JP6297768B2 - Ｇｎｓｓデバイスにおける衛星信号マルチパス緩和 - Google Patents

Ｇｎｓｓデバイスにおける衛星信号マルチパス緩和 Download PDF

Info

Publication number
JP6297768B2
JP6297768B2 JP2011255021A JP2011255021A JP6297768B2 JP 6297768 B2 JP6297768 B2 JP 6297768B2 JP 2011255021 A JP2011255021 A JP 2011255021A JP 2011255021 A JP2011255021 A JP 2011255021A JP 6297768 B2 JP6297768 B2 JP 6297768B2
Authority
JP
Japan
Prior art keywords
gnss
data
satellite
satellites
jamming
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.)
Active
Application number
JP2011255021A
Other languages
English (en)
Japanese (ja)
Other versions
JP2012112959A (ja
JP2012112959A5 (enExample
Inventor
アシュイェー ジャバド
アシュイェー ジャバド
グリブコフ ミカイル
グリブコフ ミカイル
Original Assignee
ジャバド ジーエヌエスエス， インコーポレイテッド
ジャバド ジーエヌエスエス， インコーポレイテッド
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 ジャバド ジーエヌエスエス， インコーポレイテッド, ジャバド ジーエヌエスエス， インコーポレイテッド filed Critical ジャバド ジーエヌエスエス， インコーポレイテッド
Publication of JP2012112959A publication Critical patent/JP2012112959A/ja
Publication of JP2012112959A5 publication Critical patent/JP2012112959A5/ja
Application granted granted Critical
Publication of JP6297768B2 publication Critical patent/JP6297768B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/22—Multipath-related issues
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • 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
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/28—Satellite selection

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
JP2011255021A 2010-11-24 2011-11-22 Ｇｎｓｓデバイスにおける衛星信号マルチパス緩和 Active JP6297768B2 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US41720910P 2010-11-24 2010-11-24
US61/417,209 2010-11-24

Publications (3)

Publication Number Publication Date
JP2012112959A JP2012112959A (ja) 2012-06-14
JP2012112959A5 JP2012112959A5 (enExample) 2014-12-18
JP6297768B2 true JP6297768B2 (ja) 2018-03-20

Family

ID=45350650

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2011255021A Active JP6297768B2 (ja) 2010-11-24 2011-11-22 Ｇｎｓｓデバイスにおける衛星信号マルチパス緩和

Country Status (3)

Country Link
US (1) US8717233B2 (enExample)
EP (1) EP2458406A1 (enExample)
JP (1) JP6297768B2 (enExample)

Families Citing this family (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USD697438S1 (en) * 2012-07-31 2014-01-14 Trimble Navigation Limited Global navigation satellite system receiver
DE102012224104A1 (de) * 2012-12-20 2014-06-26 Continental Teves Ag & Co. Ohg Verfahren zum Bereitstellen eines GNSS-Signals
US9885789B2 (en) * 2013-03-14 2018-02-06 Google Llc Accounting for atmospheric and terrestrial obstacles in geographic positioning
US9857474B2 (en) * 2013-03-14 2018-01-02 Microsoft Technology Licensing, Llc Using satellite visibility data for improved location accuracy
WO2014151112A1 (en) * 2013-03-15 2014-09-25 Nextnav, Llc Systems and methods for maintaining time synchronization
US9036682B2 (en) 2013-05-03 2015-05-19 Deere & Company Phase multi-path mitigation
US9329274B2 (en) 2013-07-09 2016-05-03 Honeywell International Inc. Code minus carrier multipath observation for satellite exclusion
US9720093B2 (en) 2013-08-23 2017-08-01 Javad Gnss, Inc. Land surveying using GNSS device
US10386497B2 (en) 2013-10-08 2019-08-20 Javad Gnss, Inc. Automated localization for GNSS device
US9671497B2 (en) 2014-05-09 2017-06-06 Javad Gnss, Inc. Synchronization using multiple offset GNSS receiver channels
NO340898B1 (no) * 2014-06-19 2017-07-10 Kongsberg Seatex As Fremgangsmåte og system for kvalitetskontroll og korreksjon av posisjonsdata fra navigasjonssatellitter i områder med hindrende objekter
WO2016011411A2 (en) 2014-07-17 2016-01-21 Javad Gnss, Inc. Gnss surveying using rtk engine verification
US10613231B2 (en) 2014-12-18 2020-04-07 Javad Gnss, Inc. Portable GNSS survey system
US9804270B2 (en) 2015-08-31 2017-10-31 Qualcomm Incorporated Sensor-based GNSS view zone selection
US10408944B2 (en) 2016-01-29 2019-09-10 Javad Gnss, Inc. Hybrid RTK
US10514467B2 (en) 2016-04-08 2019-12-24 Javad Gnss, Inc. Up sampling reference station data
WO2017205839A1 (en) 2016-05-27 2017-11-30 Javad Gnss, Inc Magnetic locator for gnss device
US10754045B2 (en) 2016-08-09 2020-08-25 Javad Gnss, Inc. Clustering GNSS data
CN117310751A (zh) 2016-12-01 2023-12-29 谷歌有限责任公司 用于位置确定的方法和系统
US10495762B2 (en) * 2017-05-19 2019-12-03 Qualcomm Incorporated Non-line-of-sight (NLoS) satellite detection at a vehicle using a camera
EP3714292A2 (en) 2017-11-20 2020-09-30 Javad GNSS, Inc. Spoofing detection and rejection
US11740321B2 (en) * 2017-11-30 2023-08-29 Apple Inc. Visual inertial odometry health fitting
US11656076B2 (en) 2018-05-15 2023-05-23 Javad Gnss, Inc. Method of calibrating a total station using a GNSS device
KR102314678B1 (ko) 2019-02-25 2021-10-19 한국전자통신연구원 위성항법 다중경로오차 감쇄 방법 및 장치
US11808866B2 (en) 2019-08-16 2023-11-07 Javad Gnss, Inc. Total station with GNSS device
US11513234B2 (en) * 2019-09-13 2022-11-29 Apple Inc. Estimating device position in multipath environments
US11619745B2 (en) * 2019-10-29 2023-04-04 Qualcomm Incorporated Camera-based GNSS environment detector
DE102019220051A1 (de) * 2019-12-18 2021-06-24 Robert Bosch Gmbh Verfahren zur Bestimmung der Sichtbarkeit eines GNSS-Satelliten und Verfahren zur hochgenauen Positionsbestimmung sowie Computerprogramm, elektronisches Speichermedium und Vorrichtung
US11513237B2 (en) * 2020-07-17 2022-11-29 Trimble Inc. GNSS satellite line of sight detection
WO2022141535A1 (zh) * 2020-12-31 2022-07-07 深圳市大疆创新科技有限公司 可移动平台的定位方法、可移动平台及存储介质
US11809198B2 (en) * 2021-05-10 2023-11-07 Trimble Inc. Hybrid sky and ground navigation for machine employing satellite positioning
CN113253306B (zh) * 2021-06-07 2021-10-08 中国人民解放军国防科技大学 模拟gnss多径信道的方法及装置
US20230059402A1 (en) * 2021-08-19 2023-02-23 Here Global B.V. Method, apparatus, and system for providing increased accuracy for a positioning receiver in a multipath signal environment
US12245050B2 (en) 2021-09-16 2025-03-04 Apple Inc. Canopy coverage determination for improved wireless connectivity
CN117826207A (zh) * 2024-01-03 2024-04-05 上海华测导航技术股份有限公司 定位方法、装置、电子设备及存储介质

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001289652A (ja) * 2000-04-07 2001-10-19 Honda Motor Co Ltd ナビゲーション装置
JP4004316B2 (ja) * 2002-03-20 2007-11-07 株式会社トプコン 測量装置及び測量装置を用いて画像データを取得する方法
JP3761545B2 (ja) 2003-07-07 2006-03-29 ファナック株式会社 工作機械の自動工具交換装置
JP4391458B2 (ja) * 2005-09-29 2009-12-24 三菱電機株式会社 測位装置、測位方法および測位プログラム
JP2007333636A (ja) * 2006-06-16 2007-12-27 Mitsubishi Electric Corp 路側装置、端末装置およびｄｇｐｓ測位システム
JP2008096110A (ja) * 2006-10-05 2008-04-24 Alpine Electronics Inc 測位装置、カーナビゲーション装置及び測位方法
US8606498B2 (en) 2007-02-16 2013-12-10 Javad Gnss, Inc. Path approximation for planar motion of a ground vehicle
US8106936B2 (en) * 2007-03-16 2012-01-31 Kollmorgen Corporation Panoramic video imaging and display system
WO2009017393A1 (en) * 2007-07-31 2009-02-05 Tele Atlas B.V. Method and device for determining a position
US8120527B2 (en) * 2008-01-30 2012-02-21 Javad Gnss, Inc. Satellite differential positioning receiver using multiple base-rover antennas
JP2009192448A (ja) * 2008-02-18 2009-08-27 Tama Art Univ 情報表示装置及び情報提供システム
AT507871B1 (de) * 2009-02-04 2011-03-15 Riegl Laser Measurement Sys Verfahren und anlage zur positionsbestimmung
US9250328B2 (en) 2009-09-30 2016-02-02 Javad Gnss, Inc. Graphics-aided remote position measurement with handheld geodesic device

Also Published As

Publication number Publication date
US20120293365A1 (en) 2012-11-22
JP2012112959A (ja) 2012-06-14
US8717233B2 (en) 2014-05-06
EP2458406A1 (en) 2012-05-30

Similar Documents

Publication Publication Date Title
JP6297768B2 (ja) Ｇｎｓｓデバイスにおける衛星信号マルチパス緩和
JP6016264B2 (ja) 視覚ステークアウト
JP5901006B2 (ja) 手持ち全地球位置決定システムデバイス
JP5688793B2 (ja) 関心のある地点の位置を決定するハンドヘルド測地装置、コンピュータ実装方法およびコンピュータ読み取り可能な記憶媒体
JP6283152B2 (ja) ハンドヘルド測地デバイスによるグラフィック支援遠隔位置測定
CN107850673B (zh) 视觉惯性测距姿态漂移校准
US7973705B2 (en) Marine bump map display
CN111624630B (zh) 基于gnss的选星方法、装置、终端及存储介质
US20120026322A1 (en) Method, tool, and device for determining the coordinates of points on a surface by means of an accelerometer and a camera
EP2875317A2 (en) Sky polarization sensor for absolute orientation determination
US10228252B2 (en) Method and apparatus for using multiple filters for enhanced portable navigation
US20160041268A1 (en) Gnss device with proximity sensor for initiating data collection
US20190353798A1 (en) Total station with gnss device
US12360251B2 (en) GNSS positioning methods and devices using PPP-RTK, RTK, SSR, or like correction data
KR101643195B1 (ko) 수중 객체를 탐지하기 위한 헬멧 장치 및 이를 위한 방법
US8903163B2 (en) Using gravity measurements within a photogrammetric adjustment
WO2015168451A1 (en) Locally measured movement smoothing of gnss position fixes
US20180295473A1 (en) Condition based accurate indoor positioning
RU2007149048A (ru) Навигационное устройство с информацией, получаемой от камеры
JP6336810B2 (ja) 携帯型撮影装置及び撮影プログラム
US20250067880A1 (en) Satellite measurement error detection and correction
KR20170061547A (ko) 수중 객체를 탐지하기 위한 웨어러블 장치 및 이의 제어 방법

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20141031

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20141031

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20150825

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20150929

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20151217

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20160328

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20160824

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20161122

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20170117

A02 Decision of refusal

Free format text: JAPANESE INTERMEDIATE CODE: A02

Effective date: 20170626

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20171026

A911 Transfer to examiner for re-examination before appeal (zenchi)

Free format text: JAPANESE INTERMEDIATE CODE: A911

Effective date: 20171102

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20180125

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20180222

R150 Certificate of patent or registration of utility model

Ref document number: 6297768

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250