WO2006113689A2 - Enhanced gnss signal processing - Google Patents
Enhanced gnss signal processing Download PDFInfo
- Publication number
- WO2006113689A2 WO2006113689A2 PCT/US2006/014519 US2006014519W WO2006113689A2 WO 2006113689 A2 WO2006113689 A2 WO 2006113689A2 US 2006014519 W US2006014519 W US 2006014519W WO 2006113689 A2 WO2006113689 A2 WO 2006113689A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- image
- gnss
- region
- sky
- expected location
- Prior art date
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/28—Satellite selection
Definitions
- Figure 3 shows a a composite image in accordance with an embodiment of the invention
- Figure 5 shows a flow chart in accordance with a further embodiment of the invention.
- Figure 6 shows in more detail an embodiment of a portion of the flow chart of Figure 5;
- Figure 7 shows in more detail a further embodiment of a portion of the flow chart of Figure 5;
- Figure 8 shows in more detail a further embodiment of a portion of the flow chart of Figure 5;
- GLONASS comprises the Glonass satellite navigation system currently operated by the Russian Federation ministry of Defense.
- the ephemeris data describes the orbits of the GNSS satellites so that at any given time the respective position of each GNSS satellite can be determined. Whether from GNSS receiver 245 or from another source, satellite position data 250 is supplied to comparator 225.
- Comparator 225 thus is provided with the image represented by image data 220, with image orientation data 230 so that azimuthal orientation of the image can be determined, and with satellite position data so that an expected position of each satellite can be determined.
- These information sources enable the expected position of each satellite to be compared with a corresponding region of the image. Usability of the signals of each satellite is classified accordingly. For example, if the expected satellite location corresponds to a region of the image representing unobstructed sky, the satellite's signals are classified as usable; if not, the satellite's signals are classifed as non-usable or suspect. Comparator 225 provides satellite usability classification data 255 indicating for each satellite whether its signals are, for example, usable of suspect or non-usable. Classification is described below in more detail.
- FIG. 3 shows that regions of composite image 300 corresponding to the expected positions of satellites 3 and 22 represent unobstructed sky.
- a GNSS antenna located near imaging apparatus 200 can be assumed to have a line-of-sight view of satellites 3 and 22 and their signals can be classified as usable.
- the region of image 310 corresponding to the expected position of satellite 12 represents a building.
- a GNSS antenna located near imaging apparatus 200 can be assumed to have its view of satellite 12 blocked.
- a signal received from satellite 12 can thus be classified as unusable due to likelihood of multipath reception.
- the region of image 310 corresponding to the expected position of satellites 7, 8 and 10 represents tree canopy.
- a GNSS antenna located near imaging apparatus 200 can be assumed to have its view of satellites 7, 8 and 10 at least partially blocked. A signal received from satellites 7, 8 and 10 can thus be classified as suspect due to likelihood of signal attenuation and/or refraction.
- Satellite usability classification data 255 can be passed to a data store 265 as indicated by arrow 270.
- Raw and/or pre-processed GNSS data from receiver 245 can also be passed for storage as indicated by arrow 275.
- a processor 280 calculates fixes from the stored GNSS data, giving preference to satellite signals in accordance with the satellite usability classification.
- Processor 280 may include a display screen 285 or other suitable element for displaying images and/or data.
- Processor 280 can be for example a laptop computer physically located near receiver 245 or can be a computer system at a remote site such as an office environment where post-processing is to be performed.
- Comparator 225 can be implemented in a variety of ways, including but not limited to software instructions executed on a processor within imaging apparatus 200, on a processor within GNSS receiver 245, and/or on a separate processor 280.
- Figure 6 shows in more detail an embodiment of a portion of the flow chart of Figure 5 labeled 525-1.
- a region r of the image corresponding to location of satellite n at time t is determined.
- the region can be just a few pixels surrounding the expected location of the satellite or a somewhat larger image patch including the expected location of the satellite. Processing burden is thereby less than would be needed to evaluate the entire image.
- Image data 610 for region r is evaluated at 615 and each satellite is classified appropriately.
- Figure 7 shows in more detail an embodiment of a portion of the flow chart of Figure 5 labeled 525-2 in which a composite image is prepared, for example a composite image as illustrated in Figure 3.
- Image data 510, image orientation data 515 and satellite position data 520 for time t are acquired and, at 705, the expected satellite locations are overlaid on the image to produce composite image data 710.
- the composite image data are evaluated and each satellite is classified appropriately.
- Figure 8 shows in more detail an embodiment of a portion of the flow chart of Figure 5 in which a composite image is displayed for manual selection of satellites, for example a composite image as illustrated in Figure 3.
- Image data 510, image orientation data 515 and satellite position data 520 for time t are acquired and, at 805, the expected satellite locations are overlaid on the image to produce composite image data 810.
- the composite image data are displayed for manual examination on a composite image display 820.
- a human user enters satellite classifications via input device 825.
- the user selections are received and each satellite is classified accordingly.
- Composite image display 820 may also indicate a proposed classification for the human user to confirm or override, which may be useful for example in post-processing to examine the effect of including, excluding or de- weighting the signals from a satellite.
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)
- Studio Devices (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/885,792 US7541975B2 (en) | 2005-04-17 | 2006-04-17 | Enhanced GNSS signal processing |
CN2006800127735A CN101160535B (en) | 2005-04-17 | 2006-04-17 | Method and apparatus of management of GNSS signal |
DE112006000941.9T DE112006000941B4 (en) | 2005-04-17 | 2006-04-17 | Improved GNSS signal processing |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US67240105P | 2005-04-17 | 2005-04-17 | |
US60/672,401 | 2005-04-17 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2006113689A2 true WO2006113689A2 (en) | 2006-10-26 |
WO2006113689A3 WO2006113689A3 (en) | 2007-01-04 |
Family
ID=37115855
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2006/014519 WO2006113689A2 (en) | 2005-04-17 | 2006-04-17 | Enhanced gnss signal processing |
Country Status (4)
Country | Link |
---|---|
US (1) | US7541975B2 (en) |
CN (1) | CN101160535B (en) |
DE (1) | DE112006000941B4 (en) |
WO (1) | WO2006113689A2 (en) |
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WO2014095558A2 (en) * | 2012-12-20 | 2014-06-26 | Continental Teves Ag & Co. Ohg | Method for providing a gnss signal |
WO2014095558A3 (en) * | 2012-12-20 | 2014-09-12 | Continental Teves Ag & Co. Ohg | Method for providing a filtered gnss signal |
CN104871032A (en) * | 2012-12-20 | 2015-08-26 | 大陆-特韦斯贸易合伙股份公司及两合公司 | Method for providing a gnss signal |
US10353076B2 (en) | 2012-12-20 | 2019-07-16 | Continental Teves Ag & Co. Ohg | Method for providing a GNSS signal |
US9995572B2 (en) | 2015-03-31 | 2018-06-12 | World Vu Satellites Limited | Elevation angle estimating device and method for user terminal placement |
US10415960B2 (en) | 2015-04-06 | 2019-09-17 | Worldvu Satellites Limited | Elevation angle estimating system and method for user terminal placement |
WO2016199110A1 (en) * | 2015-06-12 | 2016-12-15 | Worldvu Satellites Limited | Elevation angle estimating device and method for user terminal placement |
CN107820648A (en) * | 2015-06-12 | 2018-03-20 | 沃尔德夫卫星有限公司 | The elevation estimate apparatus and method placed for user terminal |
US10012503B2 (en) | 2015-06-12 | 2018-07-03 | Worldvu Satellites Limited | Elevation angle estimating device and method for user terminal placement |
IL255874A (en) * | 2015-06-12 | 2018-01-31 | Worldvu Satellites Ltd | Elevation angle estimating device and method for user terminal placement |
CN107820648B (en) * | 2015-06-12 | 2020-12-18 | 沃尔德夫卫星有限公司 | Elevation angle estimation device and method for user terminal placement |
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US10656283B2 (en) | 2016-05-27 | 2020-05-19 | Centre National D'etudes Spatiales | Adaptative antenna assembly for improving precision of a GNSS receiver in a perturbated environment |
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Also Published As
Publication number | Publication date |
---|---|
WO2006113689A3 (en) | 2007-01-04 |
DE112006000941T5 (en) | 2008-03-06 |
CN101160535B (en) | 2011-07-13 |
CN101160535A (en) | 2008-04-09 |
US7541975B2 (en) | 2009-06-02 |
US20080166011A1 (en) | 2008-07-10 |
DE112006000941B4 (en) | 2021-10-07 |
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