DE60331714D1 - Positions- und Geschwindigkeits-Kalman-Filter in Empfängern für ein globales satellitengestützes Navigationssystem - Google Patents

Positions- und Geschwindigkeits-Kalman-Filter in Empfängern für ein globales satellitengestützes Navigationssystem

Info

Publication number
DE60331714D1
DE60331714D1 DE60331714T DE60331714T DE60331714D1 DE 60331714 D1 DE60331714 D1 DE 60331714D1 DE 60331714 T DE60331714 T DE 60331714T DE 60331714 T DE60331714 T DE 60331714T DE 60331714 D1 DE60331714 D1 DE 60331714D1
Authority
DE
Germany
Prior art keywords
current
previous
receivers
navigation system
satellite navigation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
DE60331714T
Other languages
English (en)
Inventor
Thomas John Ford
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Novatel Inc
Original Assignee
Novatel Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Novatel Inc filed Critical Novatel Inc
Application granted granted Critical
Publication of DE60331714D1 publication Critical patent/DE60331714D1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Radio Relay Systems (AREA)
DE60331714T 2002-09-24 2003-09-02 Positions- und Geschwindigkeits-Kalman-Filter in Empfängern für ein globales satellitengestützes Navigationssystem Expired - Lifetime DE60331714D1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US10/253,161 US6664923B1 (en) 2002-09-24 2002-09-24 Position and velocity Kalman filter for use with global navigation satelite system receivers

Publications (1)

Publication Number Publication Date
DE60331714D1 true DE60331714D1 (de) 2010-04-29

Family

ID=29711660

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60331714T Expired - Lifetime DE60331714D1 (de) 2002-09-24 2003-09-02 Positions- und Geschwindigkeits-Kalman-Filter in Empfängern für ein globales satellitengestützes Navigationssystem

Country Status (4)

Country Link
US (1) US6664923B1 (de)
EP (1) EP1403654B1 (de)
AT (1) ATE461461T1 (de)
DE (1) DE60331714D1 (de)

Families Citing this family (42)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20050087784A (ko) * 2002-10-04 2005-08-31 시그네이브 피티와이 엘티디. 위성 기반 위치 지정 시스템
US7193559B2 (en) * 2003-01-21 2007-03-20 Novatel, Inc. Inertial GPS navigation system with modified kalman filter
US20050169415A1 (en) * 2004-01-30 2005-08-04 Agere Systems Inc. Timing error recovery system
US20050203702A1 (en) * 2004-03-12 2005-09-15 Sharpe Richard T. Method for backup dual-frequency navigation during brief periods when measurement data is unavailable on one of two frequencies
US8031112B2 (en) * 2004-03-19 2011-10-04 Purdue Research Foundation, Office Of Technology Commercialization System and method for high dynamic acquisition and tracking of signals from the global positioning system
US7490008B2 (en) * 2004-09-17 2009-02-10 Itt Manufacturing Enterprises, Inc. GPS accumulated delta range processing for navigation applications
EP2333583A1 (de) * 2006-03-06 2011-06-15 Qualcomm Incorporated Verfahren zur Positionserfassung mit Messstichen
US8600660B2 (en) * 2006-09-29 2013-12-03 Honeywell International Inc. Multipath modeling for deep integration
US8016653B2 (en) * 2007-02-01 2011-09-13 Sportvision, Inc. Three dimensional virtual rendering of a live event
US8237609B2 (en) * 2009-02-22 2012-08-07 Trimble Navigation Limited GNSS position coasting
CN101711369B (zh) * 2007-06-22 2012-11-21 特林布尔特拉萨特有限公司 位置跟踪设备和方法
US8725327B2 (en) * 2008-04-22 2014-05-13 Exelis Inc. Navigation system and method of obtaining accurate navigational information in signal challenging environments
WO2010096190A2 (en) 2009-02-22 2010-08-26 Trimble Navigation Limited Gnss surveying methods and apparatus
US9074897B2 (en) * 2009-06-15 2015-07-07 Qualcomm Incorporated Real-time data with post-processing
EP2336721A1 (de) * 2009-12-21 2011-06-22 Converteam Technology Ltd Fehlererkennungsverfahren
US8704707B2 (en) 2010-06-02 2014-04-22 Qualcomm Incorporated Position determination using measurements from past and present epochs
US9846241B2 (en) * 2010-07-30 2017-12-19 Deere & Company Navigation system and method using RTK with data received from a mobile base station
EP2815253B1 (de) 2012-02-17 2018-11-21 Topcon Positioning Systems, Inc. Verbesserung der positionierungsqualität von empfängern eines globalen navigationssatellitensystems
WO2013122498A1 (en) 2012-02-17 2013-08-22 Veitsel Vladimir Viktorovich Improving a positioning quality of a global navigation satellite system receivers
CN102928858B (zh) * 2012-10-25 2014-04-16 北京理工大学 基于改进扩展卡尔曼滤波的gnss单点动态定位方法
EP2995133B1 (de) * 2013-05-06 2018-09-05 Intel IP Corporation Zugangsnetzerkennung und -auswahl
US9174534B2 (en) 2013-06-03 2015-11-03 E-Aam Driveline Systems Ab System and method for determining a vehicle velocity parameter
US10231337B2 (en) 2014-12-16 2019-03-12 Inertial Sense, Inc. Folded printed circuit assemblies and related methods
RU2605457C1 (ru) * 2015-09-18 2016-12-20 Федеральное государственное казенное военное образовательное учреждение высшего профессионального образования "ВОЕННАЯ АКАДЕМИЯ СВЯЗИ имени Маршала Советского Союза С.М. Буденного" Министерства обороны Российской Федерации Способ определения местоположения пользовательского терминала с использованием двух спутников-ретрансляторов
CN105510950B (zh) * 2015-12-01 2016-08-17 中国人民解放军国防科学技术大学 一种基于共时钟接收机的实时精密定姿方法
US10203417B2 (en) * 2016-01-25 2019-02-12 Topcon Positioning Systems, Inc. Methods and apparatus for estimating motion parameters of GNSS receiver
US10816675B2 (en) * 2016-02-12 2020-10-27 Panasonic Intellectual Property Management Co., Ltd. Coordinate output method and coordinate output device
US10379225B2 (en) * 2016-03-18 2019-08-13 Deere & Company Satellite navigation receiver with improved ambiguity resolution
DE102017201886B3 (de) 2017-02-07 2018-05-24 Audi Ag Verfahren zur Ermittlung einer Genauigkeitsinformation eines Positionsvektors
US11747487B2 (en) * 2018-03-26 2023-09-05 Texas Instruments Incorporated GNSS receiver clock frequency drift detection
US10871576B2 (en) * 2018-05-16 2020-12-22 Qualcomm Incorporated Error mitigation in doppler based satellite positioning system measurements
DE102018111758A1 (de) * 2018-05-16 2019-11-21 Northrop Grumman Litef Gmbh Positionsbestimmung mittels Satellitennavigation
US10830902B2 (en) 2018-06-21 2020-11-10 Unicore Communications, Inc. Real-time kinematic using standalone global navigation satellite system receiver
US11714200B2 (en) 2020-03-18 2023-08-01 Honeywell International Inc. Single-difference based pre-filter of measurements for use in solution separation framework
US11460585B2 (en) * 2020-03-18 2022-10-04 Honeywell International Inc. Implementing single differences within a solution separation framework
US11671133B2 (en) 2020-10-16 2023-06-06 Deere & Company Adaptive narrowband and wideband interference rejection for satellite navigation receiver
US11742883B2 (en) 2020-10-16 2023-08-29 Deere & Company Adaptive narrowband interference rejection for satellite navigation receiver
US11750274B2 (en) 2020-10-16 2023-09-05 Deere & Company Adaptive narrowband interference rejection for satellite navigation receiver
CN115542354A (zh) * 2021-06-30 2022-12-30 博通集成电路（上海）股份有限公司 计算接收机位置-速度-时间结果的装置和方法
EP4187285A1 (de) * 2021-11-29 2023-05-31 Trimble Inc. Verfahren und systeme zum verarbeiten von zeitdifferenzierten beobachtungsdaten von navigationssatellitensystemen
US12066551B2 (en) 2022-02-18 2024-08-20 Deere & Company Multi-constellation, multi-frequency GNSS system for interference mitigation
CN115242297B (zh) * 2022-09-21 2022-11-25 腾讯科技（深圳）有限公司 移动终端的运动参数确定方法、装置、设备和存储介质

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4894662A (en) * 1982-03-01 1990-01-16 Western Atlas International, Inc. Method and system for determining position on a moving platform, such as a ship, using signals from GPS satellites
US6259991B1 (en) * 1999-02-10 2001-07-10 X-Cyte Inc. Environmental location system
US6529827B1 (en) * 1999-11-01 2003-03-04 Garmin Corporation GPS device with compass and altimeter and method for displaying navigation information
US6407699B1 (en) * 2000-04-14 2002-06-18 Chun Yang Method and device for rapidly extracting time and frequency parameters from high dynamic direct sequence spread spectrum radio signals under interference
US6427122B1 (en) * 2000-12-23 2002-07-30 American Gnc Corporation Positioning and data integrating method and system thereof

Also Published As

Publication number Publication date
US6664923B1 (en) 2003-12-16
EP1403654A1 (de) 2004-03-31
ATE461461T1 (de) 2010-04-15
EP1403654B1 (de) 2010-03-17

Similar Documents

Publication Publication Date Title
DE60331714D1 (de) Positions- und Geschwindigkeits-Kalman-Filter in Empfängern für ein globales satellitengestützes Navigationssystem
JP5295016B2 (ja) 全地球測位システム及び推測航法（ｇｐｓ＆ｄｒ）一体型ナビゲーションシステム、及び、移動体のナビゲーション情報を提供するための方法
CN201266089Y (zh) Ins/gps组合导航系统
AU2004203383B2 (en) Inertial GPS navigation system with modified kalman filter
ATE414916T1 (de) Verbesserte verarbeitung der gps-akkumulierten delta-range für navigationsanwendungen
CN106896386B (zh) Glonass频间偏差精确估计方法
CN103134491B (zh) Geo轨道转移飞行器sins/cns/gnss组合导航系统
JP2009515188A5 (de)
ATE398779T1 (de) Verfahren zur kombinierten verwendung eines lokalen rtk-systems und eines regionalen grossflächigen oder globalen trägerphasen- positionsbestimmungssystems
WO2009101843A1 (ja) 衛星航法／推測航法統合測位装置
US20110208424A1 (en) Road Map Feedback Corrections in Tightly Coupled GPS and Dead Reckoning Vehicle Navigation
ATE345487T1 (de) Navigationssystem und -verfahren zum verfolgen der position eines objektes
WO2019027726A8 (en) GPS NAVIGATION SYSTEM USING NON-LINEAR DISCRETE TIME TRACKING FILTER
EP2056121B1 (de) Vorrichtung zur positionierung einer mobilen einheit
CN102608642A (zh) 北斗/惯性组合导航系统
CN102508277A (zh) 精密单点定位与惯性测量紧组合导航系统及数据处理方法
GB2479851A (en) Method and apparatus for improving GPS receiver accuracy using an embedded map database
CN103235328A (zh) 一种gnss与mems组合导航的方法
CN103983997A (zh) 一种抗gps失效的车载组合导航方法
CN203869697U (zh) 基于gis技术的北斗/gps与ins组合车载导航定位系统
CN102654582A (zh) 一种联合导航系统及方法
CN202305821U (zh) 精密单点定位与惯性测量紧组合导航系统
CN102721974B (zh) 一种compass/gps双系统四星定位方法
CN104793225A (zh) 一种短暂非完备条件下基于多普勒测速的卫星导航定位方法
Takeyama et al. Trajectory estimation improvement based on time-series constraint of GPS Doppler and INS in urban areas

Legal Events

Date Code Title Description
8364 No opposition during term of opposition