Trimble Inc.

Trimble Navigation Limited

Markus Glocker

Nicholas Charles Talbot

Rodrigo Leandro

Ulrich Vollath

Xiaoming Chen

Bruno M Scherzinger

Stephan Seeger

Stefan Junker

Leandro Leandro

Methods and apparatus for processing of GNSS signals are presented. These include GNSS processing with obtaining GNSS data derived from signals received at a rover antenna, obtaining correction data, maintaining a time sequence of at least one rover position and at least one rover position difference with associated time tags, using the time sequence to determine at least one derived rover position by, starting from a position determined using corrections synchronous with rover data as an anchor position at a time tag, deriving a new anchor position for the time tag of the anchor position and at least one other estimated rover position at the time tag of the anchor position, and/or reporting the new anchor position and/or a new derived rover position.

GNSS processing with selecting and/or blending anchor positions

Methods and apparatus for processing of GNSS signals are presented. These include GNSS processing with predicted precise clocks, GNSS processing with mixed-quality data, GNSS processing with time-sequence maintenance, GNSS processing with reduction of position jumps in low-latency solutions, GNSS processing with position blending to bridge reference station changes, and GNSS processing with delta-phase correction for incorrect starting position.

GNSS processing with jump reduction

The invention relates to a method carried out by a navigation satellite system (NSS) receiver or a processing entity receiving data therefrom, for estimating parameters useful to determine a position. The NSS receiver observes NSS signals from NSS satellites. Two filters, called 'robustifier' and 'main estimator' respectively, both use state variables and compute the values thereof based on: NSS signals observed by the NSS receiver, and/or information derived therefrom. The robustifier identifies, within the input data, measurements that do not match a stochastic model assigned thereto. For each identified measurement, the robustifier rejects the measurement, adjusts the stochastic model assigned to the measurement, and/or corrects the measurement. The robustifier uses fewer state variables than the main estimator. A corresponding system is also disclosed.

Outlier-tolerant navigation satellite system positioning method and system

The invention relates to a method carried out by a navigation satellite system (NSS) receiver or a processing entity receiving data therefrom, for estimating parameters useful to determine a position. The NSS receiver observes NSS signals from NSS satellites over multiple epochs. A first filter, called 'timely estimator', and second filter, called 'precise estimator' and delayed with respect to the timely estimator, are operated. The estimators use state variables, and make use of NSS signals observed by the NSS receiver or information derived therefrom. The precise estimator further computes its state variable values based on observations that are not derived from NSS signals observed by the NSS receiver. The values of some of the state variables computed by the timely estimator are recurrently replaced by values from the precise estimator. A corresponding system is also disclosed.

Advanced navigation satellite system positioning method and system using delayed precise information

GNSS signal processing with delta phase for incorrect starting position

Methods and apparatus are described for processing a set of GNSS signal data derived from code observations and carrier-phase observations at multiple receivers of GNSS signals of multiple satellites over multiple epochs, the GNSS signals having at least two carrier frequencies and a navigation message containing orbit information, comprising: obtaining precise orbit information for each satellite, determining at least one set of ambiguities per receiver, each ambiguity corresponding to one of a receiver-satellite link and a satellite-receiver-satellite link, and using at least the precise orbit information, the ambiguities and the GNSS signal data to estimate a phase-leveled clock per satellite.

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Munich, Germany

Markus Glocker