Navigation system with position correction mechanism and method of operation thereof

Abstract

Navigation system with position correction mechanism and method of operation thereof. A navigation system comprising: a communication circuit configured to receive base station data including an actual position and a satellite-provided reference position from a base station and to communicate the base station data to an artificial intelligence (AI) correction calculator that has been trained; a control circuit coupled to the communication circuit, the control circuit configured to communicate a pseudo-range of a satellite from the AI correction calculator; calculate a real-time kinematic (RTK) correction based on the pseudo-range; and enable the communication circuit to send the RTK correction to the base station through over-the-air (OTA) communication, including the base station communicating the RTK correction to a device to correct the satellite-provided reference position to a real-world position and display on the device.

Description

Technical Field

[0001] The embodiments of the present invention generally relate to navigation systems, and more specifically to systems having a position correction mechanism. Background Technology

[0002] As drivers increasingly rely on the Global Positioning System (GPS) and similar positioning technologies to reach their destinations, the system's accuracy is sufficient to generate guidance instructions for drivers.

[0003] With the advent of autonomous vehicles, sensors have been added to them to maintain lane position, detect vehicles encroaching on their space, automatically brake when approaching too closely, and perform blind spot checks during lane changes. Due to the inaccuracies of GPS systems, the addition of sensors has become a costly and necessary step towards enabling vehicles to drive safely autonomously.

[0004] Therefore, navigation systems with position correction mechanisms remain necessary. Given increasing competitive pressures, rising consumer expectations, and diminishing opportunities for meaningful product differentiation in the market, finding answers to these questions is becoming increasingly important. Furthermore, the need to reduce costs, improve efficiency and performance, and cope with competitive pressures makes this crucial necessity even more urgent.

[0005] For a long time, people have been seeking solutions to these problems, but past developments have not taught or suggested any solutions. Therefore, solutions to these problems have long puzzled those skilled in the art. Summary of the Invention

[0006] Embodiments of the present invention provide an operation method for a navigation system, comprising: receiving base station data including actual position and reference position provided by satellite; transmitting the base station data to a trained artificial intelligence (AI) correction calculator via a storage interface; transmitting pseudorange of the satellite from the AI ​​correction calculator; calculating real-time kinematic (RTK) correction based on the pseudorange; and enabling a communication circuit to transmit the RTK correction to a base station via over-the-air (OTA) communication, including the base station transmitting the RTK correction to a device to correct the reference position provided by the satellite to a real-world position and display it on the device.

[0007] Embodiments of the present invention provide a navigation system including a communication circuit configured to: receive base station data including actual position and reference position provided by satellite, and transmit the base station data to a trained artificial intelligence (AI) correction calculator; a control circuit coupled to the communication circuit configured to: transmit pseudorange of satellite from the AI ​​correction calculator; calculate real-time kinematic (RTK) correction based on the pseudorange; and enable the communication circuit to transmit the RTK correction to a base station via over-the-air (OTA) communication, including the base station transmitting the RTK correction to a device to correct the reference position provided by satellite to a real-world position and display it on the device.

[0008] Some embodiments of the present invention have steps or elements other than those described above, or that replace the steps or elements described above. These steps or elements will become clear to those skilled in the art from the following detailed description with reference to the accompanying drawings. Attached Figure Description

[0009] Figure 1 This is a block diagram of a navigation system with a position correction mechanism according to an embodiment of the present invention.

[0010] Figure 2 This is an example architecture view of the navigation system in the embodiment.

[0011] Figure 3 This is an exemplary elevation view processed by a navigation system.

[0012] Figure 4 This is an exemplary elevation map of a satellite array processed by a navigation system.

[0013] Figure 5 This is an exemplary block diagram of the navigation system in the embodiment.

[0014] Figure 6 This is an exemplary control flow of the navigation system in the embodiment.

[0015] Figure 7 A flowchart illustrating the operation method of the navigation system in an embodiment of the present invention is shown. Detailed Implementation

[0016] The following embodiments can improve the accuracy of identifying the physical position of a vehicle, enabling vehicle motion control to operate or control the vehicle's physical movement without using expensive sensors that would reduce the overall reliability of the vehicle. Vehicle motion control can be based on a safe and reliable driver assistance or autonomous vehicle driving process due to the accuracy of the position correction mechanism. Navigation systems with position correction mechanisms can maintain centimeter-level accuracy without adding expensive and unreliable sensors that would increase the ownership cost of driver assistance or autonomous vehicles.

[0017] Vehicle motion control can also be based on real-time, precise identification of physical location with centimeter-level accuracy, so as to ensure that driver-assisted or autonomous vehicles can be operated without the risk of damaging the vehicle or any adjacent objects or property.

[0018] The following embodiments have been described in sufficient detail to enable those skilled in the art to make and use the invention. It should be understood that other embodiments will be apparent based on this disclosure, and system, process, or mechanical changes may be made without departing from the scope of the embodiments of the invention.

[0019] Numerous specific details are set forth in the following description to provide a thorough understanding of the invention. However, it will be apparent that the invention can be practiced without these specific details. To avoid obscuring embodiments of the invention, some well-known circuits, system configurations, and processing steps are not disclosed in detail.

[0020] The accompanying drawings illustrating embodiments of the system are semi-illustrative and not to scale; in particular, some dimensions are exaggerated in the drawings for clarity of expression. Similarly, although the views in the drawings generally show similar orientations for ease of illustration, such descriptions in the figures are arbitrary in most cases. Generally, the invention can be operated in any orientation. Embodiments of the various components are provided for ease of description and are not intended to have any other meaning or provide limitation on the embodiments of the invention.

[0021] Those skilled in the art will recognize that the format used to express navigation information is not critical to some embodiments of the present invention. For example, in some embodiments, navigation information is presented in the format (X, Y, Z); where X, Y, and Z are three coordinates defining the geographic location, i.e., the vehicle's position.

[0022] The term "module" as used herein, depending on the context in which it is used, can include or be implemented as or comprise software, hardware, or a combination thereof running on dedicated hardware. For example, software can be machine code, firmware, embedded code, and application software. Software can also include functions, calls to functions, blocks of code, or combinations thereof.

[0023] Additionally, for example, hardware can be a gate, circuit, processor, computer, integrated circuit, integrated circuit core, storage device, pressure sensor, inertial sensor, microelectromechanical system (MEMS), passive device, physical non-transitory storage medium containing instructions for performing software functions, a portion thereof, or a combination thereof, to control one or more hardware units or circuits. Furthermore, if the term "unit" is recited in the following system claims section, it is considered to include hardware circuitry for the purposes and scope of the system claims.

[0024] In the following description of the embodiments, a "unit" can be a hardware structure or function that is coupled or attached to each other as described or illustrated. The coupling or attachment can be direct or indirect, with or without an intermediary between the coupled or attached modules or units. The coupling or attachment can be achieved through physical contact or through communication between modules or units, such as wireless communication.

[0025] It should also be understood that the nouns or elements in the embodiments can be described as singular instances. It should be understood that the use of the singular is not limited to the singular, but can be applied to multiple instances of any particular noun or element in this application. Numerous instances can be identical or similar, or they can be different.

[0026] See now Figure 1 The figure shows a block diagram of a navigation system 100 with a position correction mechanism according to an embodiment of the present invention. The navigation system 100 may include a first device 102 (e.g., a client or server) connected to a second device 106 (e.g., a cloud server included in a cloud 108 of the second device 106). The cloud 108 may be a loosely coupled computing architecture, including the second device 106 which can provide computing resources and storage through a cloud network 104.

[0027] Navigation system 100 may include a base station 110 configured to communicate with positioning satellite 112. First device 102 may communicate with second device 106 via cloud network 104 (e.g., a wireless or wired network of computing resources). Base station 110 may be a hardware structure or tower including electronic equipment configured to communicate with positioning satellite 112 and second device 106. Positioning satellite 112 may be hardware and electronic components orbiting the Earth at an altitude of approximately 20,200 kilometers above the Earth's surface. Positioning satellite 112 is configured to provide position signal 114 to first device 102.

[0028] For example, the first device 102 can be any of a variety of computing devices, such as a cellular phone, personal digital assistant, laptop computer, wearable device, Internet of Things (IoT) device, automotive telematics navigation system, or other multifunctional device. Additionally, for example, the first device 102 can include a device or subsystem, an autonomous or self-propelled vehicle or object, a driver-assisted vehicle, a remote-controlled vehicle or object, or a combination thereof.

[0029] The first device 102 may be directly or indirectly coupled to the cloud network 104 to communicate with the second device 106, or it may be a standalone device. The first device 102 may also be separate from or integrated with a vehicle such as a car, truck, bus, or motorcycle.

[0030] For illustrative purposes, the navigation system 100 has been described in the case of the first device 102 being a mobile computing device; however, it should be understood that the first device 102 can be of different types. For example, the first device 102 can also be a mobile computing device carried in a vehicle and configured to identify the physical location of the vehicle.

[0031] The second device 106 can be any of a variety of centralized or distributed computing devices. For example, the second device 106 can be a cloud computer, a grid computing resource, a virtualized computer resource, a cloud computing resource, a router, a switch, a peer-to-peer distributed computing device, or a combination thereof.

[0032] The second device 106 can be located in a single room, distributed across different rooms, geographically dispersed, or embedded within a telecommunications network. The second device 106 can be coupled to a cloud network 104 to communicate with the first device 102. The second device 106 can also possess significantly greater computing power than the first device 102.

[0033] For illustrative purposes, the navigation system 100 is described in the case of the second device 106 as a non-mobile cloud computing device; however, it should be understood that the second device 106 can be a different type of computing device. For example, the second device 106 can also be a mobile computing device, such as a laptop computer, other client devices, wearable devices, or other types of client devices.

[0034] Furthermore, for illustrative purposes, the navigation system 100 is described with the second device 106 acting as a computing device; however, it should be understood that the second device 106 can be of different types. Additionally, for illustrative purposes, the navigation system 100 is described with the second device 106 and the first device 102 acting as endpoints of the cloud network 104; however, it should be understood that the navigation system 100 can include different divisions between the first device 102, the second device 106, and the cloud network 104. For example, the second device 106 can also function as part of the cloud network 104.

[0035] Cloud network 104 can span and represent various networks. For example, cloud network 104 can include wireless communication, wired communication, optical, ultrasonic, or combinations thereof. Satellite communication, cellular communication, Bluetooth, Infrared Data Association (IrDA) standards, Wi-Fi, and WiMAX are examples of wireless communication that can be included in the communication path. Ethernet, Digital Subscriber Line (DSL), Fiber to the Home (FTTH), and Point-of-Sale (POTS) are examples of wired communication that can be included in cloud network 104. Furthermore, cloud network 104 can traverse many network topologies and distances. For example, cloud network 104 can include direct connections, Personal Area Networks (PANs), Local Area Networks (LANs), Metropolitan Area Networks (MANs), Wide Area Networks (WANs), or combinations thereof.

[0036] Navigation system 100 can provide additional features not available in existing navigation systems. First device 102 can be coupled to positioning satellite 112. Positioning satellite 112 can be part of a satellite array (not shown) configured to provide the physical location of first device 102. Communication between first device 102 and positioning satellite 112 can provide the location of first device 102 with an accuracy of 5 to 10 meters. While this accuracy is sufficient to prompt the driver to change routes, it cannot support autonomous vehicles without the addition of expensive sensors, which would increase the cost of first device 102 and reduce reliability due to sensor fragility.

[0037] The inaccuracy of the position provided by positioning satellite 112 may be caused by errors including satellite clock skew, satellite orbital errors, ionospheric delay, tropospheric delay, multipath interference, and receiver thermal noise. Base station 110 may be located at an actual location 111, such as a well-defined and known location. Base station 110 may be a satellite receiver / transmitter that samples the position signal 114 to mitigate inaccuracies as much as possible. Base station 110 may transmit the position signal 114 received from positioning satellite 112 to a second device 106 for analysis and correction.

[0038] The second device 106 may be coupled to or include a position correction module 115, such as a signal evaluation module. The position correction module 115 may be implemented using software, pure hardware, or a combination thereof configured to analyze the position signal 114 running on dedicated hardware. The position correction module 115 may compare the position signal 114 received from the first device 102 and the base station 110. During training, the first device 102 may upload the position signal 114 to the second device 106 for further analysis or to generate real-time kinematic (RTK) corrections 109. The position correction module 115 may include an artificial intelligence (AI) correction calculator 116, such as a neural network, which may be trained to perform dual differential calculations of the position signal 114 received from the base station 110 and the first device 102. The AI ​​correction calculator 116 may consider the first device 102 to be very close to the base station 110, even if the distance between them is 100 kilometers, because the separation distance is negligible relative to the altitude of the positioning satellite 112 (approximately 22,200 kilometers), resulting in a difference angle of less than one degree. This allows satellite orbital errors, ionospheric delay, tropospheric delay, and multipath interference to be canceled out, as they are equal for base station 110 and first device 102. Due to the geometric relationships between first device 102, base station 110, and positioning satellite 112, the values ​​of satellite orbital errors, ionospheric delay, tropospheric delay, and multipath interference are substantially equal and can be canceled out.

[0039] The position correction module 115 may include an AI correction calculator 116, a parameter memory 118, and a satellite array memory 120, which may store parameter information for each positioning satellite 112 visible in the sky at a specific time. It should be understood that the Global Positioning System requires four positioning satellites 112 to define a point on Earth. The positioning satellites 112 may have highly predictable orbits and may move in a known periodic manner through the area covered by the base station 110.

[0040] The parameter memory 118 may be volatile or non-volatile memory, configured to maintain parameters and RTK corrections 109 related to a specific satellite in the positioning satellites 112 for a specific base station in the base station 110. It should be understood that the second device 106 may provide RTK corrections 109 for several base stations in the base station 110 and the array of positioning satellites 112.

[0041] The satellite array memory 120 can be volatile or non-volatile memory, configured to store the frequency, orbital parameters, approximate altitude, and horizon timeline of each positioning satellite 112 spanning the area covered by the base station 110. As an example, a standard Global Positioning System requires at least four positioning satellites 112 to define a point within that area. To support a minimum requirement, at least six positioning satellites 112 can be identified at any time over that area.

[0042] Because base station 110 is located at a physical location 111, such as a well-defined and precise location, base station 110 can sample each positioning satellite 112 serving the area surrounding base station 110. By periodically updating parameter information from the location signal 114, base station 110 can allow the second device 106 to respond quickly with RTK correction 109 for the first device 102.

[0043] The AI ​​calibration calculator 116 is trained by collecting readings from the two base stations 110 for one of the positioning satellites 112 visible to both base stations 110. The second device 106 can monitor the position signals 114 received by the two base stations 110. Since the actual positions 111 of the base stations 110 are known, the AI ​​calculator can resolve the positional differences between the two base stations 110. When the first device 102 enters an area within 5 to 10 kilometers of the base stations 110, the first device 102 can relay its position, determined by the position signals 114, to the second device 106 for correction. The second device 106 can return RTK correction 109 to the first device 102. By applying RTK correction 109, the first device 102 can calibrate its position to within a few centimeters.

[0044] It has been found that navigation system 100 can reliably identify RTK correction 109 to provide real-time updates of the actual location 111 for the first device 102. RTK correction 109 can be calculated by AI correction calculator 116 over fixed time periods to support the first device 102. By sending RTK correction 109 from the second device 106, communication can be distributed to other users of navigation system 100 to determine their actual location 111. Navigation system 100 can improve the determination of the actual location 111 of the first device 102, which can allow the operation of autonomous vehicles without the support of expensive and unreliable sensors.

[0045] See now Figure 2 The figure shows an embodiment. Figure 1A top view 201 of an example navigation system 100 is provided. The navigation system 100 may include a satellite array 202 that transmits or interacts with a satellite array 202 to a first device 102, providing a reference position 204. The satellite array 202 may include a first positioning satellite 206, a second positioning satellite 208, a third positioning satellite 210, and a fourth positioning satellite 212. It should be understood that identification of the satellite-provided reference position 204 requires… Figure 1 At least four of the 112 positioning satellites, and additional positioning satellites can be added to obtain additional reliability.

[0046] The reference position 204 provided by the satellite can only be maintained with an accuracy of 1 to 5 meters around the first device 102. While this level of accuracy is sufficient to provide navigation assistance for operator-based vehicles, it would require autonomous vehicles to add expensive and unreliable optical and radar sensors to keep the vehicle safely within lane markings and on the selected path.

[0047] The first device 102 may be an object or machine for transporting persons or goods capable of automatically manipulating or operating the object or machine. The first device 102 may include a vehicle that can be accessed by a user for control, manipulation, operation, or a combination thereof. For example, the first device 102 may include a car, truck, trolley, drone, or a combination thereof.

[0048] For example, the first device 102 may include an autonomous vehicle, or a vehicle with automatic handling features, such as intelligent cruise control or preventive braking. The first device 102 may include intelligent cruise control features capable of setting and adjusting the driving speed of the first device 102. The satellite array 202 may also communicate with a first base station 214 located at a first actual location 216 and a Qth base station 218 located at a Qth actual location 220. The first base station 214 and the Qth base station 218 may also be coupled to a location located at... Figure 1 The second device 106 is located in cloud 108. It should be understood that both the first base station 214 and the Qth base station 218 can communicate with different second devices 106 and with each other. The second device 106 can use the first actual position 216 and the Qth actual position 220 to train an AI correction calculator 116 to correct the reference position 204 provided by satellites transmitted from the first base station 214 and the Qth base station 218. It should be understood that the value of "Q" is a positive integer greater than 1. Figure 1 The addition of multiple instances of base station 110 can achieve a large number of RTK cells by having each base station 110 communicate with the second device 106 through cloud network 104.

[0049] When the first device 102 receives a reference position 204 provided by the satellite from the satellite array 202, the reference position 204 can be transmitted to the first base station 214 via over-the-air (OTA) communication 222. The first base station 214 can then forward the reference position 204 to the second device 106. The second device 106 can then... Figure 1 The AI ​​correction calculator 116 performs RTK calculations and instructs the first base station 214 to transmit the results of the AI ​​correction calculator to the first device 102. The second device 106 can monitor OTA communication 222 between the first base station 214 and the device 102 to determine when the first device 102 will cross the cell boundary 226. The second device 106 can initiate parameter transmission 227 between the first base station 214 and the Qth base station 218 to prepare for the first device 102 to cross from the first RTK cell 224 to the Qth RTK cell 228. The parameter transmission 227 may include the pseudorange of the first positioning satellite 206, the carrier phase 207 of the first positioning satellite 206, the carrier phase ambiguity calculated by the AI ​​correction calculator 116, the estimated clock error of the first positioning satellite 206, the calculated position of the first device 102 in the first RTK cell 224, and a list of satellite arrays 202 used to locate the first device 102. The first RTK cell 224 and the Q RTK cell 228 are defined as geographical areas served by specific subsets of the satellite array 202. Carrier phase 207 is defined as the carrier frequency offset caused by atmospheric delay. It should be understood that carrier phase 207 can remain substantially constant within the first RTK cell 224 and the Q RTK cell 228 because the 20 km separation distance between base station 110 and the first device 102 results in only a difference of 0.056 degrees in the elevation angle variation between base station 110 and the second device 102 relative to the positioning satellite 112.

[0050] The AI ​​correction calculator 116 of the second device 106 can perform RTK calculations to determine the accuracy of the first device 102 in centimeters. Figure 1 The actual position is 111. Under a single baseline condition, according to the equations, the Global Navigation Satellite System (GNSS) receivers at both ends are named "base", representing base station 110, and "roamer", representing the first device 102, respectively (using subscripts "b" and "r" in the equations). The pseudorange "ρ" is defined as the correction range of the orbital altitude of the positioning satellite 112, as shown in equations 1 and 2. The carrier phase 207 "φ" is defined as the offset of the carrier frequency due to atmospheric delay, as shown in equations 3 and 4. The measurement results of the carrier phase 207 "φ" and pseudorange "ρ" of a satellite j from satellite array 202 observed by the two receivers of the first base station 214 and the Qth base station 218 at a certain moment can be written as:

[0051] ρj,r=λ-1(rj,r+Ij,r+Tj,r)+f(δtr-δtj)+εj,r (1)

[0052] ρj,b=λ-1(rj,b+Ij,b+Tj,b)+f(δtb-δtj)+εj,b (2)

[0053] φj,r=λ-1(rj,r-Ij,r+Tj,r)+f(δtr-δtj)+Nj,r+ηj,r (3)

[0054] φj,b=λ-1(rj,b-Ij,b+Tj,b)+f(δtb-δtj)+Nj,b+ηj,b (4)

[0055] Where ρ and φ are the pseudorange and carrier phase 207 measurement results (unit: carrier period), respectively; λ is the carrier wavelength (unit: m); r represents the true geographic distance between the satellite and the receiver (unit: m); T is the tropospheric delay (unit: m); I is the ionospheric delay (unit: m); f is the carrier frequency (unit: Hz); δtr is the receiver clock error (unit: s); δtj is the satellite clock error (unit: s); N is the integer ambiguity; ε and η are the measurement errors of pseudorange and carrier phase 207, respectively, and their variances can be modeled as a simplified function of the elevation angle, as shown in equation (5):

[0056] σ 2 = a(b + b / sin) 2 θ) / λ 2 (5)

[0057] Where θ is the satellite's elevation angle, and a and b can be set empirically. For example, for a carrier phase of 20°, we can choose a = 1 and b = 9e. -6 It should be understood that the difference in elevation angle θ between base station 10 and the first device 102 is substantially the same, due to the 10-20 km separation compared to the elevation of positioning satellite 112, which is approximately 20,200 km. As an example, the elevation angle variation between base station 110 and the first device 102 can differ within the range of 0.028 degrees and 0.056 degrees. Therefore, for base station 110 and the first device 102, it can be assumed that the tropospheric delay “T” and the ionospheric delay “I” are equal.

[0058] The single-difference (SD) measurement model can be obtained by subtracting the measurement results of the base receiver from the measurement results of the roaming receiver, i.e., equations (1)-(2) and (3)-(4):

[0059] ρj,rb=λ-1(rj,rb+Ij,rb+Tj,rb)+fδtrb+εj,rb (6)

[0060] φj,rb=λ-1(rj,rb-Ij,rb+Tj,rb)+fδtrb+Nj,rb+ηj,rb (7)

[0061] The subscript "rb" represents the difference between the corresponding items for the roamer and the base. It can be seen that this difference eliminates δtj, which is a common error.

[0062] In the above equations, receiver and satellite clock offsets, as well as hardware deviations, are canceled out. The single-difference ambiguity difference N12a-N12b is typically parameterized as a new ambiguity parameter N12ab. The advantage of double-difference is that the new ambiguity parameter N12ab is an integer, because it eliminates non-integer terms in GPS carrier phase 207 observations caused by clock and hardware delays in the transmitter and receiver.

[0063] While floating-point methods can be used instead of integer methods to estimate double-difference ambiguities, this results in lower accuracy, such as dm-level accuracy instead of cm-level accuracy. Therefore, standard RTK restricts ambiguities to integers. Since the first actual location 216 of the first base station 214 is known to the second device 106, it can return the RTK correction 109 for the first device 102 based on the correction generated for the base station 110.

[0064] As the first device 102 travels through the first RTK cell 224 and approaches the cell boundary 226, the second device 106 causes the first base station 214 to transmit the RTK parameters required for centimeter-level positioning to the Q base station 218 in preparation for the first device 102 to enter the Q RTK cell 228. It should be understood that the second device 106 can anticipate the first device 102's move to the Q RTK cell 228. For example, if the first device 102 is approaching the cell boundary 226 at a speed of 60 miles per hour (MPH), then the first device 102 will only travel 1.056 inches in 1 millisecond. The first RTK cell 224 and the Q RTK cell 228 can be formed around the first base station 214 and the Q base station 218, respectively. Additional base stations 110 can be added in this area to form a large number of RTK cells (not shown).

[0065] In preparation for the first device 102 to cross over into the Q RTK cell 228, the second device 106 can update key parameters in the Q base station 218, including position, pseudorange, carrier phase 207 measurement results, and corresponding integer ambiguity. The Q base station 218 can receive the necessary parameters to continue providing the first device 102 with centimeter-level position accuracy.

[0066] It has been discovered that navigation system 100 can provide RTK correction 109 for first device 102 by transmitting a reference position 204 provided by satellites to second device 106. Second device 106 may be a cloud server as part of cloud network 104. Second device 106 can process the reference position 204 provided by satellites via AI correction calculator 116 and determine RTK correction 109. By transmitting RTK correction 109 back to first device 102, centimeter-level positional accuracy can be maintained. Transmitting key parameters to Q-th base station 218, including position, pseudorange, carrier phase 207 measurement results, a list 117 of satellites used in satellite array 202, and the corresponding integer ambiguity calculated by AI correction calculator 116, allows first device 102 to travel from first RTK cell 224 across cell boundary 226 to Q-th RTK cell 228 while maintaining centimeter-level positional accuracy.

[0067] See now Figure 3 The figure shows an exemplary elevation map 301 processed by navigation system 100. Exemplary elevation map 301 may include a base station 110 at an actual location 111 fixed on the Earth's surface 302. Base station 110 may communicate with a second device 106 located in cloud 108 via over-the-air (OTA) communication 222. Base station 110 may also communicate with positioning satellite 112 and the first device 102 to determine the actual location of the first device 102.

[0068] Positioning satellite 112 can transmit position signal 114 to both first device 102 and base station 110. Position signal 114 must penetrate several layers of atmosphere, including the troposphere 304, stratosphere 306, ionosphere 308, and exosphere 310. The troposphere 304 extends from the Earth's surface 302 to an altitude of approximately 25 kilometers, where it meets the stratosphere 306. The troposphere 304 exhibits a significant amount of electrical noise and radiated energy that can affect position signal 114 by causing phase shift delay.

[0069] The stratosphere 306 can be a benign layer extending from the top of the troposphere 304 at 25 km to approximately 50 km. The stratosphere 306 can be electrically stable and have little effect on the position signal 114. The stratosphere 306 can border the ionosphere 308, which extends from approximately 50 km to 500 km. The ionosphere 308 can contain a large amount of ionized gas, including the ozone layer. The ionosphere 308 affects the position signal 114 because the ionized gas phase shifts and delays the position signal 114.

[0070] The exosphere 310 may border the ionosphere 308 and can extend from approximately 500 km to 60,000 km. The exosphere 310 can be a partial vacuum, containing rare ionized gas molecules. Positioning Satellite 112 can orbit the Earth's surface 302 at an altitude of approximately 20,200 km. At this altitude, Positioning Satellite 112 can orbit the Earth twice a day.

[0071] The first device 102 can be very close to base station 110 (within a range of 10 km to 20 km). When the first device 102 receives the location signal 114, the influence of the ionosphere 308 and the troposphere 304 introduces a certain degree of uncertainty regarding the location of the first device 102. Meanwhile, base station 110 can receive the location signal 114, which includes the same uncertainty as the first device, but the actual location 111 of base station 110 is known to the second device 106. The second device 106 can process the location signal 114 received by base station 110 to identify the uncertainties caused by the ionosphere 308 and the troposphere 304. The second device 106 can use... Figure 1 The AI ​​correction calculator 116 identifies uncertainties based on the actual location 111 of the base station. Since the first device 102 experiences the same uncertainties as the base station 110, the same corrections identified for the base station 110 can be applied to the first device 102.

[0072] Figure 3 The angular difference shown is for illustrative purposes. In reality, the angular difference between base station 110 and positioning satellite 112, and between the first device 102 and positioning satellite 112, is approximately 0.028 to 0.056 degrees. Based on this, for both base station 110 and the first device 102, the position signal 114 will experience the same magnitude and direction of uncertainty. Therefore, the RTK correction 109 applied to base station 110 will... Figure 2 The reference position 204 provided by the satellite is corrected to the real-world position 314 of the first device 102. The real-world position 314 is defined as the physical position of the first device 102 on the Earth's surface, provided with an accuracy of 1 cm to 3 cm.

[0073] It has been discovered that Figure 1 The navigation system 100 can rely on the AI ​​correction calculator 116 to identify from the position signal 114. Figure 2 The pseudorange ρ316 and carrier phase φ207 are used to determine the actual location 111 of base station 110. As an example, the pseudorange 316 and carrier phase 207 identified for base station 110 can be applied to first device 102 to calculate the real-world location 314 of first device 102. Since second device 106 performs intensive calculations via AI correction calculator 116, the calculations will be eliminated based on... Figure 2The less precise satellite reference position 204 used to guide the expensive optical and radar sensors of the first device 102 can reduce the complexity of the first device 102 to improve reliability and reduce cost.

[0074] See now Figure 4 The figure shows the composition of Figure 1 The navigation system 100 processes an exemplary elevation map of the satellite array 202. An exemplary elevation map 401 of the satellite array 202 depicts a first positioning satellite 206 and a second positioning satellite 208 communicating with a first base station 214 and a first device 102. The first base station 214 can also communicate with the cloud 108 via OTA communication 222 to access the second device 106.

[0075] The first base station 214 can selectively process the position signal 114 from the first positioning satellite 206. The first base station 214 can transmit the position signal 114 to the second device 106 via OTA communication 222. The second device 106 can calculate RTK correction 109 for the first positioning satellite 206 and the first device 102. When the RTK correction 109 for the first positioning satellite 206 is completed, the first base station 214 can select the second position signal 402 for processing by the second device 106.

[0076] As an example Figure 1 The AI ​​correction calculator 116 can use the same process and equations applied to the first positioning satellite 206 for the second positioning satellite 208. Since the viewing angle between the first base station 214 and the first positioning satellite 206 is significantly different from the viewing angle between the first base station 214 and the second positioning satellite 208, the magnitude of the uncertainty applied to the second position signal 402 can be different from the magnitude of the uncertainty of the first position signal 114. The first base station 214 can transmit signals for the satellite array 202... Figure 1 RTK correction 109 for each of the 112 positioning satellites.

[0077] The second device 106 can identify the following from the first base station 214: Figure 3 pseudorange 316 and Figure 2 Key parameters, including carrier phase 207, are stored in Figure 1 The parameter memory 118 is used, and the access schedule for the first satellite 206 and the second satellite 208 can be stored in the parameter memory 118. Figure 1 The satellite array memory 120. When the AI ​​correction calculator 116 is in training... Figure 1 Each pair of base stations 110 can transmit signals to the satellite array 202. Figure 1Concurrent information for each positioning satellite 112. RTK corrections 109 for each positioning satellite 112 in the satellite array 202 can be stored in the satellite array memory 120 for faster retrieval once training is complete.

[0078] It has been discovered that the second device 106 located in cloud 108 can quickly retrieve data including that of base station 110. Figure 1 Actual location 111, positioning satellite 112 Figure 3 The key parameters include pseudorange 316, carrier phase 207 measurement results, and corresponding integer ambiguity. Storing relevant information for each positioning satellite 112 in the satellite array 202 can reduce the time spent calculating RTK correction 109. The storage of key parameters can be retrieved from the first device 102. Figure 2 The first RTK cell 224 crosses over to Figure 2 The QRTK cell 228 simplifies forwarding with centimeter-level location support. This is because key parameters are derived from... Figure 2 The first base station 214 transmits the data to the Q base station 218, therefore, quickly retrieving these parameters from the second device 106 can shorten the transmission time and, across... Figure 2 The community barrier maintains centimeter-level position monitoring for 226 hours.

[0079] See now Figure 5 The figure shows an exemplary block diagram of the navigation system 100 in an embodiment. The navigation system 100 may include a first device 102, a cloud network 104, and a second device 106. The first device 102 may send information to the second device 106 via the cloud network 104 in a first device transmission 508. The second device 106 may send information to the first device 102 or to the second device 106 via the cloud network 104 in a second device transmission 510. Figure 1 The base station 110 sends information.

[0080] For illustrative purposes, the navigation system 100 is shown with the first device 102 acting as a client device; however, it should be understood that the navigation system 100 may include the first device 102 as a different type of device. For example, the first device 102 may be a server including a first display interface 530 coupled to a location display 502. The location display 502 may include a monitor, projector, head-up display, or liquid crystal display configured to display the actual location 111 of the first device 102.

[0081] Additionally, for illustrative purposes, the navigation system 100 is shown as a cloud server with the second device 106 as such; however, it should be understood that the navigation system 100 may include the second device 102 as a different type of device. For example, the second device 106 may be a client device. The second device 106 can provide... Figure 1 Training and enhancement of the AI ​​correction calculator 116.

[0082] Additionally, for illustrative purposes, the navigation system 100 is illustrated using the interaction between the first device 102 and the second device 106. However, it should be understood that the first device 102 may be part or all of an autonomous vehicle, an intelligent vehicle, or a combination thereof. Similarly, the second device 106 may similarly interact with the first device 102, which represents an autonomous vehicle, an intelligent vehicle, or a combination thereof.

[0083] For the sake of simplicity, in this embodiment of the invention, the first device 102 will be described as a client device, and the second device 106 will be described as a cloud server device. Embodiments of the invention are not limited to this choice of device type. Such a choice is merely an example of an embodiment of the invention.

[0084] The first device 102 may include a first control circuit 512, a first storage circuit 514, a first communication circuit 516, a first interface circuit 518, and a first positioning circuit 520. The first control circuit 512 may include a first control interface 522. The first control circuit 512 may execute first software 526 to provide intelligence for the first device 102.

[0085] The first control circuit 512 can be implemented in many different ways. For example, the first control circuit 512 can be a processor, an application-specific integrated circuit (ASIC), an embedded processor, a microprocessor, hardware control logic, a hardware finite state machine (FSM), a digital signal processor (DSP), or a combination thereof. The first control interface 522 can be used for communication between the first control circuit 512 and other functional units or circuits in the first device 102. The first control interface 522 can also be used for communication outside the first device 102.

[0086] The first control interface 522 can receive information from other functional units / circuits or external sources, or can send information to other functional units / circuits or external destinations. The external sources and external destinations refer to sources and destinations outside the first device 102.

[0087] The first control interface 522 can be implemented in different ways, and may include different implementations depending on which functional units / circuits or external units / circuits are interfacing with the first control interface 522. For example, the first control interface 522 can be implemented using a pressure sensor, an inertial sensor, a microelectromechanical system (MEMS), optical circuits, waveguides, wireless circuits, wired circuits, or combinations thereof.

[0088] The first storage circuit 514 can store the first software 526. The first storage circuit 514 can also store related information, such as data representing an input image, etc. Figure 2 Satellite data, audio files, or a combination thereof from the satellite array 202.

[0089] The first storage circuit 514 may be volatile memory, non-volatile memory, internal memory, external memory, or a combination thereof. For example, the first storage circuit 514 may be a non-volatile memory such as non-volatile random access memory (NVRAM), flash memory, or disk storage, or a volatile memory such as static random access memory (SRAM).

[0090] The first storage circuit 514 may include a first storage interface 524. The first storage interface 524 may be used for communication between the first storage circuit 514 and other functional units or circuits in the first device 102, such as… Figure 1 Communication between the sensor data local storage 108 and the first storage interface 524. The first storage interface 524 can also be used for communication outside the first device 102.

[0091] The first storage interface 524 can receive information from other functional units / circuits or external sources, or can send information to other functional units / circuits or external destinations. The external sources and external destinations refer to sources and destinations outside the first device 102.

[0092] Depending on which functional units / circuits or external units / circuits are interfacing with the first storage circuit 514, the first storage interface 524 may include different implementations. The first storage interface 524 may be implemented using similar techniques and processes to the implementation of the first control interface 522.

[0093] The first communication circuit 516 enables external communication to and from the first device 102. For example, the first communication circuit 516 can allow the first device 102 to communicate with the second device 106 and the cloud network 104. As an example, the first communication circuit 516 can transmit a reference position 204 provided by a satellite to the second device 106 for calibration by the satellite calibration module 115.

[0094] The first communication circuit 516 can also function as a communication hub, allowing the first device 102 to function as part of the cloud network 104, rather than being limited to being an endpoint or terminal circuit of the cloud network 104. The first communication circuit 516 may include active and passive components for interacting with the cloud network 104, such as microelectronic devices or antennas.

[0095] The first communication circuit 516 may include a first communication interface 528. The first communication interface 528 can be used for communication between the first communication circuit 516 and other functional units or circuits in the first device 102. For example, the first communication interface 528 can receive a reference position 204 provided by a satellite from the first control circuit 512. The first communication interface 528 can receive information from the second device 106 to distribute to other functional units / circuits, or it can send information to other functional units or circuits.

[0096] Depending on which functional units or circuits are interfaced with the first communication circuit 516, the first communication interface 528 may include different implementations. The first communication interface 528 may be implemented using similar techniques and processes to the implementation of the first control interface 522.

[0097] The first interface circuit 518 allows... Figure 1 The base station 110 interfaces and interacts with the first device 102. The first interface circuit 518 may include input devices and output devices. Examples of input devices for the first interface circuit 518 may include a keypad, touchpad, soft keys, keyboard, microphone, infrared sensor for receiving remote signals, wireless receiver, or any combination thereof to provide data and communication input. The first interface circuit 518 may pass input from the base station 110 to the first control circuit 512 for processing and storage.

[0098] The first interface circuit 518 may include a first display interface 530. The first display interface 530 may include an output device. The first display interface 530 may be coupled to a position display 502, including a projector, a video screen, a touch screen, a speaker, and combinations thereof.

[0099] The first control circuit 512 can operate the first interface circuit 518 to display information generated by the navigation system 100. The first control circuit 512 can also execute first software 526 for other functions of the navigation system 100, including receiving position information from the first positioning circuit 520. The first control circuit 512 can also execute the first software 526 to interact with the cloud network 104 via the first communication circuit 516. The first control unit 512 can operate RTK correction 109 to determine the actual position 111.

[0100] The first control circuit 512 can operate the first interface circuit 518 to collect data from the base station 110. The first control circuit 512 can also receive location information from the first positioning circuit 520.

[0101] As an example, the first positioning circuit 520 can generate position information, current heading, current acceleration, and current velocity in the real-world coordinate system of the first device 102. The first positioning circuit 520 can be implemented in various ways. For example, the first positioning circuit 520 can function as at least a part of a Global Positioning System, an Inertial Navigation System, a Cellular Positioning System, a gyroscope, or any combination thereof. Alternatively, for example, the first positioning circuit 520 can utilize components such as an accelerometer, a gyroscope, or a Global Positioning System (GPS) receiver.

[0102] The first positioning circuit 520 may include a first positioning interface 532. The first positioning interface 532 may be used for communication between the first positioning circuit 520 and other functional units or circuits (including optical sensor 110) in the first device 102.

[0103] The first positioning interface 532 can receive information from other functional units / circuits or external sources, or can send information to other functional units / circuits or external destinations. The external sources and external destinations refer to sources and destinations outside the first device 102, such as positioning satellite 112.

[0104] Depending on which functional units / circuits or external units / circuits are interfacing with the first positioning circuit 520, the first positioning interface 532 may include different implementations. The first positioning interface 532 may be implemented using techniques and processes similar to those used in the implementation of the first control circuit 512.

[0105] The second device 106 can be optimized to implement embodiments of the invention in a multi-device embodiment having the first device 102. Compared to the first device 102, the second device 106 can provide additional or higher performance processing capabilities. The second device 106 may include a second control circuit 534, a second communication circuit 536, a second user interface 538, and a second storage circuit 546.

[0106] The second user interface 538 allows an operator (not shown) to interface with and interact with the second device 106. The second user interface 538 may include input devices and output devices. Examples of input devices for the second user interface 538 may include a keypad, touchpad, soft keys, keyboard, microphone, or any combination thereof to provide data and communication input. Examples of output devices for the second user interface 538 may include a second display interface 540. The second display interface 540 may include a monitor, projector, video screen, speaker, or any combination thereof.

[0107] During training, the second control circuit 534 can receive base station data 535 via the second communication circuit 536. For example, the second communication circuit 536 can receive data from the base station. Figure 2The first base station 214 and Figure 2 The Q-th base station 218 receives base station data 535. The first base station 214 and the Q-th base station 218 can transmit their base station data 535, including the reference position 204 and the actual position 111 provided by the satellite, to the second device 106. The base station data 535 can be transmitted to the satellite correction module 115 for training. Figure 1 AI correction calculator 116. The actual positions 111 of the first base station 214 and the Qth base station 218 are known to the satellite correction module 115. Base station data 535 may include the first actual position 216 of the first base station 214 and the Qth actual position 220 of the Qth base station 218, as well as the data received from the satellite array 202 for the first base station 214 and the Qth base station 218. Figure 2 The satellite provides a reference position 204. The satellite correction module 115 can parse key parameters that convert the satellite-provided reference position 204 into the actual position 111 of the base station. These key parameters can be compiled in the RTK correction 109 sent to the first device 102.

[0108] The second control circuit 534 can execute the second software 542 to provide intelligence to the second device 106 of the navigation system 100. The second software 542 can operate in conjunction with the first software 526. Compared to the first control circuit 512, the second control circuit 534 can provide additional performance.

[0109] The second control circuit 534 can operate the second user interface 538 to display information. The second control circuit 534 can also execute second software 542 for other functions of the navigation system 100, including operating the second communication circuit 536 to communicate with the first device 102 via the cloud network 104.

[0110] The second control circuit 534 can be implemented in many different ways. For example, the second control circuit 534 can be a processor, an embedded processor, a microprocessor, hardware control logic, a hardware finite state machine (FSM), a digital signal processor (DSP), or a combination thereof.

[0111] The second control circuit 534 may include a second control interface 544. The second control interface 544 can be used for communication between the second control circuit 534 and other functional units or circuits in the second device 106. The second control interface 544 can also be used for communication outside the second device 106.

[0112] The second control interface 544 can receive information from other functional units / circuits or external sources, or can send information to other functional units / circuits or external destinations. The external sources and external destinations refer to sources and destinations outside the second device 106.

[0113] The second control interface 544 can be implemented in different ways, and may include different implementations depending on which functional units / circuits or external units / circuits are interfacing with the second control interface 544. For example, the second control interface 544 can be implemented using a pressure sensor, an inertial sensor, a microelectromechanical system (MEMS), optical circuitry, a waveguide, wireless circuitry, wired circuitry, or a combination thereof.

[0114] The second storage circuit 546 can store the second software 542. The second storage circuit 546 can also store information such as data representing an incoming image, data representing a previously presented image, sound files, or combinations thereof. The size of the second storage circuit 546 can be adjusted to provide additional storage capacity to supplement the first storage circuit 514. During training, the second storage circuit 546 can receive... Figure 2 Base station data 535 from two or more positioning satellites 110 in satellite array 202.

[0115] For illustrative purposes, the second storage circuit 546 is shown as a single element; however, it should be understood that the second storage circuit 546 may be a distribution of storage elements. Furthermore, for illustrative purposes, the navigation system 100 is shown as a single hierarchical storage system with the second storage circuit 546; however, it should be understood that the navigation system 100 may include the second storage circuit 546 with different configurations. For example, the second storage circuit 546 may be formed using different storage technologies to form a memory hierarchical system including different levels of cache, main memory, rotating media, or offline memory.

[0116] The second storage circuit 546 may be a controller for volatile memory, non-volatile memory, internal memory, external memory, or a combination thereof. For example, the second storage circuit 546 may be a controller for non-volatile memory such as non-volatile random access memory (NVRAM), flash memory, or disk storage, or for volatile memory such as static random access memory (SRAM).

[0117] The second storage interface 548 can receive information from other functional units / circuits or external sources, or can send information to other functional units / circuits or external destinations. The external sources and external destinations refer to sources and destinations outside the second device 106.

[0118] Depending on which functional units / circuits or external units / circuits are interfacing with the second storage circuit 546, the second storage interface 548 may include different implementations. The second storage interface 548 may be implemented using similar techniques and processes to the implementation of the second control interface 544.

[0119] The second communication circuit 536 enables external communication to and from the second device 106. For example, the second communication circuit 536 can allow the second device 106 to communicate with the first device 102 via the cloud network 104. As an example, the second device 106 can provide RTK correction 109 to the first device 102 to correct the reference position 204 provided by the satellite of the first device 102 to... Figure 3 The real-world location is 314.

[0120] The second communication circuit 536 can also function as a communication hub, allowing the second device 106 to function as part of the cloud network 104, rather than being limited to being an endpoint or terminal unit or circuit of the cloud network 104. The second communication circuit 536 may include active and passive components for interacting with the cloud network 104, such as microelectronic devices or antennas.

[0121] The second communication circuit 536 may include a second communication interface 550. The second communication interface 550 can be used for communication between the second communication circuit 536 and other functional units or circuits in the second device 106. The second communication interface 550 can receive information from other functional units / circuits, or can send information to other functional units or circuits.

[0122] Depending on which functional units or circuits are interfaced with the second communication circuit 536, the second communication interface 550 may include different implementations. The second communication interface 550 may be implemented using similar techniques and processes to the implementation of the second control interface 544.

[0123] The second communication circuit 536 can be coupled to the cloud network 104 to send information to the first device 102, including updates to the position correction module 115 in the second device transmission 510. The first device 102 can receive information from the second device transmission 510 of the cloud network 104 in the first communication circuit 516. The navigation system 100 can be executed by the first control circuit 512, the second control circuit 534, or a combination thereof. For illustrative purposes, the second device 106 is shown as having a division including a second user interface 538, a second storage circuit 546, a second control circuit 534, and a second communication circuit 536, but it should be understood that the second device 106 can include different divisions. For example, the second software 542 can be divided differently such that some or all of its functions can be in the second control circuit 534 and the second communication circuit 536. In addition, the second device 106 can include, for clarity, in Figure 5 Other functional units or circuits not shown in the diagram.

[0124] The functional units or circuits in the first device 102 can operate independently of other functional units or circuits. The first device 102 can operate independently of the second device 106 and the cloud network 104.

[0125] The functional units or circuits in the second device 106 can operate independently of other functional units or circuits. The second device 106 can operate independently of the first device 102 and the cloud network 104.

[0126] The functional units or circuits described with respect to the first device 102 and the second device 106 can be implemented in hardware. For example, one or more of the functional units or circuits can be implemented using gate arrays, application-specific integrated circuits (ASICs), circuit systems, processors, computers, integrated circuits, integrated circuit cores, pressure sensors, inertial sensors, microelectromechanical systems (MEMS), passive devices, physical non-transitory storage media containing instructions for performing software functions, some of these, or combinations thereof.

[0127] For illustrative purposes, the navigation system 100 is illustrated by the operation of the first device 102 and the second device 106. It should be understood that the first device 102 and the second device 106 can operate any module and function of the navigation system 100.

[0128] As another example, the first device 102 may be an autonomous vehicle or a driver-assisted vehicle. The first interface circuit 518 may receive input from the base station 110. The actual position 111 may be generated by the first control circuit 512 from the RTK correction 109 generated by the second device 106.

[0129] It has been discovered that the second device 106 can receive base station data 535 to calculate RTK correction 109 for each base station 110 and each positioning satellite 112 in the satellite array 202. As an example, the second control circuit 534 can transmit the base station data 535 to the position correction module 115 for analysis. The position correction module 115 can generate RTK correction 109 by calculating key parameters that convert the satellite-provided reference position 204 to the actual position 111. It should be understood that the conversion process from the satellite-provided reference position 204 to the actual position 111 is timing-critical. Figure 1 The AI ​​correction calculator 116 can include hardware and software as needed to complete the conversion in the shortest possible time.

[0130] See now Figure 6 The figure illustrates an embodiment of the present invention. Figure 1 The control flow 601 of the navigation system 100. Control flow 601 describes the module 602 that establishes a link with the vehicle, wherein... Figure 2The first base station 214 passed Figure 2 OTA communication 222 sensed Figure 1 The first device 102.

[0131] Control flow 601 enters RTK parameter determination module 604, where the first base station 214 and Figure 2 Satellite array 202 communication, in order to target Figure 2 First device calculation within the first RTK cell 224 Figure 3 The pseudorange 316, carrier phase 207, carrier phase ambiguity, estimated clock error, list of satellite array 202 used for locating the first device 102, and Figure 2 The satellite provides a reference position 204. The satellite-provided reference position 204 can provide an accuracy of 1 to 2 meters, which is insufficient for the primary device 102, such as an autonomous vehicle or a driver-assisted vehicle.

[0132] Control flow 601 enters the vehicle module 606 to determine the real-world location, where... Figure 1 The second device 106 can be Figure 1 The AI ​​correction calculator 116 performs RTK calculations to calculate the first device 102. Figure 3 The real-world position 314. The AI ​​correction calculator 116 can correct the real-world position 314 to an accuracy of 1 cm to 3 cm.

[0133] Control flow 601 initiates the transmission of RTK parameters to vehicle module 608, wherein second device 106 can instruct first base station 214 to transmit real-world location 314 to first device 102 via OTA communication 222. Second device 106 can monitor OTA communication 222 to determine the progress of first device through first RTK cell 224.

[0134] The control flow then enters the cell boundary determination module 610, where the second device 106 can determine that the first device 102 is about to cross from the first RTK cell 224. Figure 2 226, the boundary of the community. Figure 2The Q RTK cell 228. For example, if the first device 102 is traveling at 60 mph (MPH), it can only travel 1.056 inches per millisecond. This provides the second device with ample time to analyze the route of the first device 102 relative to the boundary of the first RTK cell 224. When the first device 102 has passed the last possible route within the first RTK cell 224, the second device can prepare to enter the Q RTK cell 228 by compiling a list of key parameters used in the first RTK cell 224, including real-world position 314, pseudorange 316, carrier phase 207 measurements, a list of satellite arrays 202 used to locate the first device 102, and the corresponding integer ambiguity calculated by the AI ​​correction calculator 116.

[0135] The control flow then enters the module 612 for transmitting real-world location and RTK parameters, where the second device 106 enables the first base station 214 to... Figure 2 The parameter transmission 227 transmits key parameters from the first base station 224 to the Q-th base station 218. The Q-th base station 218 can prepare for the transfer of the first device 102 before it actually crosses the cell boundary 226. This allows for seamless transmission of the real-world location 314 without causing a delay in recalibrating the real-world location 314. When the first device crosses the boundary... Figure 2 At the Q RTK cell 228, the real-world location 314 of the first device 102 is continuously known.

[0136] The control flow then enters the real-world location module 614 after crossing the cell boundary, where the second device 106 can monitor the progress of the first device 102 through the Q base station 218 and can support modifications to the list of satellite array 202 used to guide the first device 102, changes in carrier phase 207, and preparation for crossing subsequent cell boundaries in cell boundary 226.

[0137] It should be understood that each of the modules listed in the above description can utilize software executed in a specific hardware configuration. For example, the first control circuit 512 can communicate with the second device 106, the first base station 224, the Qth base station 218, the satellite array 202, and combinations thereof via the first communication unit 516. As another example, the second control circuit 534 can communicate with the first device 102, the first base station 224, the Qth base station 218, the satellite array 202, and combinations thereof via the second communication circuit 536.

[0138] It has been found that navigation system 100 can provide continuous monitoring of the real-world position 314 of first device 102 with an accuracy of 1 to 3 centimeters across the area of ​​the route crossing cell boundary 226. The ability to transmit the key parameters required to calculate the real-world position 314 in advance before actually crossing cell boundary 226 enables first device 102 to maintain autonomous control over the entire area of ​​the route.

[0139] See now Figure 7 The figure illustrates an embodiment of the present invention. Figure 1 A flowchart of an operation method 700 for a navigation system 100 is provided. Method 700 includes: receiving base station data including actual position and a reference position provided by satellites at block 702; transmitting the base station data to a trained artificial intelligence (AI) correction calculator at block 704; transmitting pseudorange of the satellites from the AI ​​correction calculator at block 706; calculating real-time kinematic (RTK) corrections based on the pseudoranges at block 708; and enabling communication circuitry to transmit the RTK corrections to a base station via over-the-air (OTA) communication at block 710, including the base station transmitting the RTK corrections to a device to correct the reference position provided by the satellites to a real-world position and display it on the device.

[0140] The resulting methods, processes, apparatuses, devices, products, and / or systems are simple, cost-effective, uncomplicated, highly versatile, accurate, sensitive, and efficient, and can be implemented by adapting known components to readily available, efficient, and economical manufacturing, application, and utilization. Another important aspect of embodiments of the invention is its valuable support for and service to historical trends of cost reduction, system simplification, and performance improvement.

[0141] These and other valuable aspects of the embodiments of the present invention thus further elevate the state of the technology to at least the next level.

[0142] While the invention has been described in conjunction with a particular preferred mode, it should be understood that, given the foregoing description, many alternatives, modifications, and variations will be apparent to those skilled in the art. Therefore, it is intended to include all such alternatives, modifications, and variations falling within the scope of the included claims. All matters described herein or illustrated in the accompanying drawings are to be interpreted in an illustrative and non-limiting sense.

Claims

1. A navigation system, comprising: Communication circuit, the communication circuit being configured as follows: Receive base station data including actual location and reference location provided by satellite, and The base station data is transmitted to a trained artificial intelligence (AI) correction calculator. A control circuit coupled to the communication circuit, the control circuit being configured to: The pseudorange of the satellite is transmitted from the AI ​​correction calculator; Real-time kinematic RTK correction is calculated based on the pseudorange; as well as The communication circuit is enabled to send RTK corrections to the base station via over-the-air (OTA) communication, including the base station transmitting the RTK corrections to the device to correct the satellite-provided reference position to the real-world position and display it on the device; The control circuit is further configured to: Monitoring OTA communication between the base station and the device includes determining when the device will cross the cell boundary of the base station; and Before the device crosses the cell boundary, the base station is triggered to transmit a list of RTK positioning parameters for the device to the Qth base station outside the cell boundary. The list of RTK positioning parameters includes pseudorange, carrier phase, and integer ambiguity calculated by the AI ​​correction calculator. The Qth base station uses the list of RTK positioning parameters to provide RTK correction without recalibration.

2. The system according to claim 1, wherein the control circuit is configured to: The carrier phase is provided from the AI ​​correction calculator; and The carrier phase is calculated using the pseudorange in RTK correction.

3. The system according to claim 1, wherein the control circuit is configured to train the AI ​​correction calculator by reading base station data from a first base station and a Qth base station, the base station data including actual positions received from the first base station and the Qth base station and reference positions provided by satellites.

4. The system according to claim 1, wherein the control circuit is configured to calculate the RTK correction based on the pseudorange and carrier phase, including correcting a reference position provided by a satellite to a real-world position.

5. The system according to claim 1, wherein the control circuit is configured to provide the RTK correction, including enabling the device to correct a satellite-provided reference position to a real-world position with an accuracy of 1 cm to 3 cm.

6. The system according to claim 1, wherein the communication circuit is further configured to communicate with the first base station, the Q base station and the device, including sending the RTK correction via parameter updates before the first device crosses the cell boundary.

7. A method for operating a navigation system, comprising: Receive base station data including actual location and reference location provided by satellite; The base station data is transmitted to a trained artificial intelligence (AI) correction calculator. The pseudorange of the satellite is transmitted from the AI-corrected calculator; Real-time kinematic RTK correction is calculated based on the pseudorange; The communication circuitry is enabled to send RTK corrections to the base station via over-the-air (OTA) communication, including the base station transmitting the RTK corrections to the device to correct the satellite-provided reference position to the real-world position and display it on the device. Monitoring OTA communication between the base station and the device, including determining when the device will cross the cell boundary of the base station; and Before the device crosses the cell boundary, the base station is triggered to transmit a list of RTK positioning parameters for the device to the Qth base station outside the cell boundary. The list of RTK positioning parameters includes pseudorange, carrier phase, and integer ambiguity calculated by the AI ​​correction calculator. The Qth base station uses the list of RTK positioning parameters to provide RTK correction without recalibration.

8. The method according to claim 7, further comprising: The carrier phase is provided from the AI ​​correction calculator; as well as The carrier phase is calculated using the pseudorange in RTK correction.

9. The method according to claim 7, further comprising training the AI ​​correction calculator by reading base station data from the first base station and the Qth base station, the base station data including actual locations received from the first base station and the Qth base station and reference locations provided by satellites.

10. The method according to claim 7, wherein calculating the RTK correction based on the pseudorange includes calculating the RTK correction based on the carrier phase and correcting the reference position provided by the satellite to the real-world position.

11. The method of claim 7, further comprising providing the RTK correction, including enabling the device to correct the satellite-provided reference position to a real-world position with an accuracy of 1 cm to 3 cm.

12. The method according to claim 7, further comprising communicating with the first base station, the Q base station and the device, including sending the RTK correction via parameter update before the first device crosses the cell boundary.

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