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1. 发明申请

WO2019027726A1 GPS-BASED NAVIGATION SYSTEM A NONLINEAR DISCRETE-TIME TRACKING FILTER 审中-公开
公开(公告)号：WO2019027726A1
公开(公告)日：2019-02-07
申请号：PCT/US2018/043399
申请日：2018-07-24
申请人： THE CHARLES STARK DRAPER LABORATORY, INC.
发明人： GUSTAFSON, Donald, E.
IPC分类号： G01S19/30
CPC分类号： G01S19/215 , G01S19/26 , G01S19/30
摘要： A navigation system that utilizes a discrete-time nonlinear filter to obtain a navigation solution using GPS signals and optional aiding sensor data is described. A nonlinear filter offers improved accuracy over linearized filters at low signal to noise ratios. A discrete-time nonlinear filter guarantees positive-definite calculated covariance matrices under all conditions without requiring any compensation or added parameters. The navigation system receives a modernized global navigation satellite system (GNSS) signal and correlates a digitized copy of the GNSS signal to generate ranging code measurements. A conditional probability density function for the code measurements is determined and used to calculate arbitrary moments of code delay and other expected values. The code measurements and the conditional probability density function are processed in a nonlinear tracking filter to generate recursive navigation state updates, which can be used by an output device, such as a display, to present navigation and tracking information.

2. 发明申请

WO2018106301A2 METHODS AND DEVICES FOR COMPENSATING MISADJUSTMENT OF A GNSS DEVICE 审中-公开
公开(公告)号：WO2018106301A2
公开(公告)日：2018-06-14
申请号：PCT/US2017/050470
申请日：2017-09-07
申请人： INTEL CORPORATION
发明人： HAREL, Ran , DAHAN, Tomer
CPC分类号： G01S19/235 , G01S19/26 , G01S19/29
摘要： This disclosure relates to a control device for compensating misadjustment of a tunable code loop filter of a portable global navigation satellite system (GNSS) device due to movement of the GNSS device, the control device comprising: a waveform estimator configured to estimate a signal-to-noise ratio (SNR) waveform based on an SNR of a radio signal received by the GNSS device; and a controller configured to tune the code loop filter based on the estimated SNR waveform to compensate for misadjustment of the code loop filter due to movement of the GNSS device.

3. 发明申请

WO2018052738A1 DETECTION OF OUTLIER RANGE MEASUREMENTS USING SPATIAL DISPLACEMENT DATA 审中-公开
标题翻译：用空间位移数据检测出口范围的测量
公开(公告)号：WO2018052738A1
公开(公告)日：2018-03-22
申请号：PCT/US2017/049842
申请日：2017-09-01
申请人： QUALCOMM INCORPORATED
发明人： NIESEN, Urs , GARIN, Lionel Jacques , JOSE, Jubin
IPC分类号： G01S19/20 , G01S19/22
CPC分类号： G01S19/22 , G01S19/26 , G01S19/29
摘要： The disclosure generally relates to position sensors, and more particularly to outlier detection using spatial displacement data. An apparatus for use in position sensing may include a displacement sensor, a positioning signal receiver having a receiver clock, a memory, and a processor coupled to the displacement sensor, the positioning signal receiver, and the memory. The processor and memory may be configured to calculate a change in a receiver clock bias of the receiver clock based on range measurements and spatial-based displacement data, propagate a first range measurement based, at least in part, on the spatial-based displacement data and the change in the receiver clock bias, and determine an outlier range measurement based, at least in part, on the propagated first range measurement.
摘要翻译：本公开总体上涉及位置传感器，并且更具体地涉及使用空间位移数据的异常值检测。用于位置感测的装置可以包括位移传感器，具有接收器时钟的定位信号接收器，存储器以及耦合到位移传感器，定位信号接收器和存储器的处理器。处理器和存储器可以被配置为基于距离测量结果和基于空间的位移数据来计算接收器时钟的接收器时钟偏差的变化，至少部分地基于基于空间的位移数据来传播第一距离测量和接收机时钟偏差的变化，并且至少部分地基于传播的第一距离测量来确定异常值范围测量。

4. 发明申请

WO2017092801A1 IMPROVED NAVIGATION FOR A VEHICLE BY IMPLEMENTING TWO OPERATING MODES 审中-公开
标题翻译：通过实施两种操作模式改进了车辆的导航
公开(公告)号：WO2017092801A1
公开(公告)日：2017-06-08
申请号：PCT/EP2015/078355
申请日：2015-12-02
申请人： HUSQVARNA AB
发明人： HOLMSTRÖM, Jonathan , REIGO, Peter
IPC分类号： G01S19/48 , G01S19/26 , G01S19/14
CPC分类号： G01S19/48 , G01S19/14 , G01S19/26
摘要： A robotic lawnmower (100) for movable operation within a work area (205) has a satellite navigation device (190), a landmark scanner (193) and a controller (110). The controller causes the robotic lawnmower (100) to movably operate within the work area (205) in a first operating mode, the first operating mode being based on positions determined from satellite signals received by the satellite navigation device (190). The controller determines that a position cannot be reliably determined based on satellite signals received by the satellite navigation device (190), and in response thereto causes the robotic lawnmower (100) to movably operate within the work area (205) in a second operating mode. In the second operating mode, the controller receives scanning information from said landmark scanner (193) and identifies at least one landmark based on the received scanning information and determines a landmark-based position estimate. The controller defines a search space using the landmark-based position estimate, and the satellite navigation device (190) is reconstructed based on the defined search space. Once the satellite navigation device (190) has been reconstructed, the controller causes the robotic lawnmower (100) to again operate in the first operating mode.
摘要翻译：用于工作区域（205）内的可移动操作的机器人割草机（100）具有卫星导航装置（190），地标扫描器（193）和控制器（110）。控制器使机器人割草机（100）在第一操作模式中在工作区域（205）内可移动地操作，第一操作模式基于由卫星导航装置（190）接收的卫星信号确定的位置。控制器确定基于由卫星导航装置（190）接收的卫星信号不能可靠地确定位置，并且响应于此，机器人割草机（100）在第二操作模式（205）中在工作区域（205）内可移动地操作。在第二操作模式中，控制器从所述地标扫描仪（193）接收扫描信息，并且基于所接收的扫描信息来识别至少一个地标并且确定基于地标的位置估计。控制器使用基于地标的位置估计来定义搜索空间，并且基于定义的搜索空间来重建卫星导航装置（190）。一旦卫星导航装置（190）已被重建，控制器使机器人割草机（100）再次在第一操作模式下操作。

5. 发明申请

WO2010102681A1 GNSS RECEIVER DESIGN TESTING 审中-公开
标题翻译： GNSS接收机设计测试
公开(公告)号：WO2010102681A1
公开(公告)日：2010-09-16
申请号：PCT/EP2009/062380
申请日：2009-09-24
申请人： NORDNAV TECHNOLOGIES AB , MITELMAN, Alexander , HAKANSON, Robin , KARLSSON, David , LINDSTRÖM, Fredrik , RENSTRÖM, Thomas , STAHLBERG, Christian , TIDD, James Burgess
发明人： MITELMAN, Alexander , HAKANSON, Robin , KARLSSON, David , LINDSTRÖM, Fredrik , RENSTRÖM, Thomas , STAHLBERG, Christian , TIDD, James Burgess
IPC分类号： H04B17/00 , G01S1/00
CPC分类号： G01S19/23 , G01S19/13 , G01S19/26 , H04B17/27
摘要： A GNSS receiver design is tested, which design includes software (135) for generating position/time related data (DPT) based on raw digital data (dRAw) when the software (135) is executed in a processing unit (130) of the receiver. GNSS signals (SRF) are received via a radio frequency input device (105) while moving the radio frequency input device (105) along a route trajectory. The received GNSS signals (SRF) are fed to a radio-frequency front end (110) of a representative example of a receiver unit built according to the design to be tested. The radio-frequency front end (110) produces raw digital data (dRAw) representing the received GNSS signals (SRF), and the raw digital data (dRAw) are stored in a primary data storage (210) as a source file (Fsc). The source file (Fsc) is read from the primary data storage (210), and the source file (Fsc) is processed by means of the software (135) to generate at least one set of position/time related data (DPT). Each set of position/time related data (DPT) is stored to a respective result file (Fres), and the result file(s) (Fres) is(are) evaluated against reference data (Dref) to determine the perfor mance of the design.
摘要翻译：测试GNSS接收机设计，该设计包括当在接收机的处理单元（130）中执行软件（135）时，基于原始数字数据（dRAw）生成位置/时间相关数据（DPT）的软件（135）。在沿着路线轨迹移动射频输入装置（105）的同时，经由射频输入装置（105）接收GNSS信号（SRF）。接收的GNSS信号（SRF）被馈送到根据待测试设计构建的接收机单元的代表性示例的射频前端（110）。射频前端（110）产生表示接收到的GNSS信号（SRF）的原始数字数据（dRAw），原始数字数据（dRAw）作为源文件（Fsc）存储在主数据存储器（210）中，。从主数据存储器（210）读取源文件（Fsc），并通过软件（135）处理源文件（Fsc）以生成至少一组位置/时间相关数据（DPT）。将每组位置/时间相关数据（DPT）存储到相应的结果文件（Fres）中，并且根据参考数据（Dref）对结果文件（Fres）进行评估，以确定设计。

6. 发明申请

WO2007076541A2 TIMING CALIBRATION FOR FAST SIGNAL REACQUISITION IN NAVIGATIONAL RECEIVERS 审中-公开
标题翻译：导航接收机快速信号反应的时序校准
公开(公告)号：WO2007076541A2
公开(公告)日：2007-07-05
申请号：PCT/US2006/062735
申请日：2006-12-29
申请人： CENTRALITY COMMUNICATIONS, INC. , XIONG, Lianxue , WANG, Chi-shin , JIA, Zhike , DONG, Lei , LIU, Jingbin
发明人： XIONG, Lianxue , WANG, Chi-shin , JIA, Zhike , DONG, Lei , LIU, Jingbin
IPC分类号： G01S5/14
CPC分类号： G01S19/235 , G01S19/23 , G01S19/26 , G01S19/34
摘要： The present invention provides GPS receivers with clock calibration for fast reacquisition of GPS signals after waking up from a sleep state or coming out of signal blockage. In a preferred embodiment, a GPS receiver comprises a local clock based on an oscillator, e.g., crystal oscillator. The GPS receiver calculates a clock calibration value based on a computed oscillator count for the period during which the GPS receiver is in the sleep state or the signal is blocked. This clock calibration value is used to calibrate the local clock after the GPS receiver wakes up or comes out of signal blockage for fast reacquisition of GPS signals.
摘要翻译：本发明提供具有时钟校准的GPS接收机，用于在从休眠状态唤醒或从信号阻塞出来之后快速重新捕获GPS信号。在优选实施例中，GPS接收机包括基于诸如晶体振荡器的振荡器的本地时钟。 GPS接收机基于GPS接收机处于睡眠状态或信号被阻塞的周期的计算振荡器计数来计算时钟校准值。此时钟校准值用于在GPS接收机唤醒后出现信号阻塞以快速重新获取GPS信号时校准本地时钟。

7. 发明申请

WO2005062070A9 METHOD AND SYSTEM FOR A DATA INTERFACE FOR AIDING A SATELLITE POSITIONING SYSTEM RECEIVER 审中-公开
公开(公告)号：WO2005062070A9
公开(公告)日：2005-08-18
申请号：PCT/US2004032917
申请日：2004-10-05
申请人： SIRF TECH INC , COLLEY JAIME , BOERYD LARS
发明人： COLLEY JAIME , BOERYD LARS
IPC分类号： G01S19/20 , G01S5/14 , G01S19/49
CPC分类号： G01S19/49 , G01S19/05 , G01S19/13 , G01S19/26
摘要： The invention described herein relates to aiding a Satellite Positioning System (SPS) receiver of a platform with a data interface to the platform data. The platform, for example, could be a vehicle, ship, aircraft, or a pedestrian. The SPS receiver would be used to track the location of the platform. The data interface would facilitate access by the SPS receiver to the data of the platform, and the SPS receiver in turn could provide SPS data (such as position, speed, and heading) to the platform. A further aspect of the invention includes hardware or software used by the data interface and the SPS receiver to provide, format, time-stamp, synchronize, and match platform data or SPS receiver data.

8. 发明申请

WO2005071431A1 INERTIAL GPS NAVIGATION SYSTEM WITH MODIFIED KALMAN FILTER 审中-公开
标题翻译：具有改进的卡尔曼滤波器的惯性GPS导航系统
公开(公告)号：WO2005071431A1
公开(公告)日：2005-08-04
申请号：PCT/CA2004/000072
申请日：2004-01-23
申请人： NOVATEL INC. , FORD, Thomas, John , HAMILTON, Jason , BOBYE, Michael
发明人： FORD, Thomas, John , HAMILTON, Jason , BOBYE, Michael
IPC分类号： G01S5/14
CPC分类号： G01S19/47 , G01C21/165 , G01S19/26 , G01S19/44
摘要： An inertial ("INS")/GPS receiver includes an INS sub-system which incorporates, into a modified Kalman filter, GPS observables and/or other observables that span previous and current times. The INS filter utilizes the observables to update position information relating to both the current and the previous times, and to propagate the current position, velocity and attitude related information. The GPS observable may be delta phase measurements, and the other observables may be, for example, wheel pick-offs (or counts of wheel revolutions) that are used to calculate along track differences, and so forth. The inclusion of the measurements in the filter together with the current and the previous position related information essentially eliminates the effect of system dynamics from the system model. A position difference can thus be formed that is directly observable by the phase difference or along track difference measured between the previous and current time epochs. Further, the delta phase measurements can be incorporated in the INS filter without having to maintain GPS carrier ambiguity states. The INS sub-system and the GPS sub-system share GPS and INS position and covariance information. The receiver time tags the INS and any other non-GPS measurement data with GPS time, and then uses the INS and GPS filters to produce INS and GPS position information that is synchronized in time. The GPS/INS receiver utilizes GPS position and associated covariance information and the GPS and/or other observables in the updating of the INS filter. The INS filter, in turn, provides updated system error information that is used to propagate inertial current position, velocity and attitude information. Further, the receiver utilizes the inertial position, velocity and covariance information in the GPS filters to speed up GPS satellite signal re-acquisition and associated ambiguity resolution operations.
摘要翻译：惯性（“INS”）/ GPS接收机包括INS子系统，其将改进的卡尔曼滤波器并入到可以观察的GPS观测器和/或其他可观测量，其可以跨越先前的和当前的时间。 INS过滤器利用可观测值来更新与当前和之前的时间有关的位置信息，并且传播当前位置，速度和态度相关信息。 GPS可观测可以是增量相位测量，而其它可观测量可以是例如用于沿着轨迹差异计算的轮子拾取（或车轮转数）），等等。将测量结果与当前和先前的位置相关的信息一起纳入过滤器，基本上消除了系统模型的系统动力学的影响。因此可以形成通过在先前和当前时间段之间测量的相位差或跟踪差可直接观察到的位置差异。此外，Δ相位测量可以并入INS滤波器，而不必维护GPS载波模糊状态。 INS子系统和GPS子系统共享GPS和INS位置和协方差信息。接收机时间使用GPS时间标记INS和任何其他非GPS测量数据，然后使用INS和GPS滤波器来产生时间同步的INS和GPS位置信息。 GPS / INS接收机在更新INS滤波器时使用GPS位置和相关协方差信息以及GPS和/或其他可观察值。 INS过滤器又提供用于传播惯性当前位置，速度和姿态信息的更新的系统错误信息。此外，接收机利用GPS滤波器中的惯性位置，速度和协方差信息来加速GPS卫星信号重新获取和相关的模糊度解析操作。

9. 发明申请

WO02086533A3 INTEGRATED GPS AND IGS SYSTEM AND METHOD 审中-公开
标题翻译：综合GPS和IGS系统和方法
公开(公告)号：WO02086533A3
公开(公告)日：2003-02-27
申请号：PCT/US0212783
申请日：2002-04-24
申请人： FIBERSENSE TECHNOLOGY CORP , HUMPHREY IAN , PERLMUTTER MICHAEL S
发明人： HUMPHREY IAN , PERLMUTTER MICHAEL S
IPC分类号： G01C21/16 , G01S5/14 , G01S19/26 , G01S19/48 , G01S19/49
CPC分类号： G01S19/49 , G01C21/165 , G01S19/26
摘要： A method and system for integrating a IGS system and a GPS receiver. A predictive filter can measure signal quality from the GPS receiver and accordingly provide parameter estimates by appropriately weighting signal data from the GPS receiver and the IGS system. When GPS signal quality is high, the GPS signal data can be provided proportionately greater weight than the IGS system data, and the IGS/GPS integrated filter outputs can provide compensation to the IGS system for bias errors, etc. Alternately, if the GPS signal data is degraded or unavailable, the IGS signal data can be provided proportionately greater weight than the GPS signal data to provide higher quality inputs to the GPS receiver trackers than would otherwise be available.
摘要翻译：一种用于集成IGS系统和GPS接收器的方法和系统。预测滤波器可以测量来自GPS接收机的信号质量，并通过适当地加权来自GPS接收机和IGS系统的信号数据来提供参数估计。当GPS信号质量高时，可以提供比IGS系统数据更大的权重的GPS信号数据，并且IGS / GPS集成滤波器输出可以向IGS系统提供偏差误差等的补偿。或者，如果GPS信号数据降级或不可用，IGS信号数据可以比GPS信号数据成比例地提供更大的权重，以向GPS接收机跟踪器提供比否则可用的更高质量的输入。

10. 发明申请

WO02046789A1 POSITIONING APPARATUS AND METHOD 审中-公开
标题翻译：定位装置和方法
公开(公告)号：WO02046789A1
公开(公告)日：2002-06-13
申请号：PCT/GB2001/005430
申请日：2001-12-07
IPC分类号： G01S1/00 , G01S5/00 , G01S5/14 , G01S19/09 , G01S19/26 , G01S19/29 , G01S19/42 , H04B1/707 , H04L27/00
CPC分类号： H04B1/7085 , G01S19/09 , G01S19/26 , G01S19/29 , G01S19/42 , H04L27/0014 , H04L2027/0065
摘要： Positioning apparatus (10) for use in a moving vehicle includes circuitry arranged to process signals received from GPS satellites, and to provide signals in response thereto from which the position of the apparatus (10) can be calculated at a remote station (Figure 2). The apparatus (10) provides, for each satellite in view, carrier frequency estimation signals, samples of the carrier signals and code stacking signals to a data transmission device (14), which modulates the signals onto a carrier prior to transmission to the remote station. A carrier loop reconstruction device and location processor in the remote station co-operate to determine the location of the positioning apparatus. A memory device (32) at the remote station may record the signals received from the vehicle over a period of time, for subsequent carrier loop reconstruction and location determination.
摘要翻译：用于移动车辆的定位装置（10）包括被布置成处理从GPS卫星接收的信号并且响应于此提供信号的电路，可以从远程站（图2）计算装置（10）的位置，。该装置（10）为视频中的每个卫星提供载波频率估计信号，载波信号的样本和代码堆叠信号到数据传输装置（14），其在传输到远程站之前将信号调制到载波上。远程站中的载波回路重建设备和位置处理器协作以确定定位设备的位置。远程站处的存储设备（32）可以在一段时间内记录从车辆接收到的信号，以便后续的载波环重建和位置确定。

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