processors to:
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acquire a first calculation of the position of the rover for a first epoch from; a first observation of GNSS signals received at the antenna during the first epoch, wherein the rover is at the first position; and first correction data, wherein the first correction data correlates to the first epoch; acquire a second observation of GNSS signals received at the antenna during a second epoch, wherein; correction data is unavailable for the second epoch; and the rover is at a second position; acquire a third observation of GNSS signals received at the antenna during a third epoch, wherein the rover is at the second position; determine that the antenna remained static for the second epoch and the third epoch; and determine a second calculation of the position of the rover by combining the first calculation of the position of the rover with a calculated difference between the second position and the first position, after determining that the antenna remained static for the second epoch and the third epoch, wherein the calculated difference between the second position and the first position is determined based on the second observation and the third observation.
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Specification