Correcting Position, Velocity, Or Attitude Patents (Class 342/357.23)
  • Patent number: 10274346
    Abstract: Methods and systems for evaluating the quality of a location-determination algorithm of a mobile device are described. An example method may involve receiving a log of sensor data that may include sensor values output by given sensors of a mobile device over a time period, and at least one location estimate for at least one respective point in time within the time period. One or more processors may then determine, using the sensor values, an estimated trajectory that includes a plurality of computed ground-truth locations of the mobile device over the time period. Further, the method may involve determining a difference between a given location estimate and a computed ground-truth location of the plurality of computed ground-truth locations. And the method may involve providing an output indicative of whether the determined difference satisfies a predetermined threshold.
    Type: Grant
    Filed: July 30, 2014
    Date of Patent: April 30, 2019
    Assignee: Google LLC
    Inventors: Etienne Le Grand, David Nicholas Christie
  • Patent number: 10267919
    Abstract: A positioning system includes an on-board device that includes a positioning signal receiver that receives positioning signals from plural artificial satellites, a signal generator that generates a correction signal for correcting a positioning result based on the plural positioning signals, and a broadcast distribution unit that employs a geostationary satellite to distribute the correction signal together with another broadcast signal. The signal generator generates plural of the correction signals corresponding to plural distribution target regions set such that the entire area of a distribution target is covered. The broadcast distribution unit simultaneously distributes all the plural correction signals to each of the plural distribution target regions.
    Type: Grant
    Filed: April 4, 2016
    Date of Patent: April 23, 2019
    Assignee: HONDA MOTOR CO., LTD.
    Inventor: Akira Nagao
  • Patent number: 10148314
    Abstract: System and methods for generating and employing coherent multicarrier correlation can include receiving, from a transmitter, a plurality of radio frequency (RF) signals associated with a respective plurality of nominal carrier components. A processing circuitry can remove from each received RF signal the respective nominal carrier component to generate a corresponding baseband signal. The processing circuitry can generate, for each baseband signal, a respective correlation signal using the baseband signal and a reference signal. The processing circuitry can incorporate, to each correlation signal, the respective nominal carrier component of the RF signal associated with that correlation signal to generate a respective single-carrier correlation signal. The processing circuitry can aggregate the single-carrier correlation signals to generate a multi-carrier correlation signal.
    Type: Grant
    Filed: January 13, 2017
    Date of Patent: December 4, 2018
    Assignee: ROCKWELL COLLINS, INC.
    Inventor: Carlos J. Chavez
  • Patent number: 10012738
    Abstract: A positioning signal from a satellite positioning system is received at a mobile station, correction information from a reference station is used, a pseudo distance observation formula using a code and a phase distance observation formula using a carrier wave are used to perform positioning using single frequency at the mobile station, and these observation formulas are expressed by a satellite clock error, clock errors at the reference station and the mobile station, a ionospheric delay and a tropospheric delay, and a code bias and a phase bias of single frequency at the reference station, the mobile station and a satellite.
    Type: Grant
    Filed: March 24, 2016
    Date of Patent: July 3, 2018
    Assignees: Hitachi Zosen Corporation, GPS Solutions, Inc.
    Inventors: Akira Wada, Hirotaka Obata, Leos Mervart, Christian Rocken, Zdenek Lukes, Tetsuya Iwabuchi
  • Patent number: 9989651
    Abstract: In the field of satellite geolocation, a geopositioning method with a trust index is implemented by a geopositioning terminal. According to the method, the positioning of the terminal is estimated by geopositioning satellites and the trust index is provided by comparison with at least one pseudo-distance measurement recorded by at least one additional geopositioning satellite, which is different from those used to compute the position of the terminal.
    Type: Grant
    Filed: March 20, 2015
    Date of Patent: June 5, 2018
    Assignee: THALES
    Inventors: Michel Monnerat, Damien Serant
  • Patent number: 9952325
    Abstract: The invention introduces “crossed” navigation message authentication, which comprises a) generation and transmission of unpredictable bits periodically from satellites currently not connected to the ground mission segment and b) generation of digital signatures for the data from these satellites, and the transmission thereof through satellites that currently are connected to the ground mission segment. An attacker cannot spoof the navigation message as it contains an unpredictable bit pattern that is verified a few seconds later through a digital signature.
    Type: Grant
    Filed: July 4, 2014
    Date of Patent: April 24, 2018
    Assignee: THE EUROPEAN UNION, REPRESENTED BY THE EUROPEAN COMMISSION
    Inventor: Ignacio Fernandez-Hernandez
  • Patent number: 9921314
    Abstract: A Ground-Based Augmentation System (GBAS) includes a plurality of Global Navigation Satellite System (GNSS) reference receivers configured to receive and process GNSS satellite measurements.
    Type: Grant
    Filed: April 20, 2015
    Date of Patent: March 20, 2018
    Assignee: Honeywell International Inc.
    Inventors: Tom Jakel, James Arthur McDonald
  • Patent number: 9903953
    Abstract: A DGNSS-based guidance system, wherein a rover receiver first utilizes data from a master base station transceiver, a DGNSS reference network, or some other differential source to compute a differentially corrected location to establish a reference DGNSS relationship. Using this location and data observed only at the rover, the rover computes an internal set of differential corrections, which set is stored in computer memory, updated as necessary, and applied in future times to correct observations taken by the rover. As the rover enters into areas of other base station receiver reference networks, the rover transceiver will send positional information it receives from the master base station to the new, secondary base station. The secondary base station then calibrates its own reference information using information sent from the original master base station.
    Type: Grant
    Filed: February 5, 2016
    Date of Patent: February 27, 2018
    Assignee: AGJUNCTION LLC
    Inventor: John A. McClure
  • Patent number: 9885789
    Abstract: A position fix identifying a geographic location of a receiver is received. The position fix was generated using signals received at the receiver from respective high-altitude signal sources (such as satellites). Imagery of a geographic area that includes the geographic location is also received. The imagery is automatically processed to determine whether one or more of the high-altitude signal sources were occluded from the geographic location when the position fix was generated. In response to determining that one or more of the high-altitude signal sources were occluded from the geographic location when the position fix was generated, the position fix is identified as being potentially erroneous.
    Type: Grant
    Filed: March 14, 2013
    Date of Patent: February 6, 2018
    Assignee: Google LLC
    Inventors: Fred P. Pighin, Daniel J. Filip, Scott Ettinger, Bryan Klingner, David Martin
  • Patent number: 9864065
    Abstract: A method and a system for detecting cross correlation in a satellite navigation receiver (SNR) in real time are provided. The SNR parallelly receives navigation signals from multiple satellites via multiple input channels. The SNR extracts ephemeris data from sub-frames of navigation data of each of the navigation signals. The SNR compares the ephemeris data of each navigation signal with the ephemeris data of another navigation signal. The SNR detects cross correlation between the navigation signals when the ephemeris data comparison results in a match and discards the navigation signal with low signal strength. The SNR also retrieves a ranging code from the sub-frames of navigation data of each navigation signal. The SNR compares the ranging code with a pre-programmed satellite identity code of a corresponding satellite. The SNR detects cross correlation when the code comparison results in a mismatch and discards the navigation signal with the mismatched ranging code.
    Type: Grant
    Filed: September 8, 2013
    Date of Patent: January 9, 2018
    Assignee: ACCORD SOFTWARE & SYSTEMS PVT LTD
    Inventor: Vyasaraj Guru Rao
  • Patent number: 9829582
    Abstract: A differential global positioning system (DGPS) processor can include an almost fixed integer ambiguity (AFIA) module for generating in real-time a multiple dimensional state vector of integer ambiguities and multiple dimensional corrections. The AFIA module can use double difference (DD) measurements for pseudo-range (PR) and carrier phase (CP) pairs generated from at least three global positioning system (GPS) receivers. A DGPS processor can be included in a high data rate real time attitude determination (RTAD) system to achieve high heading accuracy with high integrity.
    Type: Grant
    Filed: September 19, 2011
    Date of Patent: November 28, 2017
    Assignee: Raytheon Company
    Inventors: Benjamin Wu, Stephen R. Peck, Shuwu Wu
  • Patent number: 9824157
    Abstract: An information processing device including: a storage unit configured to store a first record set including variables of multiple types, and a second record set different from the first record set and including variables of the multiple types; and a processing unit configured to calculate an expected value at which a first variable set representing a combination of variables formed by selecting one variable for each type in the first record set is expected to appear in the second record set, extract the first variable set based on the expected value and the number of records including the first variable set in the second record set, and output at least one of the extracted first variable set and a second variable set, the second variable set representing a combination of variables formed by selecting one or more variables for each type in the second record set.
    Type: Grant
    Filed: January 30, 2015
    Date of Patent: November 21, 2017
    Assignee: FUJITSU LIMITED
    Inventors: Koji Maruhashi, Nobuhiro Yugami
  • Patent number: 9791575
    Abstract: A GNSS/INS navigation system includes an INS filter that uses relative yaw values as an observable for attitude updates. The system calculates the relative yaw values based on carrier phase measurements, e.g., phase windup measurements, of GNSS signals received at a system GNSS antenna. The use of the relative yaw values as an observable in the INS filter allows the system to improve estimates of associated biases, and also to continue to estimate the associated biases in low dynamic environments.
    Type: Grant
    Filed: January 27, 2016
    Date of Patent: October 17, 2017
    Assignee: NovAtel Inc.
    Inventor: Michael Bobye
  • Patent number: 9618625
    Abstract: A system and method of continuous carrier wave reconstruction includes a radio navigation receiver that includes one or more processors, memory coupled to the one or more processors, and an input for receiving a signal from a transmitter. The signal has a phase. The one or more processors are configured to obtain phase lock on the received signal, extract first phase information from the received signal, detect a loss in phase lock on the received signal, and extrapolate second phase information while phase lock is lost using a model of the phase. In some embodiments, the one or more processors are further configured to reconstruct the carrier signal based on the first and second phase information. In some embodiments, the one or more processors are further configured to scale the first and second phase information from a first nominal frequency of the received signal to a different second nominal frequency.
    Type: Grant
    Filed: April 3, 2014
    Date of Patent: April 11, 2017
    Assignee: Apple Inc.
    Inventors: Isaac T. Miller, William J. Bencze, Robert W. Brumley, Brent M. Ledvina, Mark L. Psiaki, Thomas J. Holmes, Clark E. Cohen
  • Patent number: 9596575
    Abstract: Embodiments are provided for calibration, preprocessing, and segmentation for user localization and network traffic density estimation. The embodiments include sending, from a network component, a request to a plurality of user equipment (UEs) to participate in reporting localization data. Reports for localization data including no-lock reports are received from at least some of the UEs. The no-lock reports indicate indoor UEs among the UEs. The network preprocesses the localization data by eliminating, from the localization data, data that increases the total noise to signal ratio. The localization data is then processed using a model that distinguishes between different buildings. This includes associating, according to a radio map, radio characteristics in the localization data with corresponding bins in a non-uniform grid of coverage. The non-uniform grid is predetermined to maximize uniqueness between the radio characteristics.
    Type: Grant
    Filed: November 14, 2013
    Date of Patent: March 14, 2017
    Assignee: FUTUREWEI TECHNOLOGIES, INC.
    Inventors: Mark Newbury, Iyad Alfalujah, Suman Das, Kamalaharan Dushyanthan
  • Patent number: 9584973
    Abstract: An integrated positioning apparatus acquires a first estimated position obtained by a first positioning scheme and a first weight for the first estimated position. The integrated positioning apparatus acquires a second estimated position obtained by a second positioning scheme and a second weight for the second estimated position. The integrated positioning apparatus corrects the first and second weights based on reference position information corresponding to position environment of a user. The integrated positioning apparatus integrates the first and second estimated positions to produce a third estimated position by using the corrected first and second weights.
    Type: Grant
    Filed: March 26, 2015
    Date of Patent: February 28, 2017
    Assignee: ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE
    Inventor: Manho Park
  • Patent number: 9519063
    Abstract: The technology disclosed relates to implementing a novel-testing framework that combines playback of captured GNSS signals with real-time emulation of assisted global navigation satellite system telemetry (abbreviated A-GNSS) in a test session with a mobile device. In particular, it can be used for testing A-GNSS performance of communication devices, navigation systems, telematics and tracking applications.
    Type: Grant
    Filed: March 5, 2013
    Date of Patent: December 13, 2016
    Assignee: Spirent Communications, Inc.
    Inventors: Jason Davis, Kunal Shanishchara, Ram Garapaty, Brock Butler
  • Patent number: 9513120
    Abstract: A navigational apparatus includes a visual display, first and second imaging devices, and one or more processors. The first imaging device has an optical axis extending in a first direction and is configured to obtain first image data. The second imaging device has an optical axis extending in a second direction substantially perpendicular to the first direction and is configured to obtain second image data. When the visual display is displaying first image data, the one or more processors are configured to superimpose a first navigational graphic on the visual display overlaid on a portion of the first image data associated with the point of interest. When the visual display is displaying second image data, the one or more processors are configured to superimpose a second navigational graphic on the visual display overlaid on a portion of the second image data associated with the point of interest.
    Type: Grant
    Filed: March 11, 2013
    Date of Patent: December 6, 2016
    Assignee: Trimble Navigation Limited
    Inventors: Graham Briggs, Christian Graesser, James M. Janky
  • Patent number: 9488735
    Abstract: A positioning apparatus is provided that may include a pseudo distance measurement unit that measures the pseudo distance between the positioning satellite and the antenna, an ionosphere delay amount calculating unit that calculates an ionosphere delay amount included in the pseudo distance, and a pseudo distance corrector that executes a positioning calculation by correcting the pseudo distance based on the ionosphere delay amount. The ionosphere delay amount calculating unit sets the upper limit of the partition number between the positioning satellite and the antenna, determines the total number of electrons sTEC by integrating in the range of less than the upper limit of the partition number, and calculates the ionosphere delay amount based on the determined total number of electrons sTEC.
    Type: Grant
    Filed: March 13, 2012
    Date of Patent: November 8, 2016
    Assignee: Furuno Electric Co., Ltd.
    Inventors: Takaki Tominaga, Kazuto Tada
  • Patent number: 9460609
    Abstract: A method and an apparatus for preventing the loss of an electronic device are provided. The method includes establishing a communication link between a first electronic device and a second electronic device through activation of wireless communication at the first electronic device, collecting, upon detection of movement of the first electronic device, sensing information of the first electronic device, receiving sensing information from the second electronic device through the communication link, comparing the sensing information of the first electronic device with the sensing information of the second electronic device, and checking whether a loss incident has occurred on the basis of the comparison result.
    Type: Grant
    Filed: February 25, 2015
    Date of Patent: October 4, 2016
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Yongsuk Lee, Taeho Kang, Sungwoo Choi
  • Patent number: 9405015
    Abstract: Polynomial regression models are used to reduce errors in measurements of pseudorange between a GNSS satellite and a receiving station; for data compression by replacing a large number of measurements with a small number of coefficients of the model polynomial, optionally combined with modeling residuals; for extrapolating usefully accurate estimates of future range between the GNSS satellite and the receiving station; and for providing usefully accurate estimates of future coefficient values of the polynomial regression models themselves.
    Type: Grant
    Filed: December 18, 2012
    Date of Patent: August 2, 2016
    Assignee: SubCarrier Systems Corporation
    Inventors: Gregory John Berchin, David Charles Kelley
  • Patent number: 9322926
    Abstract: According to certain aspects, the invention includes using acquisition channel results from a number of satellites to achieve composite weak acquisition. According to certain other aspects, the invention also includes solving for an improved position estimate and, with a sufficiently accurate, either initial or improved position estimate, also solving for GPS system time using a composite of acquired signals from a plurality of satellites. Within commonly experienced initial position and time uncertainties, the geometric range changes are fairly linear, which allows the point of convergence of ranges to solve for GPS position and subsequently for time with reasonable accuracy, which is the equivalent to obtaining frame sync without any data demodulation or preamble matching.
    Type: Grant
    Filed: March 30, 2012
    Date of Patent: April 26, 2016
    Assignee: QUALCOMM TECHNOLOGIES INTERNATIONAL, LTD.
    Inventors: Phanikrishna Sagiraju, Steven Gronemeyer
  • Patent number: 9285482
    Abstract: A method for monitoring the integrity of position information outputted by a hybridization device that includes a bank (3) of Kalman filters, each filter developing a hybrid navigation solution from inertial measurements calculated by a virtual platform (2) and from raw measurements of signals transmitted by a satellite constellation which are outputted by a global navigation satellite system (GNSS). The method includes, for each satellite of the constellation of calculating a cross-innovation of the satellite that reflects the deviation between an observation, corresponding to a raw measurement from the satellite, and an a posteriori estimation of said observation that is developed through a Kalman filter and does not use the raw measurement from the satellite; carrying out a statistical test of the cross-innovation to ascertain whether or not the satellite is malfunctioning.
    Type: Grant
    Filed: March 24, 2010
    Date of Patent: March 15, 2016
    Assignee: SAGEM DEFENSE SECURITE
    Inventors: Sébastien Vourc'h, Victor Mauger
  • Patent number: 9170335
    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.
    Type: Grant
    Filed: February 13, 2012
    Date of Patent: October 27, 2015
    Assignee: Trimble Navigation Limited
    Inventors: Xiaoming Chen, Ralf Drescher, Rodrigo Leandro
  • Patent number: 9116228
    Abstract: A low-latency centralized RTK system utilizes an RTK server to perform matched updates using base station GNSS measurements from one or more base stations and GNSS measurements from one or more rovers, and the one or more rovers produce RTK solutions based on the results of the matched updates. The RTK server includes one or more processors that perform the matched updates and a transmitter that transmits at least the ambiguities to the rovers. The respective rovers, which have processing power that is sufficient to quickly calculate RTK baselines, utilize the received ambiguities, the base station GNSS measurements received from either the RTK server or the base stations, known base station positions and instantaneous GNSS measurements at the rovers to readily determine and update their RTK baselines and their precise positions.
    Type: Grant
    Filed: August 9, 2012
    Date of Patent: August 25, 2015
    Assignee: NovAtel Inc.
    Inventors: Cameron Ellum, Paul Alves
  • Patent number: 9041600
    Abstract: A system mounted to an object for detecting repetitive motion of the object. The system includes a GPS receiver for receiving GPS signals while being maneuvered in a repetitive motion by the object, and a processor for detecting repetitive phase shifts in the received GPS signals. In general, the system computes the repetitive motion of the GPS receiver based on the repetitive phase shifts.
    Type: Grant
    Filed: February 8, 2011
    Date of Patent: May 26, 2015
    Assignee: Cambridge Silicon Radio Limited
    Inventor: Andrew Papagerogiou
  • Patent number: 9007260
    Abstract: A method and apparatus for estimating and compensating for a broad class of non-Gaussian sensor and process noise. In one example, a coded filter combines a dynamic state estimator (for example, a Kalman filter) and a non-linear estimator to provide approximations of the non-Gaussian process and sensor noise associated with a dynamic system. These approximations are used by the dynamic state estimator to correct sensor measurements or to alter the dynamic model governing evolution of the system state. Examples of coded filters leverage compressive sensing techniques in combination with error models based on concepts of compressibility and the application of efficient convex optimization processes.
    Type: Grant
    Filed: June 23, 2011
    Date of Patent: April 14, 2015
    Assignee: The Charles Stark Draper Laboratory, Inc.
    Inventors: Yaron Rachlin, Rami Mangoubi, Michael F. McManus, Christopher C. Yu
  • Patent number: 8981992
    Abstract: Methods and apparatuses are provided that may be implemented in various electronic devices to identify suspect measurements for use in a position/velocity/time estimation filter and provide corresponding validated measurements that may be either operatively re-weighted in some manner or operatively one-sided isolated in some manner when subsequently considered by the position/velocity/time estimation filter.
    Type: Grant
    Filed: October 12, 2009
    Date of Patent: March 17, 2015
    Assignee: QUALCOMM Incorporated
    Inventors: Wyatt Thomas Riley, Quanwei Liu
  • Patent number: 8949011
    Abstract: A system for maneuvering an aircraft for operations in connection with a sea-going vessel, the vessel having a designated area for landings and sling-load operations. Each of the aircraft has a navigation unit (INU) comprising a GPS receiver and an inertial navigation unit. The INU's are updated by data from the GPS receivers and the data from the shipboard unit's GPS receiver and INU are transmitted to the aircraft. The aircraft performs RTK calculations to determine a vector to the shipboard GPS antennas and modifies the vector with data from the INU's.
    Type: Grant
    Filed: September 13, 2006
    Date of Patent: February 3, 2015
    Assignee: NovAtel Inc.
    Inventors: Tom Ford, Michael Boloye
  • Patent number: 8947299
    Abstract: Measuring a location of a communication terminal using a wireless local area network access point based on location coordinates of the access points and global positioning system (GPS) location information of the communication terminal.
    Type: Grant
    Filed: November 30, 2011
    Date of Patent: February 3, 2015
    Assignee: KT Corporation
    Inventors: Seung-Hyuk Jeong, Joo-Seong Jeon
  • Patent number: 8922426
    Abstract: A method, computer program product, and system are provided for position estimation in a geo-location system. For example, the method can include receiving a plurality of position measurements from a respective plurality of satellites in a global navigation satellite system. From the plurality of position measurements, a position measurement with a maximum pseudo-range residual value can be selected. A position uncertainty estimate can be determined based on the position measurement with the maximum pseudo-range residual value. Further, a position estimation algorithm can receive the position uncertainty estimate as an input, thereby improving position estimation of the geo-location system.
    Type: Grant
    Filed: February 26, 2010
    Date of Patent: December 30, 2014
    Assignee: Google Inc.
    Inventors: Russell Smith, Romain Clement
  • Patent number: 8912952
    Abstract: A global positioning system device and an ionosphere error estimation method thereof are provided. The global positioning system device is connected to a plurality of dual-band base stations, and receives a plurality of ionosphere pierce point coordinates and a plurality of ionosphere errors from the dual-band base stations. The global positioning system device calculates a user ionosphere error by an interpolation method based on the ionosphere pierce point coordinates and the ionosphere errors of the dual-band base stations and a user ionosphere pierce point coordinate of the global positioning system device.
    Type: Grant
    Filed: December 19, 2011
    Date of Patent: December 16, 2014
    Assignee: Institute for Information Industry
    Inventors: Ming Yang, Shau-Shiun Jan, An-Lin Tao, Chih-Hung Li, Shan-Yuan Yang
  • Patent number: 8890746
    Abstract: Methods and systems of hybrid positioning are provided for increasing the reliability and accuracy of location estimation. According to embodiments of the invention, the quality of reported locations from specific sources of location is assessed. Satellite and non-satellite positioning systems provide initial positioning estimates. For each positioning system relevant information is collected and based on the collected information each system is assigned appropriate weight.
    Type: Grant
    Filed: November 3, 2011
    Date of Patent: November 18, 2014
    Assignee: Skyhook Wireless, Inc.
    Inventors: Farshid Alizadeh-Shabdiz, Mohammad A. Heidari
  • Patent number: 8890747
    Abstract: A system and method is provided for determining a lateral velocity and a longitudinal velocity of a vehicle equipped. The vehicle includes only one antenna for a GPS receiver and a magnetic compass. A magnitude of a velocity vector of the vehicle is determined. A course angle with respect to a fixed reference using the single antenna GPS receiver is determined. A yaw angle of the vehicle is measured with respect to the fixed reference using a magnetic compass. A side slip angle is calculated as a function of the course angle and the yaw angle. The lateral velocity and longitudinal velocity is determined as a function of the magnitude of the velocity vector and the side slip angle.
    Type: Grant
    Filed: February 25, 2009
    Date of Patent: November 18, 2014
    Assignee: GM Global Technology Operations LLC
    Inventors: Flavio Nardi, Nikolai K. Moshchuk, Jihan Ryu, Kevin A. O'Dea
  • Patent number: 8878720
    Abstract: To detect an abnormal value in a satellite positioning system with high precision even when the observation environment changes or there is the time series correlation between data. An abnormal value index calculation unit 11 calculates an abnormal value index at each time of time-series data such as a pseudo distance between each artificial satellite and a receiver in the satellite positioning system or the like. A dynamic model forming unit 12 dynamically forms a model from the abnormal value index in a predetermined period and calculates a change point index from the time-series abnormal value index based on the dynamic model. The change point index is an index for determining whether the time-series is a one-shot outlier from a dynamic model or the dynamic model itself of input data changes when the time-series value which suddenly increases and decreases exists.
    Type: Grant
    Filed: February 25, 2011
    Date of Patent: November 4, 2014
    Assignee: NEC Corporation
    Inventors: Takeshi Ono, Kazushi Suzuki, Takayuki Kaneso, Takayuki Nakata, Kenji Aoki
  • Patent number: 8872700
    Abstract: The position of a global navigation satellite system (GNSS) surveying receiver is determined based on a plurality of RTK engines. A first RTK engine is implementing using a first set of parameters. A second RTK engine is implemented using a second set of parameter different than the first set. A plurality of GNSS signals are received from multiple satellites. At least one correction signal is received from at least one base receiver. A first position is determined from the first RTK engine based on the GNSS signals and the at least one correction signal. A second position is determined from the first RTK engine based on the GNSS signals and the at least one correction signal. A final position of the GNSS surveying receiver is determined based on the first position or the second position or a combination of both positions.
    Type: Grant
    Filed: April 2, 2012
    Date of Patent: October 28, 2014
    Assignee: Javad GNSS, Inc.
    Inventors: Javad Ashjaee, Lev B. Rapoport
  • Publication number: 20140266873
    Abstract: A position fix identifying a geographic location of a receiver is received. The position fix was generated using signals received at the receiver from respective high-altitude signal sources (such as satellites). Imagery of a geographic area that includes the geographic location is also received. The imagery is automatically processed to determine whether one or more of the high-altitude signal sources were occluded from the geographic location when the position fix was generated. In response to determining that one or more of the high-altitude signal sources were occluded from the geographic location when the position fix was generated, the position fix is identified as being potentially erroneous.
    Type: Application
    Filed: March 14, 2013
    Publication date: September 18, 2014
    Applicant: Google Inc.
    Inventors: Fred P. Pighin, Daniel J. Filip, Scott Ettinger, Bryan Klingner, David Martin
  • Patent number: 8825397
    Abstract: A vehicle navigation system includes a GNSS position engine (GPE) that uses GNSS satellite measurements to compute a first position and velocity of a vehicle and a first quality metric associated with the position and velocity. The system also includes a dead reckoning engine (DRE) that operates parallel with the GPE that computes a second position and velocity and a second quality metric associated with the dead reckoning. The GPE is configured to use the second position and velocity to detect a set of outliers in an incoming GNSS measurement; use the second position and velocity as an initial estimate of its position and velocity for a particular time instant, which is then refined by GNSS measurements received at that particular time instant; and to replace the first position and velocity with the second position and velocity.
    Type: Grant
    Filed: November 5, 2012
    Date of Patent: September 2, 2014
    Assignee: Texas Instruments Incorporated
    Inventors: Sandeep Kasargod, Sandeep Rao, Karthik Ramasubramanian, Tarkesh Pande, Sriram Murali
  • Patent number: 8756001
    Abstract: A navigation module and method for providing an INS/GNSS navigation solution for a moving platform is provided, comprising a receiver for receiving absolute navigational information from an external source (e.g., such as a satellite), means for obtaining speed or velocity information and an assembly of self-contained sensors capable of obtaining readings (e.g., such as relative or non-reference based navigational information) about the moving platform, and further comprising at least one processor, coupled to receive the output information from the receiver, sensor assembly and means for obtaining speed or velocity information, and operative to integrate the output information to produce a navigation solution. The at least one processor may operate to provide a navigation solution by using the speed or velocity information to decouple the actual motion of the platform from the readings of the sensor assembly.
    Type: Grant
    Filed: February 28, 2011
    Date of Patent: June 17, 2014
    Assignee: Trusted Positioning Inc.
    Inventors: Jacques Georgy, Aboelmagd Noureldin
  • Publication number: 20140159950
    Abstract: A Global Navigation Satellite System (GNSS) receiver determines a measurement error covariance from a reference position and a set of measured pseudoranges from a set of GNSS satellites. The position and velocity solution is determined from the measurement error covariance and the set of measured pseudoranges. The measurement error covariance is determined as function of the difference between a reference pseudorange and measured pseudorange. The reference pseudorange is computed from the reference position to a satellite. The measurement error covariance is determined as function of the difference only if the measured pseudorange is greater than the reference pseudorange. The GNSS receiver also determines measurement error covariance as function of one or more of correlation peak shape, difference, the correlation peak shape, a received signal to noise ratio and a tracking loop error.
    Type: Application
    Filed: December 10, 2012
    Publication date: June 12, 2014
    Applicant: Texas Instruments Incorporated
    Inventors: Atul Deshpande, Sthanunathan Ramakrishnan, Sandeep Rao
  • Patent number: 8736487
    Abstract: The present invention is related to location positioning systems, and more particularly, to a method and apparatus for making accuracy improvements to a GPS receiver's navigation calculations. According to a first aspect, the invention includes maintaining a table of height attributes for major cities and urban areas around the world (contour table) in the GNSS chipset. The information in the table preferably includes latitude, longitude of the city along with height attributes of those cities, such as the average, min, max height and region boundary etc. Additional information such as average gradient could also be saved in the table. According to further aspects, when GPS signals are degraded in environments such as urban canyons, the height information can be obtained from the table and used to improve the navigation solution.
    Type: Grant
    Filed: September 21, 2011
    Date of Patent: May 27, 2014
    Assignee: CSR Technology Inc.
    Inventors: Shreeram Jambulingam, Mangesh Chansarkar
  • Publication number: 20140132443
    Abstract: This application discloses a GNSS rover having a data receiver, a position processor and a vector error reverser. The data receiver receives GNSS position-determination reference data based on a reference erroneous position having one or more keyed intentional errors made confidential with confidential error keys. The position processor uses the GNSS position-determination reference data to determine a rover erroneous position corresponding to the reference erroneous position. The vector error reverser uses confidential access to at least one confidential error key to reverse the corresponding confidential keyed intentional error in the rover erroneous position to determine a subscribed rover position.
    Type: Application
    Filed: November 13, 2012
    Publication date: May 15, 2014
    Inventor: David G. Bird
  • Patent number: 8723725
    Abstract: In one embodiment, a method for ionospheric delay compensation is provided. The method includes determining an ionospheric delay based on a signal having propagated from the navigation satellite to a location below the ionosphere. A scale factor can be applied to the ionospheric delay, wherein the scale factor corresponds to a ratio of an ionospheric delay in the vertical direction based on an altitude of the satellite navigation system receiver. Compensation can be applied based on the ionospheric delay.
    Type: Grant
    Filed: November 23, 2011
    Date of Patent: May 13, 2014
    Assignee: Honeywell International Inc.
    Inventors: Hui Zhao, John Savoy
  • Patent number: 8717232
    Abstract: A handheld GNSS device includes a housing, handgrips integral to the housing for enabling a user to hold the device, and a display screen integral with the housing. The device has a GNSS antenna and a communication antenna, both integral with the housing. The GNSS antenna receives position data from GNSS satellites. The communication antenna receives positioning assistance data from a base station. The GNSS antenna has a first antenna pattern, and the communication antenna has a second antenna pattern. The first and second antenna patterns are substantially separated. Coupled to the GNSS antenna, within the housing, is at least one receiver. Further, the device includes, within the housing, orientation circuitry for generating orientation data, imaging circuitry for obtaining image data, and positioning circuitry for determining a position for the point of interest based on the position data, the positioning assistance data, the orientation data, and the image data.
    Type: Grant
    Filed: January 18, 2012
    Date of Patent: May 6, 2014
    Assignee: Javad GNSS, Inc.
    Inventors: Javad Ashjaee, Lev B. Rapoport, Mikhail Gribkov, Alexander I. Gribkov
  • Patent number: 8682344
    Abstract: A wireless communication system is disclosed. The wireless communication system transmits a location measure signal for determining a location of a user equipment to the user equipment by allocating the location measure signal to at least one of symbols to which a synchronization signal is transmitted conventionally. In this case, a location related parameter of the user equipment can be measured with higher accuracy.
    Type: Grant
    Filed: August 19, 2010
    Date of Patent: March 25, 2014
    Assignee: LG Electronics Inc.
    Inventors: Jin Soo Choi, Han Gyu Cho, Jin Sam Kwak, Seung Hee Han
  • Patent number: 8655578
    Abstract: An electronic device 1 receives ephemeris information from a GPS satellite at intermittent timings TE1, TE2, and TE3 and stores the received information in its memory. In addition, the electronic device 1 receives time information at intermittent timings TC1, TC2, TC3, and TC4, and corrects a clocked time based on the received time information. Then, at positioning timing T1, the electronic device 1 captures a transmission signal from the GPS satellite while synchronizing timing with the GPS satellite based on the clocked time, and performs positioning based on the captured transmission signal and the ephemeris information stored in the memory.
    Type: Grant
    Filed: November 19, 2010
    Date of Patent: February 18, 2014
    Assignee: Casio Computer Co., Ltd
    Inventor: Masao Sambongi
  • Patent number: 8633852
    Abstract: A first position of a satellite is calculated at a first time in dependence on received orbit data corresponding to an orbit path of the satellite. Anan orbit path of the satellite is modeled from the first position at the first time to a second time to determine a second position of the satellite at the second time. A third position of the satellite is then calculated at the second time in dependence on the received orbit data. The second position and third position are compared to determine a validity of the orbit data.
    Type: Grant
    Filed: September 20, 2011
    Date of Patent: January 21, 2014
    Assignee: STMicroelectronics (Research & Development) Limited
    Inventor: Peter Bagnall
  • Publication number: 20140009331
    Abstract: A positioning apparatus is provided that may include a pseudo distance measurement unit that measures the pseudo distance between the positioning satellite and the antenna, an ionosphere delay amount calculating unit that calculates an ionosphere delay amount included in the pseudo distance, and a pseudo distance corrector that executes a positioning calculation by correcting the pseudo distance based on the ionosphere delay amount. The ionosphere delay amount calculating unit sets the upper limit of the partition number between the positioning satellite and the antenna, determines the total number of electrons sTEC by integrating in the range of less than the upper limit of the partition number, and calculates the ionosphere delay amount based on the determined total number of electrons sTEC.
    Type: Application
    Filed: March 13, 2012
    Publication date: January 9, 2014
    Applicant: FURUNO ELECTRIC CO., LTD.
    Inventors: Takaki Tominaga, Kazuto Tada
  • Patent number: 8615253
    Abstract: Techniques for estimating the current state (e.g., position, velocity) of a mobile device based on motion context and multiple input observation types are disclosed. In some implementations, an Extended Kalman Filter (EKF) formulation is used to combine multiple input observations received from a variety of sources (e.g., WiFi, cell, GPS) to compute a minimum error state estimate. In some implementations, the EKF is updated using position estimates from an active cell and/or a candidate active cell during a cell-hopping event.
    Type: Grant
    Filed: June 3, 2011
    Date of Patent: December 24, 2013
    Assignee: Apple Inc.
    Inventors: Glenn Donald MacGougan, Lukas M. Marti, Robert Mayor
  • Publication number: 20130293412
    Abstract: Disclosed is a method of calculating a geospatial position by a mobile device by monitoring with the mobile device a first control channel from a first cell of a cellular communications system; monitoring with the mobile device a second control channel from a second cell of the cellular communications system at the same time as the first cellular control channel; receiving with the mobile device a first correction value sent over the first control channel; receiving with the mobile device a second correction value sent over the second control channel; receiving with the mobile device a signal from a global navigation satellite system; calculating with the mobile device the geospatial position based upon the signal from the global navigation satellite system and at least one of the first correction value and the second correction value.
    Type: Application
    Filed: May 2, 2012
    Publication date: November 7, 2013
    Applicant: Raven Industries, Inc.
    Inventors: Kirk Appleford, Clinton H. Mundt