Abstract: Systems and methods of determining a device position are described. GPS and cellular signals, in addition to VIO displacement are used to determine the device position via a loose or tight coupling algorithm. Both algorithms iteratively linearize base station position equations around an intermediate position that changes each iteration based on VIO displacement and solves the linearized solutions until convergence. The loose coupling algorithm uses the GPS fix as an initiation position, linearizing and solving using the base station equations only. The tight coupling algorithm linearizes both the base station and GPS position equations, using an arbitrary initial position. To account for multipath effects, the linearization and solution are performed for multiple random sets of measurements and the position with the smallest error metric is selected.

Abstract: Methods and apparatus for determining navigation data (124) using carrier range measurements obtained by a GNSS receiver for a plurality of GNSS satellites, the apparatus comprising: a first Kalman filter (100) configured to determine an a posteriori estimate of a first state vector based at least in part on a first set of GNSS measurements (104) obtained by the, and/or a further, GNSS receiver and an a priori estimate of the first state vector, the first state vector comprising carrier range ambiguity values relating to the plurality of GNSS satellites and a position of the, and/or the further, GNSS receiver; and a second Kalman filter (102) configured to determine an a posteriori estimate of a second state vector, which comprises the navigation data (124), based at least in part on a second set of GNSS measurements (106) obtained by the, and/or a further, GNSS receiver, an a priori estimate of the second state vector, and carrier range ambiguity data (126) based on the carrier range ambiguity values determi

Abstract: A computer includes a processor, position determining means for determining the location of the computer, and control means for controlling the operation of the processor. The control means are in communication with the position determining means and control the operation of the processor in response to location information provided to the control means by the position determining means.

Abstract: One or more sets of anchor points may be assigned to one or more trajectories of a portable device by scoring each anchor point set with respect to each trajectory. The score for an anchor point set may be determined by cumulating the differences between each anchor point in the set with its closest trajectory segment.

Abstract: Provided is a positioning base station includes: a rotating laser plane emitting unit, a distance measuring device and a synchronization device. The rotating laser plane emitting unit is configured to rotate around a rotation axle, and emit two laser plane signals having a preset angle therebetween. The two laser plane signals are configured to scan a space. The distance measuring device is configured to emit a distance measuring signal configured to measure a distance between the positioning base station and a device to be positioned. The synchronization device is configured to transmit a synchronization signal configured to synchronize time of the positioning base station and the device to be positioned.

Abstract: In some implementations, the radio navigation device has a data bank or may be associated with the latter, which data bank provides substantially statically stored, pre-determinable positioning data on defined, predictable regions or areas, and the data bank sends error information of the received radio navigation signals to the evaluating apparatus and/or to a user terminal dependently upon pre-defined location information relating to predictable regions or areas of deficient or lacking radio navigation signal reception.

Abstract: The present disclosure is effective in easily estimating an integer value bias at a high speed. A processor of a positioning system, a positioning method, and a positioning station performs interference positioning through calculation processing based on positioning data of the base station and positioning data of the positioning station. A plurality of calculation processing items are performed in parallel with different time points as start time points. Thus, even in a case where a situation in which the time required for the calculation of a fix solution differs depending on time point at which time point the calculation processing starts, there is a possibility that one of a plurality of calculation processing items can calculate the fix solution at an earlier time than in a case where single calculation processing performs the calculation. Therefore, it is possible to easily estimate the integer value bias at the high speed.

Abstract: A real-time kinematic (RTK) filter uses the backup data to estimate a relative position vector between the mobile receiver at the first measurement time and the mobile receiver at the second measurement time and to provide recovery data associated with a satellite-differenced double-difference estimation for the mobile receiver between the first measurement time and the second measurement time. A navigation positioning estimator can apply the relative position vector, the backup data, the recovery data from the RTK filter, and received correction data with precise clock and orbit information on the satellite signals, as inputs, constraints, or both for convergence or resolution of wide-lane and narrow-lane ambiguities, and determination of a precise position, in accordance with a precise positioning algorithm.

Abstract: A GNSS device includes an antenna configured to receive a first plurality of GNSS signals from a first plurality of GNSS satellites and a second plurality of GNSS signals from a second plurality of GNSS satellites. The GNSS device also includes a communications interface configured to receive correction signals from a GNSS base unit. A processor of the GNSS device is coupled to the antenna and communications interface for processing data from the first plurality of GNSS signals and the second plurality of GNSS signals. Memory of the GNSS device includes executable instructions for several steps. A first algorithm is executed to determine first position data for the GNSS device based on the first plurality of GNSS signals and a correction signal received at the GNSS device from the GNSS base unit. The first position data is stored memory of the GNSS device. A second algorithm is executed to determine second position data for the GNSS device based on the second plurality of GNSS signals.

Abstract: A wireless communication unit for compensating for Ionospheric group delay in a satellite communication system. The wireless communication unit comprises: a receiver configured to receive a multi-carrier signal from a satellite; and a processor coupled to the receiver. The processor is configured to: process the multi-carrier signal to produce a plurality of digital representations of individual carriers of the multi-carrier signal; estimate, from the plurality of digital representations of individual carriers of the multi-carrier signal, a Total Electron Content, TEC, value associated with a communication path between the satellite and the wireless communication unit through Earth's Ionosphere; and apply compensation for Ionospheric group delay subjected to the multi-carrier signal based on the determined TEC value.

Abstract: Some embodiments of the present invention derive an ionospheric phase bias and an ionospheric differential code bias (DCB) using an absolute ionosphere model, which can be estimated from data obtained from a network of reference stations or obtained from an external source such as WAAS, GAIM, IONEX or other. Fully synthetic reference station data is generated using the ionospheric phase bias and/or the differential code bias together with the phase leveled clock and ionospheric-free code bias and/or MW bias.

Abstract: Embodiments are directed to performing integer ambiguity validation in carrier phase differential positioning and to calculating a protection level for safety-of-life applications. In one scenario, a computer system accesses double-differenced pseudorange measurements and carrier phase measurements which are combined to produce an estimate of the relative position between receivers. Integer bootstrapping is performed to produce fixed range ambiguity estimates that are integer multiples of a carrier signal wavelength. A validation threshold is then established based on a statistical model of the pseudorange and carrier wave measurements that ensures that a specified probability of correct ambiguity resolution is met. A data-driven validation is initiated on the difference between the float range ambiguity estimates and the fixed range ambiguity estimates to validate the correctness of the fixed range ambiguity estimate.

Abstract: The disclosure generally relates to position sensors, and more particularly to repair of carrier-phase cycle slips using displacement data. An apparatus for use in position sensing may include a displacement sensor, a positioning signal receiver, a memory, and a processor coupled to the displacement sensor, the positioning signal receiver, and the memory. The processor and memory may be configured to processor and memory are configured to detect a loss of lock of a first carrier tracking loop associated with the first set of carrier-phase measurements, wherein the first carrier tracking loop is associated with a first integer ambiguity, estimate, based on the displacement data, an ambiguity increment to the first integer ambiguity subsequent to the detected loss of lock, and resolve a second integer ambiguity associated with the second set of positioning signals based on the first integer ambiguity and the estimated ambiguity increment.

Abstract: Systems and methods for performing land surveying using real-time kinematic (RTK) engine verification are provided. In one example, a first set of positions of a GNSS receiver may be determined using each of a plurality of RTK engines. If a number of the plurality of RTK engines that produce a fixed solution is greater than or equal to a threshold value, a position of the GNSS receiver may be determined based on at least a portion of the first set of positions. The determined position may then be stored. This process may be repeated any number of times to produce a desired number of stored positions. In response to the number of stored positions being equal to a minimum value, a final position of the GNSS device may be determined based on the stored positions.

Abstract: The invention relates to generating correction information to be used to correct observations coming from a navigation satellite system (NSS) receiver in a region of interest. For each of a plurality of reference stations in said region, raw observations obtained by the reference station observing NSS multiple-frequency signals from a plurality of satellites over multiple epochs are received. Then, precise satellite information on the orbit position, clock offset, and biases of each satellite is obtained. For each reference station, ambiguities in the carrier phase of the received raw observations are estimated, using the precise satellite information and the position coordinates of the reference station. Geometric-free phase linear combination values are then computed based on the received raw observations together with the estimated ambiguities. The correction information is generated based on the computed geometric-free phase linear combination values.

Abstract: A system and related methods for determining precision navigation solutions decorrelates GPS carrier-phase ambiguities derived from multiple-source GPS information via Least-squares AMBiguity Decorrelation Adjustment (LAMBDA) algorithms, and fixes a subset of the decorrelated integer ambiguities within the LAMBDA domain. To maintain high accuracy, a partial almost fix solution is generated using the subset of the decorrelated ambiguities to be fixed in the LAMBDA domain. The subset of decorrelated ambiguities is used to compute protection levels and the probability of almost fix (PAF), or that the navigation solution corresponding to the decorrelated ambiguities is within the region of correctly-fixed or low-error almost-fixed ambiguities. The partial list of fixed ambiguities is used to generate the optimal navigation solution (floating-point, partial almost-fix, or fully fixed) while maintaining protection levels within alert limits and PAF above the desired threshold.

Abstract: Determining a position of a device using a signal received from a reference emitter includes: receiving the signal; determining a state of a first filter, the state of the first filter including a first carrier phase ambiguity estimate that includes a floating value; determining a state of a second filter, the state of the second filter including a second carrier phase ambiguity estimate that includes a fixed value; determining whether the state of the second filter is consistent with one other filter state or measurement; maintaining the state of the second filter in response to the device determining that the state of the second filter is consistent with the other filter state; changing the state of the second filter to the state of the first filter in response to the device determining that the state of the second filter is not consistent with the other filter state.

Abstract: The present invention is directed to a system for providing precision location determination. The system includes a receiver configured for receiving both a first set of signals from a first constellation of satellites and a second set of signals from a second constellation of satellites. The system further includes a processor, which is connected to the receiver and is configured for processing the received satellite signals. The system further includes control programming for executing on the processor. The control programming is configured for determining a first location of the receiver based upon the first set of received signals and for determining a second location of the receiver based upon the second set of received signals. The control programming is further configured for correlating the first location and the second location to provide an enhanced location for the receiver.

Abstract: A satellite navigation receiver and associated methods are described that can provide improved integer ambiguity resolution and more accurate positioning information. A modified BIE process may be utilized to enable the receiver to perform the integer ambiguity resolution more optimally. The output of the modified BIE process may be time-domain smoothed to provide a solution which is smoother in ambiguity space, and therefore also provide a position solution that is smoother in time. Transitions between an ambiguity-determined solution to a float solution, when necessary, may be smoothed in time. A weighting scheme may dynamically blend the ambiguity-determined solution and the float solution to leverage the advantages of both solutions, such as faster pull-in, higher accuracy, and more stable and smooth performance.

Abstract: A satellite navigation receiver and associated methods are described that can provide improved integer ambiguity resolution and more accurate positioning information. A modified BIE process may be utilized to enable the receiver to perform the integer ambiguity resolution more optimally. The output of the modified BIE process may be time-domain smoothed to provide a solution which is smoother in ambiguity space, and therefore also provide a position solution that is smoother in time. Transitions between an ambiguity-determined solution to a float solution, when necessary, may be smoothed in time. A weighting scheme may dynamically blend the ambiguity-determined solution and the float solution to leverage the advantages of both solutions, such as faster pull-in, higher accuracy, and more stable and smooth performance.

Abstract: A civil engineering machine has a machine control unit configured to determine data which defines the position and/or orientation of a reference point on the civil engineering machine in relation to a reference system independent of the position and orientation of the civil engineering machine. A geometrical shape to be produced on the ground is preset in either a machine control unit or a field rover control unit. The field rover is used to determine a position of at least one identifiable point of the preset geometrical shape in the independent reference system. Curve data defining a desired curve in the independent reference system, corresponding to the preset shape, is determined at least partially on the basis of the position of the at least one identifiable point of the preset geometrical shape in the independent reference system.

Abstract: The present invention concerns a system for contactless determination of the position and orientation of a first mobile object (M) relative to a reference mark (RP) carried by a second fixed or mobile object (P), in a disturbed electromagnetic environment comprising a transmitting antenna (E) with ferromagnetic cores (E-1) having magnetic permeability higher than 10, incorporating sensors (E-3) for measuring the magnetic field Xu actually emitted by the axes of the ferromagnetic cores. A means (4-4) for extracting the signal correlated with the ambient noise XBR (Tk?KbTe)—from the sensors (Sb) fixed in the platform (P), forms, with measurement Xu of the emitted magnetic induction, a complete model of the measured fields, making it possible to extract, without errors, the six parameters relative to the field model without disturbances.

Abstract: The invention relates to methods, notably carried out by global or regional navigation satellite system (NSS) receivers, which involve receiving satellite-specific, nadir-angle dependent correction information associated with each of at least two NSS satellites among a plurality of NSS satellites. The correction information is useful to correct observed NSS signals, so as to mitigate the effects of satellite-specific, nadir-angle dependent biases in the NSS signals, and thus improve the performance of position determination systems. The invention also relates to methods for generating such correction information, to methods for designing a satellite, to NSS receivers, to apparatuses for generating correction information to be sent to the receivers, and to computer programs and storage mediums.

Abstract: An analog transceiver having low latency for processing a received RF/MW signal and modifying the received RF/MW signal into a modified RF/MW signal prior to transmission of the modified RF/MW signal. The analog transceiver comprises a receiving antenna; a direct conversion receiver, coupled with the receiving antenna, for splitting the received RF/MW signal into an in-phase portion and a quadrature portion; an analog signal processing device, having a plurality of actuatable switches, for modifying the in-phase and quadrature portions and outputting modified signals while only introducing minimal latency during processing; a direct conversion transmitter, for receiving the suitably modified in-phase and quadrature portions and forming the modified RF/MW signal; and a transmitting antenna for receiving the modified RF/MW signal and transmitting the modified RF/MW signal.

Abstract: Methods and systems that enhance interference cancellation in communication channels are described. Specialized time domain training sequences and simple cross correlation are used to obtain a channel estimate for use in stacked carrier beamforming and OFDM based spatial beamforming. In certain embodiments, a time domain preamble sequence is provided as an alternative to the conventional frequency domain preamble sequence. The use of a time domain preamble can increase channel estimation performance, facilitating cancellation of co-channel interference. Embodiments include generating a training sequence preamble in the time domain, computing a frequency domain response of the channel using an estimate of its time domain impulse response, and using the frequency domain response of the channel to calculate channel estimation from a cross correlation of data received from the channel against the training sequence.

Abstract: A system to mitigate errors in GPS corrections and ephemeris uncertainty data broadcast to a vehicle is presented. The system includes reference receivers in a first ground subsystem and a processor. The processor: receives, from reference receivers in a wide area network of reference receivers, satellite measurement data for a first plurality of satellites and receives, from the reference receivers in the first ground subsystem, satellite measurement data and ephemeris data from a second plurality of satellites; evaluate the satellite measurement data to determine if the GPS corrections are degraded by a current ionosphere disturbance activity; determine a current quality metric of the ionosphere; adjust a Vertical Ionosphere Gradient standard deviation sigma-vig; evaluate the ephemeris data to determine if the GPS corrections provided to the vehicle are degraded by ephemeris errors; and establish ephemeris uncertainty to protect integrity based on the evaluation of the ephemeris data.

Abstract: A telecommunications system for a mine with tunnels having a plurality of nodes disposed in the tunnels in the mine which provides communication through WiFi with devices in the mine. Each node having a housing defining an enclosure, a first radio with a first antenna disposed at least partially in the enclosure within the housing directed for communication in a first direction relative to the node, a second radio with a second antenna disposed at least partially in the enclosure within the housing directed for communication in a second direction essentially opposite the first direction, and a power supply in electrical communication with the first and second radios to power the first and second radios. A method of a telecommunications system for a mine. A method of a Wifi node for a mine. A Wifi node for a mine. An apparatus for holding an object in a mine.

Abstract: A timing signal generating device includes a GPS receiver and a processing unit. The GPS receiver functions as a positioning calculation unit, and receives satellite signals transmitted from GPS satellites and performs positioning calculation based on trajectory information and time information contained in the received satellite signals. Further, the processing unit functions as a position information generation unit, and generates position information of a receiving point based on a mode value or a median value in results of the positioning calculation at a plurality of times by the GPS receiver.

Abstract: A satellite radio-wave reception device includes a demodulator. A demodulator determines an assumption code, identifies a plurality of reception codes from a received radio wave, collates an assumption code in a deviation range, which is previously set with respect to reception timing of the reception codes, and each of the reception codes, holds information related to a collation result in each deviation amount with respect to the plurality of reception codes, determines one of correspondences and noncorrespondences, the number of which one is larger, as matching in each code block, and identifies a deviation amount in which the integrated value of matching corresponding to an integrated value of the number of matching codes in a plurality of code blocks in each deviation amount satisfies a predetermined matching condition.

Abstract: A particle filter, also known as Sequential Monte Carlo Method, used to estimate vehicle position based on GNSS pseudo range measurements and other sensors. The particle filter creates an ensemble of particles and road user charging (road tolling) can be performed on each particle. The resulting distribution of assessed vehicle passages is analyzed to assess if the event actually took place or not. The use of particle filter overcomes limitations occurring while employing traditional Kalman filter based methods.

Abstract: A computer-implemented information verification method, system, and non-transitory computer readable medium, include measuring a first signal strength from a user device to a second device, where the first signal strength is measured from the perspective of the user device, measuring a second signal strength from the second device to the user device, where the second signal strength is measured from the perspective of the second device, comparing the first signal strength with the second signal strength, and verifying the information, based on a result of said comparing.

Abstract: A method for determining assistance data to facilitate processing of radio-navigation signals from a set of radio-navigational satellites of a reference network, each radio-navigational satellite broadcasting at least a first radio-navigation signal on a first frequency and a second radio-navigation signal on a second frequency, the second frequency being distinct from the first frequency, is provided.

Abstract: Methods and systems useful in determining relative position of moveable vehicle, for example including a GPS receiver, may include determining candidate integer ambiguities in groups, and performing tests to check usefulness of those candidate integer ambiguities.

Abstract: A method is disclosed for evaluating a satellite signal in a global navigation satellite system with regard to a multipath error, wherein a receiver determines a run-time gap between the receiver and a satellite based on a run-time measurement from the satellite signals of several satellites and a carrier-phase gap based on the carrier-phase measurement between the receiver and the satellite or a reference point, wherein a difference of the time derivative of the run-time gap and of the carrier-phase gap is formed in the receiver as an evaluation variable, which is evaluated using at least one multipath criterion for the presence of a multipath error.

Abstract: The invention provides a surveying instrument, which comprises a control device having a reference clock signal generating unit for producing a reference clock signal. The control device produces a time signal to indicate a standard time from a signal acquired from the GNSS device, puts a time stamp on the time signal, associates the time signal with the reference clock signal, measures a horizontal angle at a moment when the telescope unit sights the sun and acquires an image signal, puts a time stamp on the image signal, calculates a standard time at a time of image acquisition, calculates an azimuth angle of the sun at the standard time based on a latitude and a longitude of a point where the surveying instrument is installed and a standard time at the time of image acquisition, and updates a horizontal angle by the azimuth angle.

Abstract: Techniques for acoustic management of entertainment devices and systems are described. Various embodiments may include techniques for acoustically determining a location of a remote control or other entertainment device. Some embodiments may include techniques for controlling one or more entertainment components using voice commands or other acoustic information. Other embodiments may include techniques for establishing a voice connection using a remote control device. Other embodiments are described and claimed.

Abstract: A method of group-based location service is proposed. A wireless station initiates a ranging process with a plurality of wireless communications devices in a wireless local area network. The station belongs to a group of wireless stations. The station exchanges measurement frames with the plurality of wireless communications devices during the ranging process. The station then computes a plurality of distances to each of the plurality of wireless communications devices and thereby determining an absolute location of the station. Finally, the station informs the absolute location to a group owner of the group of wireless stations.

Abstract: Methods and systems for enhancing the detectability of electronic tracking messages are provided. Transmitters apply error protection encoding to the payload portion of messages to be transmitted. Transmitted messages are received by a satellite or other surveillance platform employing a compatible radio frequency receiver to collect message signals over a large area or great distance. Candidate messages are identified and the error protection encoding decoded to recover messages.

Abstract: An approach to joint processing of GNSS signals to determine a receiver location and common mode bias associated with grouped records corresponding to GNSS signals. In this regard, a receiver may acquire signals from a GNSS space vehicle over a relatively long period of time. In turn, records corresponding to received signals may be stored and grouped. The grouping of records may be based on assumptions of a common-mode bias for certain records (e.g., records acquired within a given duration of an observation time period). Upon acquisition of a suitable number of records, an over-determined system may be established that is used in iterative processing to solve for location and/or bias values associated with the respective common-mode bias for each group of records. As such, improved receiver performance may be realized.

Abstract: A method for determining a spatial orientation of a body, including receiving, by receiving equipment located with the body, at least three electromagnetic signal sets, each of the received signal sets having been transmitted by a different one of at least three separate transmitters at different locations, detecting, for each one of the received signal sets, information that partially defines a direction from the body to the transmitter from which the signal set was received, the detected information including one of two angles that fully define an arrival direction from which the body received the signal set in relation to a body frame, the detected information not including a second of the two angles, and determining the spatial orientation of the body, including yaw, pitch, and roll angles relative to a navigation frame, using the detected information for each one of the received signal sets.

Abstract: Methods and apparatus provide for positioning of a rover antenna from GNSS data derived from multi-frequency signals and correction data derived from a network of reference stations. Rover antenna position and multi-frequency ambiguities are estimated at each epoch. An ionospheric filter models variation in ionospheric bias per satellite. A set of ionospheric carrier-phase ambiguities is estimated at least when the multi-frequency ambiguities have attained a predetermined precision. The estimated ionospheric carrier-phase ambiguities are cached. After detecting interruption of signal at the rover antenna and determining reacquisition of signals at the rover antenna, an ionospheric bias per satellite over an interruption interval is predicted. For each satellite, a cached ionospheric carrier-phase ambiguity is combined with a predicted ionospheric bias to obtain a post-interruption ionospheric ambiguity estimate.

Abstract: The present invention is a method for dynamically determining attitude of a mobile platform via a system implemented on-board the platform. The method includes providing initialization data for the platform from a memory of the system to a processor of the system, the initialization data including platform position platform velocity data, and platform heading for a first point in time. The method includes receiving RF signals via an antenna array of the system at a second point in time subsequent to the first point in time. The method includes providing RF inputs including the received signals from the antenna array to a receiving unit of the system, and then from the receiving unit to a processor of the system. The processor then processes the signals and, based on the processed signals and initialization data, determines an attitude of the platform, the attitude corresponding to the second point in time.

Abstract: A rotation type working machine includes: an attachment mounted so as to be able to rotate with respect to a base body; a rotation mechanism which rotates the attachment; a control device which controls the rotation mechanism; and an entering object detection device which detects a position of an entering object entered into a work area, in which the control device controls a rotation operation of the attachment based on a first physical amount related to at least one of a current angular velocity of the attachment and a current moment of inertia of the attachment, and the position of the entering object detected by the entering object detection device.

Abstract: A method and system facilitate communication between a constellation of satellites and a mobile platform-mounted mobile communicator. The method and system may include the use of a first antenna suited for operation using a first frequency band in a first geographic region and a second antenna suited for operation using either the first or a second frequency band in a second geographic region. The method and system may use a controller to determine which antenna to activate based on one or more of a geographic indicator or a signal indicator. The system used by the method to facilitate the communication may have one or more enclosures over the antennas and controller for mounting to a mobile platform.

Abstract: A navigation receiver operating in a differential navigation mode transmits primary estimates of coordinates with an accuracy estimate that can vary during operation. To improve the positioning quality when the accuracy estimate changes, smoothed estimates of coordinates are generated according to a two-branch algorithm. The current-epoch accuracy estimate is compared to a current-epoch value of threshold accuracy. Upon determining that the current-epoch accuracy estimate is greater than or equal to the current-epoch value of threshold accuracy, the current-epoch smoothed estimates of coordinates are set equal to the current-epoch extended estimates of coordinates calculated from the sum of the previous smoothed estimates of coordinates and coordinate increments calculated from carrier phases.

Abstract: A position of a loading device on a conveying vehicle, relative to a receiving area, is calculated. The loading device is automatically positioned based on the relative position. The relative position of the loading device relative to the receiving area is output. An operator input is received and material is automatically unloaded from the loading device to the receiving area.

Abstract: A method for determining a position of an object having a Global Navigation Satellite System (GNSS) receiver comprises receiving signals that are transmitted by GNSS transmitters positioned on board satellites positioned in view of the object; updating service data in the object, the service data including satellite clock data, satellite orbit data, satellite delay code bias data relating to delay code biases of the GNSS transmitters, and ionospheric model data indicating a state of an ionosphere; determining, based on the ionospheric model data, ionospheric delay data indicating corrections relating to delays of the signals, the delays of the signals resulting from passage of the signals through the ionosphere, and reception of the signals by the GNSS receiver; and determining a position of the object based on the signals, the satellite clock data, the satellite orbit data, the satellite delay code bias data, and the determined ionospheric delay data.

Abstract: A method, non-transitory computer readable medium and timing computing device for subnanosecond time synchronization. A difference between synchronized measurements of one of a plurality of satellite signals from a reference receiver and another receiver for each of N values within a cycle is determined. A clock bias error is calculated for each of the N values. The calculated clock bias errors are stored in a vector over time for each of the N values, with one of the vectors for each of the N values. A trajectory of the vectors over time is determined. The one of the vectors with a best convergence over time is selected. A timing signal is adjusted based on the N value for the selected one of the vectors with the best convergence over time.

Abstract: Provided is a method and apparatus for removing a spoofing signal. The apparatus may convert a global positioning system (GPS) signal from an RF signal to an IF signal, and remove a spoofing signal based on whether the spoofing signal is present in the RF signal. The apparatus may obtain and track the spoofing signal using the IF signal, and generate a characteristic of the spoofing signal. The apparatus may generate an anti-spoofing signal by shifting a phase of the spoofing signal 180 degrees based on the characteristic of the spoofing signal.

Abstract: A management system includes a position detection device, installed in a haul machine that travels at a mine, capable of detecting position information of the haul machine, and a processing device to which the position information of the haul machine detected by the position detection device is to be output, wherein the processing device specifies, based on the position information of the haul machine output from the position detection device, at least one of a start time and an end time of each of a plurality of operations of the haul machine.