Abstract: The present embodiments include new methods for low-cost inertial measurement units (IMU) using an extended Kalman filter (EKF) to increase the navigation parameters accuracy or reduce the total RMS errors even during the unavailability of Above Ground Markers (AGM) using new developed method called PipeLine Junctions (PLJ) detection. This method detects the pipeline junctions and adds heading and pitch constraints to the Pipeline Inspection Gauge (PIG) motion between junctions. The results of this such embodiments with a micro-electro-mechanical systems (MEMS) based IMU showed that the position RMS errors have been reduced around 85% of the original applied EKF solution. Therefore, this approach is a useful solution for PIG navigation system.

Abstract: Embodiments of systems and methods for a mobile mapping system are described. In an embodiment, a method includes capturing a plurality of images of an object point using a mobile computing platform. The method may also include determining an initial set of orientation parameters in response to one or more orientation sensors on the mobile computing platform. Additionally, the method may include calculating a corrected set of orientation parameters by matching object points in the plurality of images. Further, the method may include estimating a three-dimensional ground coordinate associated with the captured images in response to the corrected set of orientation parameters.

Abstract: Methods and systems for methods and systems for performing GNSS orbit and clock augmentation and position determination are disclosed. In an embodiment, a method for performing GNSS augmentation and position determination includes obtaining orbit/clock initial parameters with a receiver device, generating a numerically-integrated orbit and extrapolated clock in response to the orbit/clock initial parameters with a processing device, and processing the observations of a GNSS receiver and the numerically-integrated orbit and extrapolated clock to derive an improved positioning solution with a processing device.

Abstract: Methods, systems and apparatuses for enhanced Microelectromechanical (MEMS)-based navigation in a mobile device are disclosed. In an embodiment, a method includes receiving navigation data from one or more navigation sensors on board the mobile device. The method may also include calculating, using a processing device, position, velocity, and attitude (PVA) values in response to the navigation data using an Inertial Navigation System (INS) mechanization. Additionally, the method may include calculating, using the processing device, Pedestrian Dead Reckoning (PDR) values in response to the navigation data. Also, the method may include determining, using the processing device, one or more navigation values in response to a combination of the PVA values calculated by the INS mechanization and the PDR values.

Abstract: Methods and systems for performing Precise Point Positioning (PPP) ambiguity resolution using Global Navigation Satellite Systems (GNSS) triple frequency signals are described. In an embodiment, the method may include computing, using a processing device, an L1/L2 or L2/L5 wide-lane fractional bias model, in which the bias is split into one direction-independent and three direction-dependent bias components for each satellite. Additionally, the method may include resolving, using the processing device, PPP ambiguity using triple-frequency signals. The method may also include applying, using the processing device, a carrier smooth carrier function to resolve measurement noise. Resolving the PPP ambiguity may include fixing the L2/L5 wide-lane ambiguities in a geometry-free function. Additionally, resolving the PPP ambiguity may include fixing the L1/L2 wide-lane ambiguities in a geometry-based function.

Abstract: Methods and systems for methods and systems for performing GNSS orbit and clock augmentation and position determination are disclosed. In an embodiment, a method for performing GNSS augmentation and position determination includes obtaining orbit/clock initial parameters with a receiver device, generating a numerically-integrated orbit and extrapolated clock in response to the orbit/clock initial parameters with a processing device, and processing the observations of a GNSS receiver and the numerically-integrated orbit and extrapolated clock to derive an improved positioning solution with a processing device.