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1. 发明授权

US09423507B2 Methods and apparatuses for multipath estimation and correction in GNSS navigation systems 有权
标题翻译： GNSS导航系统中多路径估计和校正的方法和装置
公开(公告)号：US09423507B2
公开(公告)日：2016-08-23
申请号：US13484217
申请日：2012-05-30
申请人： Xiangdong Lin , David Allan Tuck , Mangesh Chansarkar
发明人： Xiangdong Lin , David Allan Tuck , Mangesh Chansarkar
IPC分类号： G01S19/42 , G01S19/22 , G01S19/40
CPC分类号： G01S19/428 , G01S19/22 , G01S19/40
摘要： The present invention relates generally to methods and apparatuses for estimating and correcting for multipath in GNSS navigation systems. According to some aspects, the invention operates in situations where position and estimated position error are reasonably stable so as to detect when large multipath errors are present with confidence. After detection, the slowly varying biases from multipath or other un-modeled sources can be modeled separately from the navigation state. The measurements are kept in the solution without biasing the navigation state thereby ignoring the long-term biases for use over short-term periods with minimized pseudorange error when necessary.
摘要翻译：本发明一般涉及用于在GNSS导航系统中估计和校正多路径的方法和装置。根据一些方面，本发明在位置和估计位置误差相当稳定的情况下操作，以便在信心大的多径误差存在时检测。在检测之后，可以与导航状态分开地建模来自多路径或其他未建模源的缓慢变化的偏差。测量结果保留在解决方案中，而不会偏离导航状态，从而忽略在需要时具有最小化伪距误差的短期周期使用的长期偏差。

2. 发明申请

US20130321202A1 Methods and Apparatuses for Multipath Estimation and Correction in GNSS Navigation Systems 有权
标题翻译： GNSS导航系统中多径估计和校正的方法与装置
公开(公告)号：US20130321202A1
公开(公告)日：2013-12-05
申请号：US13484217
申请日：2012-05-30
申请人： Xiangdong Lin , David Allan Tuck , Mangesh Chansarkar
发明人： Xiangdong Lin , David Allan Tuck , Mangesh Chansarkar
IPC分类号： G01S19/22
CPC分类号： G01S19/428 , G01S19/22 , G01S19/40
摘要： The present invention relates generally to methods and apparatuses for estimating and correcting for multipath in GNSS navigation systems. According to some aspects, the invention takes advantage of situations where position and estimated position error are reasonably stable so as to detect when large multipath errors are present with confidence. After detection, the slowly varying biases from multipath or other un-modeled sources can be modeled separately from the navigation state. This makes it possible to keep the measurements in the solution without biasing the navigation state and further ignores the long-term biases for use over short-term periods with minimized pseudorange error when necessary.
摘要翻译：本发明一般涉及用于在GNSS导航系统中估计和校正多路径的方法和装置。根据一些方面，本发明利用了位置和估计位置误差相当稳定的情况，以便可靠地存在大的多径错误时的检测。在检测之后，可以与导航状态分开地建模来自多路径或其他未建模源的缓慢变化的偏差。这使得可以将测量结果保持在解决方案中，而不会偏离导航状态，并且进一步忽略在短期内使用的长期偏差，在必要时具有最小化的伪距误差。

3. 发明申请

US20090128407A1 Systems and Methods for Detecting GPS Measurement Errors 有权
标题翻译：用于检测GPS测量误差的系统和方法
公开(公告)号：US20090128407A1
公开(公告)日：2009-05-21
申请号：US11942912
申请日：2007-11-20
申请人： Gang Xie , Mangesh Chansarkar , Daniel Liao , Xiangdong Lin
发明人： Gang Xie , Mangesh Chansarkar , Daniel Liao , Xiangdong Lin
IPC分类号： G01C21/00 , G01S1/00
CPC分类号： G01C21/00 , G01S19/20
摘要： Systems and methods for detecting global positioning system (GPS) measurement errors are provided. In this regard, a representative system, among others, includes a navigation device that is configured to receive GPS signals from signal sources, the navigation device being configured to calculate pseudoranges (PRs) and delta ranges (DRs) based on the received GPS signals, the navigation device including a consistency check algorithm that is configured to: determine mismatches between the respective calculated PRs and DRs, and indicate that an error exists in the respective calculated PRs and DRs based on their mismatch and mismatch accumulations. This algorithm can be independent of navigation state and is capable of detecting slow-changing errors.
摘要翻译：提供了用于检测全球定位系统（GPS）测量误差的系统和方法。在这方面，代表性系统包括配置成从信号源接收GPS信号的导航装置，所述导航装置被配置为基于所接收的GPS信号计算伪距（PR）和增量范围（DR）所述导航装置包括一致性检查算法，其被配置为：确定各个计算的PR和DR之间的不匹配，并且基于它们的不匹配和不匹配累积来指示各个计算的PR和DR中存在错误。该算法可以独立于导航状态，并且能够检测慢速变化的错误。

4. 发明申请

US20080096578A1 System and method for estimating cell center position for cell ID based positioning 有权
标题翻译：用于基于小区ID的定位估计小区中心位置的系统和方法
公开(公告)号：US20080096578A1
公开(公告)日：2008-04-24
申请号：US11645114
申请日：2006-12-22
申请人： Xiangdong Lin , Mangesh Chansarkar , Marlene Wan , Lionel Garin
发明人： Xiangdong Lin , Mangesh Chansarkar , Marlene Wan , Lionel Garin
IPC分类号： H04Q7/34
CPC分类号： G01S5/0027 , G01S5/0242 , G01S5/0252 , G01S19/06 , G01S19/14 , G01S19/25 , G01S19/46 , H04M2250/10 , H04W4/02
摘要： Systems and methods for estimating a cell center location in a wireless communication system having an interface to a satellite positioning system (“SPS”) such as for example, a Geosynchronous Positioning System (“GPS”). The wireless communication system provides service to mobile stations within a cell, each mobile station includes a SPS receiver. Examples of the systems and methods for estimating a cell center location analyze the mobile station locations in a cell as a uniform distribution of mobile station locations and calculate a statistical measure characterizing the mobile station locations as a function of the mobile station locations. In one example, the statistical measure is a maximum likelihood mobile station location. In another example, the statistical measure is the mean mobile station location in the cell. The estimated cell center location may be used to approximate the location of the mobile station during a warm or cold restart of the SPS receiver part of the mobile station.
摘要翻译：用于估计具有与诸如地球同步定位系统（“GPS”）的卫星定位系统（“SPS”）的接口的无线通信系统中的小区中心位置的系统和方法。无线通信系统向小区内的移动台提供服务，每个移动站包括SPS接收机。用于估计小区中心位置的系统和方法的示例将小区中的移动站位置分析为移动站位置的均匀分布，并且计算表征作为移动站位置的函数的移动站位置的统计量度量。在一个示例中，统计测量是最大似然移动站位置。在另一示例中，统计测量是小区中的平均移动站位置。估计的小区中心位置可以用于在移动台的SPS接收机部分的暖或冷重启期间近似移动台的位置。

5. 发明授权

US08165607B2 System and method for estimating cell center position for cell ID based positioning 有权
标题翻译：用于基于小区ID的定位估计小区中心位置的系统和方法
公开(公告)号：US08165607B2
公开(公告)日：2012-04-24
申请号：US11645114
申请日：2006-12-22
申请人： Xiangdong Lin , Mangesh Chansarkar , Marlene Wan , Lionel Garin
发明人： Xiangdong Lin , Mangesh Chansarkar , Marlene Wan , Lionel Garin
IPC分类号： H04W24/00
CPC分类号： G01S5/0027 , G01S5/0242 , G01S5/0252 , G01S19/06 , G01S19/14 , G01S19/25 , G01S19/46 , H04M2250/10 , H04W4/02
摘要： Systems and methods for estimating a cell center location in a wireless communication system having an interface to a satellite positioning system (“SPS”) such as for example, a Geosynchronous Positioning System (“GPS”). The wireless communication system provides service to mobile stations within a cell, each mobile station includes a SPS receiver. Examples of the systems and methods for estimating a cell center location analyze the mobile station locations in a cell as a uniform distribution of mobile station locations and calculate a statistical measure characterizing the mobile station locations as a function of the mobile station locations. In one example, the statistical measure is a maximum likelihood mobile station location. In another example, the statistical measure is the mean mobile station location in the cell. The estimated cell center location may be used to approximate the location of the mobile station during a warm or cold restart of the SPS receiver part of the mobile station.
摘要翻译：用于估计具有与诸如地球同步定位系统（“GPS”）的卫星定位系统（“SPS”）的接口的无线通信系统中的小区中心位置的系统和方法。无线通信系统向小区内的移动台提供服务，每个移动站包括SPS接收机。用于估计小区中心位置的系统和方法的示例将小区中的移动站位置分析为移动站位置的均匀分布，并且计算表征作为移动站位置的函数的移动站位置的统计量度量。在一个示例中，统计测量是最大似然移动站位置。在另一示例中，统计测量是小区中的平均移动站位置。估计的小区中心位置可以用于在移动台的SPS接收机部分的暖或冷重启期间近似移动台的位置。

6. 发明授权

US07551133B2 GPS navigation using interacting multiple model (IMM) estimator and probabilistic data association filter (PDAF) 有权
标题翻译：使用交互式多模型（IMM）估计器和概率数据关联过滤器（PDAF）的GPS导航
公开(公告)号：US07551133B2
公开(公告)日：2009-06-23
申请号：US11696920
申请日：2007-04-05
申请人： Xiangdong Lin , Gengsheng Zhang , Mangesh Chansarkar , Daniel Liao , Lionel Garin
发明人： Xiangdong Lin , Gengsheng Zhang , Mangesh Chansarkar , Daniel Liao , Lionel Garin
IPC分类号： G01S5/14 , G01C21/00
CPC分类号： G01S19/42
摘要： A method for GPS navigation which uses an interacting multiple-model (IMM) estimator with a probabilistic data association filter (PDAF) improves navigation performance. The method includes (a) providing two or more models of GPS navigation, with each model characterized by a model state vector which is updated periodically, (b) providing for each model a corresponding filter for deriving, for each period, a current value for the corresponding model state vector based on current measurements made on parameters affecting the corresponding state vector; and (c) applying an interacting multiple model (IMM) estimator to provide, for each period, a current value for a system state vector using the current values of the model state vectors for that period and their corresponding filters. Each model state vector may include one or more of the following: variables: 3-dimensional position, 3-dimensional velocity, satellite clock bias, satellite clock drifts and one or more other satellite parameters. The current value of the system state vector may be a weighted average of the current values of the model state vectors, where the weights are a set of mode probabilities. In addition, one or more of the filters is a probabilitic data association filter (PDAF).
摘要翻译：使用具有概率数据关联过滤器（PDAF）的交互式多模型（IMM）估计器的GPS导航方法提高了导航性能。该方法包括（a）提供两个或多个GPS导航模型，每个模型的特征在于周期性更新的模型状态向量，（b）为每个模型提供相应的滤波器，以便为每个周期导出当前值，基于对影响对应状态向量的参数进行的当前测量的相应模型状态向量; 并且（c）应用交互式多模型（IMM）估计器，以使用该周期的模型状态向量的当前值及其对应的过滤器为每个周期提供系统状态向量的当前值。每个模型状态向量可以包括以下中的一个或多个：变量：3维位置，3维速度，卫星时钟偏差，卫星时钟漂移和一个或多个其他卫星参数。系统状态向量的当前值可以是模型状态向量的当前值的加权平均值，其中权重是一组模式概率。另外，一个或多个过滤器是概率数据关联过滤器（PDAF）。

7. 发明授权

US07821454B2 Systems and methods for detecting GPS measurement errors 有权
标题翻译：用于检测GPS测量误差的系统和方法
公开(公告)号：US07821454B2
公开(公告)日：2010-10-26
申请号：US11942912
申请日：2007-11-20
申请人： Gang Xie , Mangesh Chansarkar , Daniel Liao , Xiangdong Lin
发明人： Gang Xie , Mangesh Chansarkar , Daniel Liao , Xiangdong Lin
IPC分类号： G01S19/20 , G01S19/21 , G01S19/22
CPC分类号： G01C21/00 , G01S19/20
摘要： Systems and methods for detecting global positioning system (GPS) measurement errors are provided. In this regard, a representative system, among others, includes a navigation device that is configured to receive GPS signals from signal sources, the navigation device being configured to calculate pseudoranges (PRs) and delta ranges (DRs) based on the received GPS signals, the navigation device including a consistency check algorithm that is configured to: determine mismatches between the respective calculated PRs and DRs, and indicate that an error exists in the respective calculated PRs and DRs based on their mismatch and mismatch accumulations. This algorithm can be independent of navigation state and is capable of detecting slow-changing errors.
摘要翻译：提供了用于检测全球定位系统（GPS）测量误差的系统和方法。在这方面，代表性系统包括配置成从信号源接收GPS信号的导航装置，所述导航装置被配置为基于所接收的GPS信号计算伪距（PR）和增量范围（DR）所述导航装置包括一致性检查算法，所述一致性检查算法被配置为：确定各个计算的PR和DR之间的不匹配，并且基于它们的不匹配和不匹配累积来指示相应的所计算的PR和DR中存在错误。该算法可以独立于导航状态，并且能够检测慢速变化的错误。

8. 发明申请

US20080246653A1 GPS NAVIGATION USING INTERACTING MULTIPLE MODEL (IMM) ESTIMATOR AND PROBABILISTIC DATA ASSOCIATION FILTER (PDAF) 有权
标题翻译： GPS导航使用交互式多模型（IMM）估计器和概率数据协调滤波器（PDAF）
公开(公告)号：US20080246653A1
公开(公告)日：2008-10-09
申请号：US11696920
申请日：2007-04-05
申请人： Xiangdong Lin , Gengsheng Zhang , Mangesh Chansarkar , Daniel Liao , Lionel Garin
发明人： Xiangdong Lin , Gengsheng Zhang , Mangesh Chansarkar , Daniel Liao , Lionel Garin
IPC分类号： G01S1/00
CPC分类号： G01S19/42
摘要： A method for GPS navigation which uses an interacting multiple-model (IMM) estimator with a probabilistic data association filter (PDAF) improves navigation performance. The method includes (a) providing two or more models of GPS navigation, with each model characterized by a model state vector which is updated periodically, (b) providing for each model a corresponding filter for deriving, for each period, a current value for the corresponding model state vector based on current measurements made on parameters affecting the corresponding state vector; and (c) applying an interacting multiple model (IMM) estimator to provide, for each period, a current value for a system state vector using the current values of the model state vectors for that period and their corresponding filters. Each model state vector may include one or more of the following: variables: 3-dimensional position, 3-dimensional velocity, satellite clock bias, satellite clock drifts and one or more other satellite parameters. The current value of the system state vector may be a weighted average of the current values of the model state vectors, where the weights are a set of mode probabilities. In addition, one or more of the filters is a probabilitic data association filter (PDAF).
摘要翻译：使用具有概率数据关联过滤器（PDAF）的交互式多模型（IMM）估计器的GPS导航方法提高了导航性能。该方法包括（a）提供两个或多个GPS导航模型，每个模型的特征在于周期性更新的模型状态向量，（b）为每个模型提供相应的滤波器，以便为每个周期导出当前值，基于对影响对应状态向量的参数进行的当前测量的相应模型状态向量; 并且（c）应用交互式多模型（IMM）估计器，以使用该周期的模型状态向量的当前值及其对应的过滤器为每个周期提供系统状态向量的当前值。每个模型状态向量可以包括以下中的一个或多个：变量：3维位置，3维速度，卫星时钟偏差，卫星时钟漂移和一个或多个其他卫星参数。系统状态向量的当前值可以是模型状态向量的当前值的加权平均值，其中权重是一组模式概率。另外，一个或多个过滤器是概率数据关联过滤器（PDAF）。

9. 发明授权

US07974642B2 System and method for estimating cell center position for cell ID based positioning 有权
标题翻译：用于基于小区ID的定位估计小区中心位置的系统和方法
公开(公告)号：US07974642B2
公开(公告)日：2011-07-05
申请号：US11676927
申请日：2007-02-20
申请人： Xiangdong Lin , Mangesh Chambarkar , Marlene Wan , Lionel Garin
发明人： Xiangdong Lin , Mangesh Chambarkar , Marlene Wan , Lionel Garin
IPC分类号： H04Q5/00
CPC分类号： H04W64/00 , G01S5/02 , G01S5/0242 , G01S5/0278 , G01S19/06
摘要： Systems and methods for estimating a cell center location in a wireless communication system having all interface to a satellite positioning system (“SPS”) such as for example, a Geosynchronous Positioning System (“GPS”). The wireless communication system provides service to mobile stations within a cell, each mobile station includes a SPS receiver. Examples of the systems and methods for estimating a cell center location analyze the mobile station locations in a cell as a uniform distribution of mobile station locations and calculate a statistical measure characterizing the mobile station locations as a function of the mobile station locations. In one example, the statistical measure is a maximum likelihood mobile station location. In another example, the statistical measure is the mean mobile station location in the cell. The estimated cell center location may be used to approximate the location of the mobile station during a warm or cold restart of the SPS receiver part of the mobile station.
摘要翻译：用于估计具有与诸如地球同步定位系统（“GPS”）的卫星定位系统（“SPS”）全部接口的无线通信系统中的小区中心位置的系统和方法。无线通信系统向小区内的移动台提供服务，每个移动站包括SPS接收机。用于估计小区中心位置的系统和方法的示例将小区中的移动站位置分析为移动站位置的均匀分布，并且计算表征作为移动站位置的函数的移动站位置的统计量度量。在一个示例中，统计测量是最大似然移动站位置。在另一示例中，统计测量是小区中的平均移动站位置。估计的小区中心位置可以用于在移动台的SPS接收机部分的暖或冷重启期间近似移动台的位置。

10. 发明申请

US20080200187A1 SYSTEM AND METHOD FOR ESTIMATING CELL CENTER POSITION FOR CELL ID BASED POSITIONING 有权
标题翻译：用于基于细胞识别的定位估计细胞中心位置的系统和方法
公开(公告)号：US20080200187A1
公开(公告)日：2008-08-21
申请号：US11676927
申请日：2007-02-20
申请人： Xiangdong Lin , Mangesh Chambarkar , Marlene Wan , Lionel Garin
发明人： Xiangdong Lin , Mangesh Chambarkar , Marlene Wan , Lionel Garin
IPC分类号： H04Q7/20
CPC分类号： H04W64/00 , G01S5/02 , G01S5/0242 , G01S5/0278 , G01S19/06
摘要： Systems and methods for estimating a cell center location in a wireless communication system having all interface to a satellite positioning system (“SPS”) such as for example, a Geosynchronous Positioning System (“GPS”). The wireless communication system provides service to mobile stations within a cell, each mobile station includes a SPS receiver. Examples of the systems and methods for estimating a cell center location analyze the mobile station locations in a cell as a uniform distribution of mobile station locations and calculate a statistical measure characterizing the mobile station locations as a function of the mobile station locations. In one example, the statistical measure is a maximum likelihood mobile station location. In another example, the statistical measure is the mean mobile station location in the cell. The estimated cell center location may be used to approximate the location of the mobile station during a warm or cold restart of the SPS receiver part of the mobile station.
摘要翻译：用于估计具有与诸如地球同步定位系统（“GPS”）的卫星定位系统（“SPS”）全部接口的无线通信系统中的小区中心位置的系统和方法。无线通信系统向小区内的移动台提供服务，每个移动站包括SPS接收机。用于估计小区中心位置的系统和方法的示例将小区中的移动站位置分析为移动站位置的均匀分布，并且计算表征作为移动站位置的函数的移动站位置的统计量度量。在一个示例中，统计测量是最大似然移动站位置。在另一示例中，统计测量是小区中的平均移动站位置。估计的小区中心位置可以用于在移动台的SPS接收机部分的暖或冷重启期间近似移动台的位置。

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