The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Mar. 02, 2021
Filed:
Apr. 18, 2018
Topcon Positioning Systems, Inc., Livermore, CA (US);
Lev Borisovich Rapoport, Moscow, RU;
Topcon Positioning Systems, Inc., Livermore, CA (US);
Abstract
A method for determining attitude of an object having multiple GNSS antennas, the method including receiving GNSS signals from at least five satellites, wherein at least 2 of the five belong to a different satellite constellation than the other satellites; processing each of the GNSS signals to generate pseudorange code and carrier phase measurements; resolving carrier phase ambiguities for all the received GNSS signals; generating unbiased carrier phase measurements based on the resolving; determining the attitude, including heading, pitch, and roll angles ψ,θ,ϕ, respectively, by solving a quadratically constrained quadratic minimization problem through finding a minimum of a linear function subject to a linear matrix inequality constraint; and outputting the attitude.