Patents by Inventor Lev Borisovich Rapoport
Lev Borisovich Rapoport has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11886200Abstract: System for monitoring stability of autonomous robot, including a GNSS navigation receiver including antenna, analog front end, plurality of channels, inertial measurement unit (IMU) and a processor, all generating navigation and orientation data for the robot; based on the navigation and orientation data, calculating position and direction of movement for the robot; calculating spatial and orientation coordinates z1, z2 of the robot, relating to the position and direction of movement; continuing with programmed path for the robot for any spatial and orientation coordinates z1, z2 within an attraction domain, where a measure V(z) of distance from zero in z1, z2 plane are defined by Lurie-Postnikov functions and is less than 1; for spatial and orientation coordinates outside the attraction domain with V(z)>1, terminating the programmed path and generating notification.Type: GrantFiled: August 19, 2020Date of Patent: January 30, 2024Assignee: Topcon Positioning Systems, Inc.Inventors: Ivan Giovanni Di Federico, Lev Borisovich Rapoport, Alexey Anatolievich Generalov
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Patent number: 11809191Abstract: System for navigating to a trajectory starting point by autonomous robot includes a GNSS navigation receiver including antenna, analog front end, plurality of channels, and a processor, generating navigation and orientation data for the robot; based on the navigation and the orientation data, the system calculating a position and a direction of movement for the robot towards the starting point of the trajectory, given known physical constraints for movement of the robot; the system calculating spatial and orientation coordinates z1, z2 of the robot, which relate to the position and the direction of movement, where z1 represents lateral deviation, and z2 represents angular deviation; the system continuing with a programmed path for the robot for any spatial and orientation coordinates z1, z2 within an attraction domain; and for any spatial and orientation coordinates of the robot outside the attraction domain, the system continues maneuvering until the robot is inside the attraction domain.Type: GrantFiled: September 29, 2020Date of Patent: November 7, 2023Assignee: Topcon Positioning Systems, Inc.Inventors: Ivan Giovanni Di Federico, Alexey Anatolievich Generalov, Lev Borisovich Rapoport
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Publication number: 20230090080Abstract: A method for path planning for a machine to traverse an area includes calculating a spline trajectory based on a plurality of control points of a first path. A subset of the plurality of control points having an equal step is selected. A direction of the normal to the spline trajectory for each of the selected points is determined. Control points within the subset that are a solution to a second order cone programming class optimization problem along each normal to the spline trajectory are searched for and the spline trajectory is extended to a border of the area to create a second path adjacent to the first path based on the control points. The optimization problem can minimize the weighted sum of the average curvature at junction points of elementary sections of the spline trajectory and/or the average width overlap of adjacent paths.Type: ApplicationFiled: September 23, 2021Publication date: March 23, 2023Applicants: Topcon Positioning Systems, Inc., The Skolkovo Institute of Science and TechnologyInventors: Lev Borisovich RAPOPORT, Timofey TORMAGOV, Ivan Giovanni DI FEDERICO
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Publication number: 20220308588Abstract: System for navigating to a trajectory starting point by autonomous robot includes a GNSS navigation receiver including antenna, analog front end, plurality of channels, and a processor, generating navigation and orientation data for the robot; based on the navigation and the orientation data, the system calculating a position and a direction of movement for the robot towards the starting point of the trajectory, given known physical constraints for movement of the robot; the system calculating spatial and orientation coordinates z1, z2 of the robot, which relate to the position and the direction of movement, where z1 represents lateral deviation, and z2 represents angular deviation; the system continuing with a programmed path for the robot for any spatial and orientation coordinates z1, z2 within an attraction domain; and for any spatial and orientation coordinates of the robot outside the attraction domain, the system continues maneuvering until the robot is inside the attraction domain.Type: ApplicationFiled: September 29, 2020Publication date: September 29, 2022Inventors: Ivan Giovanni Di Federico, Alexey Anatolievich Generalov, Lev Borisovich Rapoport
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Publication number: 20220300006Abstract: System for monitoring stability of an autonomous robot, including a GNSS navigation receiver including an antenna, an analog front end, a plurality of channels, an inertial measurement unit (IMU) and a processor, all generating navigation and orientation data for the robot; based on the navigation and the orientation data, calculating a position and a direction of movement for the robot; calculating spatial and orientation coordinates z1, z2 of the robot, which relate to the position and the direction of movement; continuing with a programmed path for the robot for any spatial and orientation coordinates z1, z2 within an attraction domain, such that a measure V(z) of distance from zero in a z1, z2 plane are defined by Lurie-Postnikov functions and is less than 1; and for any spatial and orientation coordinates outside the attraction domain with V(z)>1, terminating the programmed path and generating a notification.Type: ApplicationFiled: August 19, 2020Publication date: September 22, 2022Inventors: Ivan Giovanni Di Federico, Lev Borisovich Rapoport, Alexey Anatolievich Generalov
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Publication number: 20210181358Abstract: A method of determining coordinates, including receiving GNSS (global navigation satellite system) signals from at least five satellites, wherein at least two of the five satellites belong to one constellation, and the remaining satellites belong to at least one other constellation; processing the GNSS signals to measure code and phase measurements for each of the satellites and each of the GNSS signals; selecting a subset of the GNSS signals as an optimal set for coordinate calculation, where the selecting is based on Semi-Definite Programming (SDP) relaxation as applied to an optimization of a PDOP (positional dilution of precision) criterion; calculating coordinates of a receiver based on the code and phase measurements of the selected subset; and outputting the calculated coordinates. The total number of signals in the optimal set should not exceed the predefined number of m signals.Type: ApplicationFiled: April 18, 2018Publication date: June 17, 2021Inventor: LEV BORISOVICH RAPOPORT
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Patent number: 11029413Abstract: A method of determining coordinates, including receiving GNSS (global navigation satellite system) signals from at least five satellites, wherein at least two of the five satellites belong to one constellation, and the remaining satellites belong to at least one other constellation; processing the GNSS signals to measure code and phase measurements for each of the satellites and each of the GNSS signals; selecting a subset of the GNSS signals as an optimal set for coordinate calculation, where the selecting is based on Semi-Definite Programming (SDP) relaxation as applied to an optimization of a PDOP (positional dilution of precision) criterion; calculating coordinates of a receiver based on the code and phase measurements of the selected subset; and outputting the calculated coordinates. The total number of signals in the optimal set should not exceed the predefined number of m signals.Type: GrantFiled: April 18, 2018Date of Patent: June 8, 2021Assignee: Topcon Positioning Systems, Inc.Inventor: Lev Borisovich Rapoport
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Patent number: 10935669Abstract: A method for determining attitude of an object having multiple GNSS antennas, the method including receiving GNSS signals from at least five satellites, wherein at least 2 of the five belong to a different satellite constellation than the other satellites; processing each of the GNSS signals to generate pseudorange code and carrier phase measurements; resolving carrier phase ambiguities for all the received GNSS signals; generating unbiased carrier phase measurements based on the resolving; determining the attitude, including heading, pitch, and roll angles ?,?,?, respectively, by solving a quadratically constrained quadratic minimization problem through finding a minimum of a linear function subject to a linear matrix inequality constraint; and outputting the attitude.Type: GrantFiled: April 18, 2018Date of Patent: March 2, 2021Assignee: Topcon Positioning Systems, Inc.Inventor: Lev Borisovich Rapoport
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Publication number: 20210011174Abstract: A method for determining attitude of an object having multiple GNSS antennas, the method including receiving GNSS signals from at least five satellites, wherein at least 2 of the five belong to a different satellite constellation than the other satellites; processing each of the GNSS signals to generate pseudorange code and carrier phase measurements; resolving carrier phase ambiguities for all the received GNSS signals; generating unbiased carrier phase measurements based on the resolving; determining the attitude, including heading, pitch, and roll angles ?,?,?, respectively, by solving a quadratically constrained quadratic minimization problem through finding a minimum of a linear function subject to a linear matrix inequality constraint; and outputting the attitude.Type: ApplicationFiled: April 18, 2018Publication date: January 14, 2021Inventor: LEV BORISOVICH RAPOPORT
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Patent number: 10330795Abstract: A plurality of GNSS satellite signals feeds multiple signal processing engines, each operating in certain processing mode including carrier smoothed pseudorange positioning, precise point positioning (PPP), pseudorange differential (DGNSS), carrier phase differential (RTK). Each processing engine (or processing thread of the same engine) runs the same unified numerical algorithm and uses the same or different sets of parameters. All engines can use the same set of signals, or the set of signals can be split into non-intersecting subsets, or the set of signals can be split into the overlapping subsets. Each engine produces estimates of certain parameters, namely carrier phase ambiguities and ionospheric delays for each satellite. These estimates are then combined into a resulting estimate which in turn is used for calculation of the final position reported by the receiver.Type: GrantFiled: July 4, 2016Date of Patent: June 25, 2019Assignee: Topcon Positioning Systems, Inc.Inventors: Ivan Giovanni Di Federico, Lev Borisovich Rapoport
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Patent number: 10288743Abstract: A plurality of GNSS satellite signals feeds the signal processing engine operating in certain processing mode including carrier phase smoothed pseudorange positioning, precise point positioning (PPP), pseudorange differential (DGNSS), and carrier phase differential (RTK). The processing engine calculates two estimates of the ionosphere delay for each satellite: the filtered delay and the instant delay. Comparison of them allows to detect turbulent variation of the ionosphere and adjust parameters of two-parametric dynamic mode which improves positioning precision.Type: GrantFiled: August 15, 2016Date of Patent: May 14, 2019Assignee: Topcon Positioning Systems, Inc.Inventor: Lev Borisovich Rapoport
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Publication number: 20180210091Abstract: A plurality of GNSS satellite signals feeds multiple signal processing engines, each operating in certain processing mode including carrier smoothed pseudorange positioning, precise point positioning (PPP), pseudorange differential (DGNSS), carrier phase differential (RTK). Each processing engine (or processing thread of the same engine) runs the same unified numerical algorithm and uses the same or different sets of parameters. All engines can use the same set of signals, or the set of signals can be split into non-intersecting subsets, or the set of signals can be split into the overlapping subsets. Each engine produces estimates of certain parameters, namely carrier phase ambiguities and ionospheric delays for each satellite. These estimates are then combined into a resulting estimate which in turn is used for calculation of the final position reported by the receiver.Type: ApplicationFiled: July 4, 2016Publication date: July 26, 2018Inventors: Ivan Giovanni Di Federico, Lev Borisovich Rapoport
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Publication number: 20180188378Abstract: A plurality of GNSS satellite signals feeds the signal processing engine operating in certain processing mode including carrier phase smoothed pseudorange positioning, precise point positioning (PPP), pseudorange differential (DGNSS), and carrier phase differential (RTK). The processing engine calculates two estimates of the ionosphere delay for each satellite: the filtered delay and the instant delay. Comparison of them allows to detect turbulent variation of the ionosphere and adjust parameters of two-parametric dynamic mode which improves positioning precision.Type: ApplicationFiled: August 15, 2016Publication date: July 5, 2018Inventor: Lev Borisovich Rapoport
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Patent number: 9882750Abstract: The patent application relates to a method for recovering a sparse communication signal from a receive signal, the receive signal being a channel output version of the sparse communication signal, the channel comprising channel coefficients being arranged to form a channel matrix, the method comprising determining a support set indicating a set of first indices of non-zero communication signal coefficients from the channel matrix and the receive signal, determining an estimate of the sparse communication signal upon the basis of the support set, the channel matrix and the receive signal, determining second indices of communication signal coefficients which are not indicated by the support set, and determining the sparse communication signal upon the basis of the support set, the estimate of the sparse communication signal, the second indices and the channel matrix.Type: GrantFiled: April 29, 2016Date of Patent: January 30, 2018Assignee: Huawei Technologies Co., Ltd.Inventors: Lev Borisovich Rapoport, Yanxing Zeng, Jianqiang Shen, Vladimir Iosifovich Ivanov
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Patent number: 9823357Abstract: A wireless receiver being capable of determining its velocity with respect to a number of wireless transmitters is provided. The wireless receiver includes a communication interface for receiving a number of carrier signals originating from the number of wireless transmitters, and a processor being configured to determine a number of carrier phases of the carrier signals at two different time instants, to determine a number of carrier phase differences from the determined number of carrier phases for each carrier signal between the two different time instants, to determine a location matrix indicating a geometric relationship between a location of the wireless receiver and a number of locations of the number of transmitters, and to determine the velocity of the wireless receiver upon the basis of the number of carrier phase differences and the location matrix.Type: GrantFiled: April 20, 2016Date of Patent: November 21, 2017Assignee: Huawei Technologies Co., Ltd.Inventors: Vladimir Iosifovich Ivanov, Yanxing Zeng, Jianqiang Shen, Lev Borisovich Rapoport
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Publication number: 20160248611Abstract: The patent application relates to a method for recovering a sparse communication signal from a receive signal, the receive signal being a channel output version of the sparse communication signal, the channel comprising channel coefficients being arranged to form a channel matrix, the method comprising determining a support set indicating a set of first indices of non-zero communication signal coefficients from the channel matrix and the receive signal, determining an estimate of the sparse communication signal upon the basis of the support set, the channel matrix and the receive signal, determining second indices of communication signal coefficients which are not indicated by the support set, and determining the sparse communication signal upon the basis of the support set, the estimate of the sparse communication signal, the second indices and the channel matrix.Type: ApplicationFiled: April 29, 2016Publication date: August 25, 2016Inventors: Lev Borisovich Rapoport, Yanxing Zeng, Jianqiang Shen, Vladimir losifovich Ivanov
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Publication number: 20160231433Abstract: A wireless receiver being capable of determining its velocity with respect to a number of wireless transmitters is provided. The wireless receiver includes a communication interface for receiving a number of carrier signals originating from the number of wireless transmitters, and a processor being configured to determine a number of carrier phases of the carrier signals at two different time instants, to determine a number of carrier phase differences from the determined number of carrier phases for each carrier signal between the two different time instants, to determine a location matrix indicating a geometric relationship between a location of the wireless receiver and a number of locations of the number of transmitters, and to determine the velocity of the wireless receiver upon the basis of the number of carrier phase differences and the location matrix.Type: ApplicationFiled: April 20, 2016Publication date: August 11, 2016Inventors: Vladimir Iosifovich Ivanov, Yanxing Zeng, Jianqiang Shen, Lev Borisovich Rapoport
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Patent number: 7221314Abstract: A method and apparatus for resolving floating point and integer ambiguities in a satellite position navigation system is disclosed. A rover station is periodically positioned at unknown locations and has a satellite receiver capable of receiving the navigation signals. By calculating relative position coordinates between a base station in a known location and the rover station, and by calculating other position parameters relative to the satellite position, a geometric constraint based on a measured elevation angle between the rover and base station can be incorporated into data computations and processing to help resolve carrier phase ambiguities. The elevation angle is measured by transmitting multiple laser beams to an optical sensor on the rover station. This technique results in greater precision in determining the location of the rover.Type: GrantFiled: July 13, 2005Date of Patent: May 22, 2007Assignee: Topcon GPS, LLCInventors: Vernon Joseph Brabec, Clyde C. Goad, Alexander A. Khvalkov, Lev Borisovich Rapoport
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Patent number: 7102563Abstract: Disclosed are methods and apparatuses for estimating the floating ambiguities associated with the measurement of the carrier signals of a plurality of global positioning satellites, such that the floating ambiguities are preferably consist for a plurality of different time moments. In one aspect of the invention, a real-time iterative matrix refactorization process is provided which reduces processor load and retains history of the measurements.Type: GrantFiled: February 26, 2004Date of Patent: September 5, 2006Assignee: Topcon GPS LLCInventors: Lev Borisovich Rapoport, Ivan Barabanov, Alexander Khvalkov
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Patent number: 7002513Abstract: A method and apparatus for resolving floating point and integer ambiguities in a satellite position navigation system is disclosed. A rover station is periodically positioned at unknown locations and has a satellite receiver capable of receiving the navigation signals. By calculating relative position coordinates between a base station in a known location and the rover station, and by calculating other position parameters relative to the satellite position, a geometric constraint based on a measured elevation angle between the rover and base station can be incorporated into data computations and processing to help resolve carrier phase ambiguities. The elevation angle is measured by transmitting multiple laser beams to an optical sensor on the rover station. This technique results in greater precision in determining the location of the rover.Type: GrantFiled: March 26, 2004Date of Patent: February 21, 2006Assignee: Topcon GPS, LLCInventors: Vernon Joseph Brabec, Clyde C. Goad, Alexander A. Khvalkov, Lev Borisovich Rapoport