Systems and methods for monitoring navigation state errors
First Claim
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1. A method for monitoring navigation state errors, the method comprising:
- receiving GPS signals from signal sources by a mobile receiver;
calculating, by the mobile receiver, a distance traveled by the mobile receiver;
calculating, by the mobile receiver, over the distance traveled by the mobile receiver, pseudorange (PR) residuals based on respective differences between pseudoranges and geometric ranges between the signal source and the mobile receiver;
determining, by the mobile receiver, a number of the PR residuals that are greater than a threshold at locations over the calculated distance;
determining, by the mobile receiver, that a navigation state of the mobile receiver has errors if the number of the PR residuals that are greater than the threshold is greater than a predetermined number; and
responsive to determining that the navigation state has errors, correcting, by the mobile receiver, the navigation state and calculating the position of the mobile receiver.
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Abstract
Systems and methods for monitoring navigation state errors are provided. In this regard, a representative system, among others, includes a receiver that is configured to receive GPS signals and calculate pseudorange (PR) residuals, the receiver including a navigation state error manager that is configured to: calculate a distance traveled by the receiver having the PR residuals, determine whether a navigation state has errors based on the calculated PR residuals and calculated distance, and responsive to determining that the navigation state has errors, send an error message indicating that the navigation state has errors.
20 Citations
24 Claims
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1. A method for monitoring navigation state errors, the method comprising:
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receiving GPS signals from signal sources by a mobile receiver; calculating, by the mobile receiver, a distance traveled by the mobile receiver; calculating, by the mobile receiver, over the distance traveled by the mobile receiver, pseudorange (PR) residuals based on respective differences between pseudoranges and geometric ranges between the signal source and the mobile receiver; determining, by the mobile receiver, a number of the PR residuals that are greater than a threshold at locations over the calculated distance; determining, by the mobile receiver, that a navigation state of the mobile receiver has errors if the number of the PR residuals that are greater than the threshold is greater than a predetermined number; and responsive to determining that the navigation state has errors, correcting, by the mobile receiver, the navigation state and calculating the position of the mobile receiver. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system for monitoring navigation state errors comprising:
a mobile receiver that is configured to receive GPS signals, calculate a distance traveled by the mobile receiver, and calculate over the distance traveled by the mobile receiver, pseudorange (PR) residuals based on respective differences between pseudorange and geometric ranges between the signal source and the mobile receiver, the mobile receiver including a navigation state error manager that is configured to; determine a number of the PR residuals that are greater than a threshold at locations over the calculated distance, determine that a navigation state of the mobile receiver has errors if the number of PR residuals that are greater than the threshold is greater than a predetermined number, and responsive to determining that the navigation state has errors, correcting the navigation state and calculating the position of the mobile receiver. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A mobile GPS receiver comprising:
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(a) an antenna that is configured to receive GPS signals from signal sources; (b) a baseband digital signal processing device that is configured to; (1) receive the GPS signals from the antenna, (2) calculate a distance traveled by the mobile GPS receiver, (3) calculate, over the distance traveled by the GPS receiver, pseudoranges (PRs) associated with the GPS signals, (4) calculate, over the distance traveled by the GPS receiver, at least one geometric range between at least one signal source and the GPS receiver; and (5) calculate pseudorange (PR) residuals based on respective differences between the pseudoranges and the geometric ranges between the signal source and the receiver and (c) a navigation state error manager that is configured to; (1) determine a number of the PR residuals that are greater than a threshold at locations over the calculated distances, (2) determine that a navigation state of the mobile GPS receiver has errors if the number of PR residuals that are greater than the threshold is greater than a predetermined number, and (3) responsive to determining that the navigation state has errors, correcting the navigation state and calculating the position of the mobile receiver. - View Dependent Claims (19, 20, 21, 22, 23, 24)
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Specification