Code minus carrier multipath observation for satellite exclusion
First Claim
1. A method comprising:
- generating a respective code-carrier difference for each of a plurality of satellite vehicle and signal frequency combinations, wherein the code-carrier difference is based on a code range and a carrier range;
filtering the respective code-carrier difference for an unknown bias and random noise;
determining whether multipath is present for each of the plurality of satellite vehicle and signal frequency combinations based on the respective filtered code-carrier difference; and
computing a position solution based on trust placed in respective measurements from each of the plurality of satellite vehicle and signal frequency combinations, the trust based on whether multipath is present for the respective satellite vehicle and signal frequency combination.
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Abstract
A method comprises generating a respective code-carrier difference for each of a plurality of satellite vehicle and signal frequency combinations, wherein the code-carrier difference is based on a code range and a carrier range. The method also comprises filtering the respective code-carrier difference for an unknown bias and random noise; determining whether multipath is present for each of the plurality of satellite vehicle and signal frequency combinations based on the respective filtered code-carrier difference; and computing a position solution based on trust placed in respective measurements from each of the plurality of satellite vehicle and signal frequency combinations, the trust based on whether multipath is present for the respective satellite vehicle and signal frequency combination.
30 Citations
20 Claims
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1. A method comprising:
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generating a respective code-carrier difference for each of a plurality of satellite vehicle and signal frequency combinations, wherein the code-carrier difference is based on a code range and a carrier range; filtering the respective code-carrier difference for an unknown bias and random noise; determining whether multipath is present for each of the plurality of satellite vehicle and signal frequency combinations based on the respective filtered code-carrier difference; and computing a position solution based on trust placed in respective measurements from each of the plurality of satellite vehicle and signal frequency combinations, the trust based on whether multipath is present for the respective satellite vehicle and signal frequency combination. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A program product comprising a processor-readable medium on which program instructions are embodied, wherein the program instructions are configured, when executed by at least one programmable processor, to cause the at least one programmable processor to:
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generate a respective code-carrier difference for each of a plurality of satellite vehicle and signal frequency combinations, wherein the code-carrier difference is based on a code range and a carrier range; filter the respective code-carrier difference for an unknown bias and random noise; determine whether multipath is present for each of the plurality of satellite vehicle and signal frequency combinations based on the respective filtered code-carrier difference; and compute a position solution based on trust placed in respective measurements from each of the plurality of satellite vehicle and signal frequency combinations, the trust based on whether multipath is present for the respective satellite vehicle and signal frequency combination. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A code minus carrier multipath observation and satellite exclusion apparatus comprising:
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a GNSS antenna coupled to a GNSS receiver, the antenna and receiver configured to receive a satellite carrier signal; a code-carrier difference generation unit coupled to the GNSS antenna and GNSS receiver, the code-carrier difference generation unit configured to generate a code-carrier difference for each of a plurality of satellite vehicle and signal frequency combinations, wherein the code-carrier difference is based on a code range and a carrier range; and a multipath detection unit coupled to the code-carrier difference generation unit, the multipath detection unit configured to filter the respective code-carrier difference to filter out an unknown bias and random noise;
wherein the multipath detection unit is further configured to determine whether multipath is present for each of the plurality of satellite vehicle and signal frequency combinations based on the respective filtered code-carrier difference. - View Dependent Claims (18, 19, 20)
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Specification