U-Blox Ag

Cooke Optics Limited

Ian Sheret

Roderick Bryant

Olivier Julien

Christopher David Hide

Les Zellan

Huiyang Wang

Hayden Dorahy

Rod Bryant

Chris Hide

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.

GNSS measurement processing with carrier phase residual error model

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|θ, q) and fitting model parameters θ using a set of experimental data; and defining a posterior probability density P(x|z, q, θ); estimating the state x; and computing the protection level by integrating the posterior probability density P(x|z, q, θ) over the state x.

Method and apparatus of single epoch position bound

A camera lens assembly comprising a lens assembly housing and a compound lens and a motion sensor arrangement within the lens assembly housing, wherein the motion sensor arrangement comprises: angular rotation sensors configured to detect angular rotation about three orthogonal axes of rotation; and linear acceleration sensors configured to detect linear acceleration in three orthogonal directions.

Camera lens assembly

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Hitchin, United Kingdom

Ian Sheret