Abstract: A method of determining a position of a device includes obtaining an initial position of the device without using Global Navigation Satellite System (GNSS) satellites. GNSS measurements are taken of radio frequency (RF) signals transmitted by the GNSS satellites. Initial residuals are determined based, at least in part, on GNSS measured distances determined from the at least a portion of the GNSS measurements and expected distances determined from the initial position. Errors of the GNSS measurements based on the RF signals are estimated. An optimization is performed using some of the estimated errors to produce a modified set of residuals, wherein the optimization is further based on H, wherein H represents a matrix with trigonometric functions of a geometry of the GNSS satellites. A cost minimization method of the modified set of residuals and actual geometry of the GNSS satellites (H) to determine an improved position of the device.

Abstract: A method of controlling a satellite positioning system receiver of a mobile device includes: determining, at the mobile device, candidate satellite vehicle positioning signals corresponding to satellite vehicles above a horizon relative to the mobile device; determining, based on at least one respective satellite vehicle signal parameter for each of the candidate satellite vehicle positioning signals, a subset of satellite vehicle positioning signals consisting of fewer than all of the candidate satellite vehicle positioning signals; and causing each satellite signal channel in at least a subset of a plurality of satellite signal channels of the satellite positioning system receiver to measure a corresponding satellite vehicle positioning signal of the subset of satellite vehicle positioning signals.

Abstract: A method for assessing a quality of a position estimate for a user equipment (UE) includes: identifying one or more devices as a line-of-sight (LOS) device based on a classification of one or more measurements from the one or more devices as being LOS measurements; determining one or more LOS postfit residuals for each LOS device based on the position estimate for the UE and the LOS measurements from the LOS device; and determining a quality metric for the position estimate for the UE based on the one or more LOS postfit residuals corresponding to the LOS devices.

Abstract: An integer ambiguity validation method includes: obtaining, at an apparatus in conjunction with the one or more receivers, a plurality of feature values that are based on satellite signals received by a mobile device; determining, at the apparatus, an integer ambiguity vector indicative of integer numbers of carrier phase cycles of the satellite signals between the apparatus and respective satellites; determining, at the apparatus, a probability of the integer ambiguity vector being correct by using the integer ambiguity vector in a machine learning algorithm; and determining, at the apparatus, whether the integer ambiguity vector is correct based on the probability of the integer ambiguity vector being correct and an integer ambiguity vector probability threshold.

Abstract: Aspects presented herein may enable a positioning device or entity to perform PR measurement error detection and classification based on SV geometry via ML. In one aspect, a UE or a location server determines for each SV of a set of SVs at least a geometric orientation with respect to the UE. The UE or the location server determines, based on an ML classifier and the determined geometric orientation with respect to the UE for each SV of at least a subset of the set of SVs, a relative PR weight for each SV of the set of SVs. The UE or the location server estimates a position of the UE based on PR measurements of each SV of the set of SVs and the relative PR weight for each SV of the set of SVs.

Abstract: Aspects presented herein may improve the performance and accuracy of GNSS-based positioning, where a position-grid based ML may be implemented by a UE or a location server to improve the accuracy of identifying a warm-start position of the UE. In one aspect, a UE or a location server determines, for each grid point within a range of an initial position of a UE, a set of PR residuals based on PRs for each SV of a set of SVs. The UE or the location server determines an estimated position of the UE based on the sets of determined PR residuals.

Abstract: In some implementations, a global navigation satellite system (GNSS) device may determine its approximate location, and, for each pseudorange measurement of a plurality of pseudorange measurements performed by the GNSS device: determine a location of a respective satellite vehicle (SV) that transmits a respective GNSS signal of which the pseudorange measurement is performed, and determine a respective residual grid, where the respective residual grid is based on respective information from the pseudorange measurement and the location of the respective SV, and the respective residual grid is indicative of possible locations of the GNSS device within a geographical region including the approximate location of the GNSS device. The GNSS device may aggregate the residual grids corresponding to at least a portion of the plurality of pseudorange measurements and may determine a location estimate of the GNSS device based on the aggregation of the residual grids.

Abstract: An integer ambiguity validation method includes: obtaining, at an apparatus in conjunction with the one or more receivers, a plurality of feature values that are based on satellite signals received by a mobile device; determining, at the apparatus, an integer ambiguity vector indicative of integer numbers of carrier phase cycles of the satellite signals between the apparatus and respective satellites; determining, at the apparatus, a probability of the integer ambiguity vector being correct by using the integer ambiguity vector in a machine learning algorithm; and determining, at the apparatus, whether the integer ambiguity vector is correct based on the probability of the integer ambiguity vector being correct and an integer ambiguity vector probability threshold.

Abstract: A method of determining a position of a device includes obtaining an initial position of the device without using Global Navigation Satellite System (GNSS) satellites. GNSS measurements are taken of radio frequency (RF) signals transmitted by the GNSS satellites. Initial residuals are determined based, at least in part, on GNSS measured distances determined from the at least a portion of the GNSS measurements and expected distances determined from the initial position. Errors of the GNSS measurements based on the RF signals are estimated. An optimization is performed using some of the estimated errors to produce a modified set of residuals, wherein the optimization is further based on H, wherein H represents a matrix with trigonometric functions of a geometry of the GNSS satellites. A cost minimization method of the modified set of residuals and actual geometry of the GNSS satellites (H) to determine an improved position of the device.

Abstract: Aspects presented herein may enable a positioning device or entity to perform PR measurement error detection and classification based on SV geometry via ML. In one aspect, a UE or a location server determines for each SV of a set of SVs at least a geometric orientation with respect to the UE. The UE or the location server determines, based on an ML classifier and the determined geometric orientation with respect to the UE for each SV of at least a subset of the set of SVs, a relative PR weight for each SV of the set of SVs. The UE or the location server estimates a position of the UE based on PR measurements of each SV of the set of SVs and the relative PR weight for each SV of the set of SVs.

Abstract: Aspects presented herein may improve the performance and accuracy of GNSS-based positioning, where a position-grid based ML may be implemented by a UE or a location server to improve the accuracy of identifying a warm-start position of the UE. In one aspect, a UE or a location server determines, for each grid point within a range of an initial position of a UE, a set of PR residuals based on PRs for each SV of a set of SVs. The UE or the location server determines an estimated position of the UE based on the sets of determined PR residuals.

Abstract: Disclosed embodiments facilitate accuracy and decrease error in terrestrial positioning systems, including errors induced by multipath (e.g. ground reflections) in doppler based measurements of SVs. In some embodiments, one or more Global Navigation Satellite System (GNSS) doppler measurements and one or more corresponding GNSS pseudorange measurements for one or more satellites may be obtained. One or more GNSS doppler estimates corresponding to the one or more GNSS doppler measurements may be determined, wherein for a GNSS doppler measurement, the corresponding GNSS doppler estimate may be determined based, in part, on the GNSS doppler measurement and a GNSS pseudorange measurement corresponding to the GNSS doppler measurement. A speed of the UE may be determined based, in part, on the one or more GNSS doppler estimates.

Abstract: A mobile device includes: a magnetometer configured to sense a magnetic field and to provide indications of the magnetic field; and a processor communicatively coupled to the magnetometer and configured to: determine an occurrence of a trigger condition associated with imminent motion of the mobile device, present motion of the mobile device, or decalibration of the magnetometer; respond to determining the occurrence of the trigger condition by causing the magnetometer to sense the magnetic field and to provide the indications of the magnetic field; and determine at least one bias of the magnetometer using the indications of the magnetic field.

Abstract: Disclosed embodiments facilitate accuracy and decrease error in terrestrial positioning systems, including errors induced by multipath (e.g. ground reflections) in doppler based measurements of SVs. In some embodiments, one or more Global Navigation Satellite System (GNSS) doppler measurements and one or more corresponding GNSS pseudorange measurements for one or more satellites may be obtained. One or more GNSS doppler estimates corresponding to the one or more GNSS doppler measurements may be determined, wherein for a GNSS doppler measurement, the corresponding GNSS doppler estimate may be determined based, in part, on the GNSS doppler measurement and a GNSS pseudorange measurement corresponding to the GNSS doppler measurement. A speed of the UE may be determined based, in part, on the one or more GNSS doppler estimates.