Abstract: A GNSS receiver and a method of processing GNSS measurements are disclosed. The method includes defining (220) a state vector, comprising state variables. It further includes obtaining (230) a posterior probability density for the state vector. State information is inferred based on the posterior probability density. This inferring involves integrating the posterior probability density. The integrating comprises dividing (234) a domain of the posterior probability density into a plurality of slices along a dimension associated with one of the state variables; integrating (236) each slice separately, to produce a respective integration result for each slice; and combining (238) the integration results for the slices.

Abstract: A method and apparatus are disclosed for processing GNSS measurements. The GNSS measurements include carrier phase measurements. A state vector is defined, comprising state variables. A posterior probability density for the state vector is obtained, which is based on non-Gaussian residual error models for the GNSS measurements. A search of the posterior probability density is performed, to identify a set of modes of the probability density. State information is inferred based on the posterior probability density, using the identified set of modes. The search comprises transforming the posterior probability density into a mixture model comprising a plurality of mixture components, wherein each mixture component is a multivariate distribution.

Abstract: In one embodiment a tracking circuit for tracking a frequency of a sweeping signal component in an input signal comprises an input (9) for receiving the input signal (Sin) comprising the sweeping signal component and a noise component, a mixer (10) coupled to the input and configured to mix the input signal (Sin) with a replica signal (Srep) and therefrom provide a residual input signal (Sinr), a low-pass filter (20) coupled downstream of the mixer (10), a discriminator circuit (30) coupled downstream of the low-pass filter (20), a loop filter (40) coupled downstream of the discriminator circuit (30) and configured to provide a frequency control value (Sfc), and a replica signal generator circuit (50) coupled downstream of the loop filter (40) and configured to provide the replica signal (Srep) with a frequency adjusted based on the frequency control value (Sfc), wherein the frequency of the replica signal (Srep) represents an estimation of a frequency of the sweeping signal component propagated to a current

Abstract: In one embodiment an adaptive filter structure comprises a detector circuit (10) configured to receive an input signal (Sin), to detect a presence of a sweeping interference in the input signal, and upon detection of such sweeping interference to provide a first trigger signal (T1) to a delay circuit (20), wherein the first trigger signal (T1) comprises a first frequency indication (f1); the delay circuit (20) is configured, upon receiving the first trigger signal (T1), to provide a second trigger signal (T2) to a tracker circuit (30) after an adjustable amount of time; the tracker circuit (30) is configured, upon receiving the second trigger signal (T2), to estimate a frequency of the sweeping interference using a second frequency indication (f2), to track the estimated frequency and provide the estimated frequency as a third frequency indication (13) to a notch filter circuit (40); and the notch filter circuit (40) is configured to substantially eliminate the sweeping interference from the input signal (Sin

Abstract: A method for determining a protection level of a position estimate using a single epoch of GNSS measurements, the method includes: specifying a prior probability density P(x) of a state x; specifying a system model h(x) that relates the state x to observables z of the measurements; quantifying quality metrics q associated with the measurements; specifying a non-Gaussian residual error probability density model f(r|?, q) and fitting model parameters ? using a set of experimental data; and defining a posterior probability density P(x|z, q, ?); estimating the state x; and computing the protection level by integrating the posterior probability density P(x|z, q, ?) over the state x.

Abstract: A method for determining a protection level of a position estimate using a single epoch of GNSS measurements, the method includes: specifying a prior probability density P(x) of a state x; specifying a system model h(x) that relates the state x to observables z of the measurements; quantifying quality metrics q associated with the measurements; specifying a non-Gaussian residual error probability density model ƒ(r|?, q) and fitting model parameters ? using a set of experimental data; and defining a posterior probability density P(x|z, q, ?); estimating the state x; and computing the protection level by integrating the posterior probability density P(x|z, q, ?) over the state x.

Abstract: A method and apparatus are provided for processing GNSS measurements to infer state information. An example method includes obtaining one or more residual error models for the plurality of GNSS measurements. The one or more residual error models describe a probability distribution of errors in each of the GNSS measurements. The method further includes inferring the state information based on the one or more residual error models. The GNSS measurements include at least one carrier phase measurement. The residual error model for the at least one carrier phase measurement is cyclic, such that errors in carrier phase that are separated by an integer number of cycles are regarded as equivalent. The probability distribution for the at least one carrier phase measurement comprises a function having a continuous first derivative, for example, a continuous first derivative at a phase boundary between successive cycles.

Abstract: A method and apparatus are provided for processing a plurality of GNSS measurements to infer state information. An example method includes obtaining a plurality of quality indicators associated with each GNSS measurement. A space of joint values of the plurality of quality indicators is divided into at least a first region and a second region. Neither the first region nor the second region is box-shaped. The method determines whether the plurality of quality indicators fall within the first region or the second region. If the plurality of quality indicators fall within the first region, the GNSS measurement in question is included in the processing to infer the state information. Also provided is a method of estimating residual error models for GNSS measurements, based on training data.

Abstract: A method and apparatus are disclosed for processing GNSS measurements. The GNSS measurements comprise carrier phase measurements. A state vector is defined, comprising state variables. A posterior probability density for the state vector is obtained, which is based on non-Gaussian residual error models for the GNSS measurements. A systematic search of the posterior probability density is performed, to identify a set of modes of the probability density.

Abstract: A dolly has a frame; a plurality of rolling elements mounted on the frame for rotation about respective rotational axes generally parallel to the ground surface and defining a contact footprint of the dolly on the ground surface. The axes extend in a plane between a load contacting surface of the dolly and the ground surface at a distance between 30% and 50% of a height defined between the load contacting surface of the dolly and the ground surface. A swivel platform defines the load contacting surface extending at an elevation above the frame and mounted on the frame for rotation about a platform axis located within the contact footprint. An actuator unit is drivingly engaged to at least two rolling elements of the plurality of rolling elements, the at least two rolling elements disposed on opposite sides of the swivel platform. An on-board controller unit is operable to actuate the actuator unit.

Abstract: A method for determining a protection level of a position estimate using a single epoch of GNSS measurements, the method includes: specifying a prior probability density P(x) of a state x; specifying a system model h(x) that relates the state x to observables z of the measurements; quantifying quality metrics q associated with the measurements; specifying a non-Gaussian residual error probability density model ƒ(r|?, q) and fitting model parameters ? using a set of experimental data; and defining a posterior probability density P(x|z, q, ?); estimating the state x; and computing the protection level by integrating the posterior probability density P(x|z, q, ?) over the state x.

Abstract: A method for identifying transmitters by a terminal in a single-frequency network comprising a plurality of transmitters. The transmitters are synchronized and transmit with an artificial delay ?i, specific to each transmitter. The method comprises at least one step of acquiring the approximate position of the terminal {circumflex over (p)}, the position pi of a list of transmitters {Tx} in the vicinity of the terminal and the delays ?i associated with them, a step of measuring pseudo-distances ?i between the transmitters and the terminal and a step of associating the measurements ?i with the transmitters of known positions pi by minimizing a cost function, said cost function ?(?i,{circumflex over (p)},?) corresponding to the norm of the error between the measurements ?i and a model of measurements of the pseudo-distances applied to a permutation of the position of the transmitters ?.

Abstract: To receive a radio navigation signal modulated by a modulation waveform, the modulation waveform comprising a component BOC(n1,m) and a component BOC(n2,m), n2 being strictly less than n1, a correlation is performed between a prompt local waveform and the modulation waveform and a correlation is performed between a shifted (forward or backward) local waveform and said modulation waveform, over a time interval of duration T. The prompt local waveform is generated in the guise of a binary waveform comprising over said time interval at least one waveform segment BOC(n2,m) of a total duration of (1??A)T over said time interval, ?A being a parameter greater than or equal to 0 and strictly less than 1. The shifted local waveform is generated in the guise of a binary waveform comprising over said time interval at least one waveform segment BOC(n1,m) of a total duration of ?BT over said time interval, B being a parameter strictly greater than 0 and less than or equal to 1, and ?A being different from ?B.

Abstract: A method for identifying transmitters by a terminal in a single-frequency network comprising a plurality of transmitters. The transmitters are synchronized and transmit with an artificial delay ?i, specific to each transmitter. The method comprises at least one step of acquiring the approximate position of the terminal {circumflex over (p)}, the position pi of a list of transmitters {Tx} in the vicinity of the terminal and the delays ?i associated with them, a step of measuring pseudo-distances ?i between the transmitters and the terminal and a step of associating the measurements ?i with the transmitters of known positions pi by minimizing a cost function, said cost function ?(?i,{circumflex over (p)},?) corresponding to the norm of the error between the measurements ?i and a model of measurements of the pseudo-distances applied to a permutation of the position of the transmitters ?.

Abstract: Disclosed is a method for receiving a radionavigation signal modulated by a composite waveform, the composite waveform comprising a linear combination with real-valued coefficients of a BOC(n1,m) component and a BOC(n2,m) component, n1 differing from n2; in which a correlation is performed between a local waveform and the composite waveform over a time interval of duration T, wherein the local waveform is a binary waveform, formed over the time interval by an alternating succession comprising at least one BOC(n1,m) waveform segment and at least one BOC(n2,m) waveform segment, the at least one BOC(n1,m) segment having a total duration of ?T, ? being strictly between 0 and 1, the at least one BOC(n2,m) segment having a total duration of (1??)T.

Abstract: A method and apparatus for acquiring and tracking a BOC signal in a satellite navigation receiver includes a synthesized acquisition test function or a discriminator for code delay provided by combining a BOC autocorrelation function and a BOC/PRN cross-correlation function.

Abstract: To receive a radio navigation signal modulated by a modulation waveform, the modulation waveform comprising a component BOC(n1,m) and a component BOC(n2,m), n2 being strictly less than n1, a correlation is performed between a prompt local waveform and the modulation waveform and a correlation is performed between a shifted (forward or backward) local waveform and said modulation waveform, over a time interval of duration T. The prompt local waveform is generated in the guise of a binary waveform comprising over said time interval at least one waveform segment BOC(n2,m) of a total duration of (1??A)T over said time interval, ?A being a parameter greater than or equal to 0 and strictly less than 1. The shifted local waveform is generated in the guise of a binary waveform comprising over said time interval at least one waveform segment BOC(n1,m) of a total duration of ?BT over said time interval, B being a parameter strictly greater than 0 and less than or equal to 1, and ?A being different from ?B.