Abstract: A system and method for generating a set of GNSS corrections using a GNSS corrections model comprising a Gaussian process.

Abstract: RTK-GPS (realtime kinematic GPS) is one of the most precise positioning technology, with which users can obtain cm-level accuracy of the position in realtime by processing carrier-phase measurements of GPS signals. RTK-GPS has been already utilized for many applications like surveying, construction, agriculture and transportation. Recently, some researchers have tried to apply RTK-GPS to precise navigation of a mobile vehicle. On the condition under the clear sky, RTK-GPS provides fair performance even in the mobile environment. The performances includes availability of solutions, accuracy, TTF (time to fix), and reliability of integer ambiguity resolutions. However, in urban area like in a downtown street, RTK-GPS shows poor performance. One reason of the performance degradation on such condition is cycle slips. Cycle slips are defined as the discontinuities in the measured carrier-phase caused by loss-of-lock of signal tracking in GPS receivers.

Abstract: A system can include a satellite signal receiver, a computing system, and an optional sensor. The computing system can include a measurement engine, a positioning engine, one or more integrity modules, and an optional combiner. A method can include receiving satellite signals, optionally monitoring the satellite signals, determining a positioning solution, determining an integrity associated with the positioning solution, and optionally operating an external system.

Abstract: A system or method for generating GNSS corrections can include receiving satellite observations associated with a set of satellites at a reference station, determining atmospheric corrections valid within a geographical area; wherein geographical areas associated with different atmospheric corrections can be overlapping, and wherein the atmospheric corrections can be provided to a GNSS receiver when the locality of the GNSS receiver is within a transmission region of the geographical area.

Abstract: A method can include, receiving a set of satellite observations at a set of reference stations, formatting and transmitting the set of satellite observations to an integrity monitor, receiving the set of satellite observations at the integrity monitor, generating and transmitting one or more alarm messages for GNSS corrections at the integrity monitor, receiving the one or more alarm messages at a GNSS receiver, processing the one or more alarm message using a positioning engine collocated with the GNSS receiver to identify potentially erroneous GNSS corrections from the GNSS corrections, where the positioning engine determines an age of integrity (AOI) of the GNSS corrections.

Abstract: A method can include receiving satellite observations, determining GNSS corrections, monitoring the GNSS corrections, transmitting the GNSS corrections and monitor result, and determining a GNSS receiver positioning solution.

Abstract: A method can include and/or a system can be configured for determining satellite positioning corrections, generating a satellite positioning corrections message to transmit the satellite positioning corrections to an endpoint. The method can optionally include and/or the system can optionally be configured for establishing or determining a chain-of-trust, validating the satellite positioning corrections (e.g., at the endpoint), and/or determining a positioning solution.

Abstract: A method for reduced-outlier satellite positioning includes receiving a set of satellite positioning observations at a receiver; generating a first receiver position estimate; generating a set of posterior observation residual values from the set of satellite positioning observations and the first receiver position estimate; based on the set of posterior observation residual values, identifying a subset of the satellite positioning observations as statistical outliers; and after mitigating an effect of the statistical outliers, generating a second receiver position estimate having higher accuracy than the first receiver position estimate.

Abstract: A system or method for determining a satellite observation for a virtual reference station can include: determining a virtual reference station location, receiving a set of satellite observations at a reference station located at a reference station location, determining a first GNSS correction for the virtual reference station location and a second GNSS correction for the reference station location, and determining the satellite observation for the virtual reference station by combining the set of satellite observations, the first GNSS correction, and the second GNSS correction.

Abstract: A system or method for determining a satellite observation for a virtual reference station can include: determining a virtual reference station location, receiving a set of satellite observations at a reference station located at a reference station location, determining a first GNSS correction for the virtual reference station location and a second GNSS correction for the reference station location, and determining the satellite observation for the virtual reference station by combining the set of satellite observations, the first GNSS correction, and the second GNSS correction.

Abstract: A system for estimating a receiver position with high integrity can include a reference station observation monitor configured to: receive a set of reference station observations associated with a set of reference stations, detect a predetermined event, and mitigate an effect of the predetermined event; a modeling engine configured to generate corrections; a reliability engine configured to validate the corrections; an observation monitor configured to: receive a set of satellite observations from a set of global navigation satellites corresponding to at least one satellite constellation; detect a predetermined event; and mitigate an effect of the predetermined event; a carrier phase determination module configured to determine a carrier phase ambiguity of the set of satellite observations; and a position filter configured to estimate a position of the receiver.

Abstract: A system for generating satellite positioning corrections includes a global correction module that generates a set of global pre-corrections based on modeling of global positioning error, a set of local correction modules that, for each local correction module of the set, takes input from a unique reference source and generates a set of local pre-corrections based on modeling of local positioning error; and a correction generator that generates a positioning correction from the set of global pre-corrections and the sets of local pre-corrections to correct a position of the mobile receiver.

Abstract: A method or system can include or be configured to receive a set of satellite observations, receiving sensor data, determining a position estimate and associated positioning error for a rover based on the set of satellite observations and the sensor data, determine a protection level associated with the position estimate based on a set of potential faults, and optionally provide an alert when the positioning error exceeds the protection level.

Abstract: A method can include receiving a set of satellite signals, refining the set of satellite signals to generate a refined set of satellite signals, determining a satellite solution for each satellite associated with a satellite signal in the refined set of satellite signals, applying an a-priori correction to the satellite signals, determining a set of time differenced satellite signals between the satellite signals from a current epoch and a previous epoch; and determining the positioning solution of the rover using a fusion engine that processes the differenced satellite signals and inertial measurement unit (IMU) data.

Abstract: A system for estimating a receiver position with high integrity can include a reference station observation monitor configured to: receive a set of reference station observations associated with a set of reference stations, detect a predetermined event, and mitigate an effect of the predetermined event; a modeling engine configured to generate corrections; a reliability engine configured to validate the corrections; an observation monitor configured to: receive a set of satellite observations from a set of global navigation satellites corresponding to at least one satellite constellation; detect a predetermined event; and mitigate an effect of the predetermined event; a carrier phase determination module configured to determine a carrier phase ambiguity of the set of satellite observations; and a position filter configured to estimate a position of the receiver.

Abstract: A method can include and/or a system can be configured for determining satellite positioning corrections, generating a satellite positioning corrections message to transmit the satellite positioning corrections to an endpoint. The method can optionally include and/or the system can optionally be configured for establishing or determining a chain-of-trust, validating the satellite positioning corrections (e.g., at the endpoint), and/or determining a positioning solution.

Abstract: A method or system can include or be configured to receive a set of satellite observations, receiving sensor data, determining a position estimate and associated positioning error for a rover based on the set of satellite observations and the sensor data, determine a protection level associated with the position estimate based on a set of potential faults, and optionally provide an alert when the positioning error exceeds the protection level.

Abstract: A method can include and/or a system can be configured for determining satellite positioning corrections, generating a satellite positioning corrections message to transmit the satellite positioning corrections to an endpoint. The method can optionally include and/or the system can optionally be configured for establishing or determining a chain-of-trust, validating the satellite positioning corrections (e.g., at the endpoint), and/or determining a positioning solution.

Abstract: A method can include receiving sensor data, receiving satellite observations, determining a positioning solution (e.g., PVT solution, PVA solution, kinematic parameters, etc.) based on the sensor data and the satellite observations. A system can include a sensor, a GNSS receiver, and a processor configured to determine a positioning solution based on readings from the sensor and the GNSS receiver.

Abstract: A system can include (and/or receive data from) one or more data sources (e.g., satellites, reference stations, etc.), a computing system (e.g., a corrections generator thereof), a GNSS receiver, one or more sensors, and/or any suitable component(s). A method can include receiving satellite observations at a first signal frequency, determining GNSS corrections for a second signal frequency, determining a GNSS receiver position based on the GNSS corrections, and/or any suitable step(s).