GNSS Signal Processing with Delta Phase

Abstract

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.

1 . A positioning method, comprising:
 obtaining GNSS data derived from signals received at a rover antenna,   obtaining at least one of correction data and rigorous satellite 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,   reporting the at least one derived rover position, and   maintaining a set of GNSS satellite clock error models, comprising:
 upon arrival of rover data associated with a new time tag, extending the time sequence, and 
 upon arrival of rigorous satellite data, updating at least one clock error model of the set of GNSS satellite clock error models. 
   
     
     
         2 . The method of  claim 1 , wherein maintaining the set of GNSS satellite clock error models further comprises: upon arrival of the rigorous satellite data, updating the time sequence. 
     
     
         3 . The method of  claim 1 , further comprising using the at least one clock error model that has been updated to update at least one rover position of the time sequence. 
     
     
         4 . The method of  claim 1 , wherein the set of GNSS satellite clock error models comprises up to one clock error model per satellite. 
     
     
         5 . The method of  claim 1 , wherein the correction data comprises at least one of: single-base-station observations, virtual reference station observations derived from reference stations of a regional network, synthetic base station observations derived from reference stations of a global network, synthetic reference station observations derived from reference stations of a global network with regional augmentation, and state space representations. 
     
     
         6 . The method of  claim 1 , wherein rigorous satellite data comprises precise orbit and precise clock data per satellite. 
     
     
         7 . A computer program product comprising a tangible computer-readable medium embodying instructions for causing an apparatus to perform the method of  claim 1 . 
     
     
         8 . A positioning apparatus comprising a processor and memory and a set of instructions enabling the processor to:
 obtain GNSS data derived from signals received at a rover antenna,   obtain at least one of correction data and rigorous satellite data,   maintain a time sequence of at least one rover position and at least one rover position difference with associated time tags,   use the time sequence to determine at least one derived rover position,   report the at least one derived rover position, and   maintain a set of GNSS satellite clock error models by:
 upon arrival of rover data associated with a new time tag, extending the time sequence, and 
 upon arrival of rigorous satellite data, updating at least one clock error model of the set of GNSS satellite clock error models. 
   
     
     
         9 . The positioning apparatus of  claim 8 , further comprising instructions enabling the processor to update the time sequence upon arrival of rigorous satellite data. 
     
     
         10 . The positioning apparatus of  claim 8 , further comprising instructions enabling the processor to update at least one rover position of the time sequence using the at least one clock error model that is updated. 
     
     
         11 . The positioning apparatus of  claim 8 , wherein the set of satellite clock error models comprises up to one clock error model per satellite. 
     
     
         12 . The positioning apparatus of  claim 8 , wherein the correction data comprises at least one of:
 single-base-station observations, virtual reference station observations derived from reference stations of a regional network, synthetic base station observations derived from reference stations of a global network, synthetic reference station observations derived from reference stations of a global network with regional augmentation, and state space representations.   
     
     
         13 . The positioning apparatus of  claim 8 , wherein rigorous satellite data comprises precise orbit and precise clock data per satellite.