Real-time PPE base station measurement uncertainty modeling for protection level calculation

Abstract

In some implementations, a mobile device may determine, for each of a plurality of epochs, respective values of pseudo-range noise and multipath errors of pseudo-range measurements performed by a global navigation satellite system (GNSS) device. The mobile device may receive the pseudo-range measurement from the GNSS device. The mobile device may determine one or more statistics of the pseudo-range noise and multipath error values for the plurality of epochs. The mobile device may determine a positioning error (PE) value based on the one or more statistics. The mobile device may output an indication of the determined PE for at least one epoch of the plurality of epochs.

Description

[0001] Related Applications

[0002] This application claims the benefit of U.S. Application No. 17 / 814,274, filed on July 22, 2022, entitled “REAL-TIME PPE BASE STATION MEASUREMENT UNCERTAINTY MODELING FOR PROTECTION LEVEL COMPUTATION,” which is assigned to the assignee of this application and is incorporated herein by reference in its entirety. Background Art 1. Technical Field

[0003] The present disclosure relates generally to the field of wireless communications, and more particularly to using radio frequency (RF) signals to determine the location of a mobile device.

[0004] 2. Related technologies

[0005] In positioning of a mobile device (e.g., an electronic device including a GNSS receiver) based on a global navigation satellite system (GNSS), a mobile device may utilize a precise positioning engine (PPE) to determine a high-precision position based on carrier phase measurements of GNSS signals. The high-precision position may also be based on measurement information from a "base station" with a fixed known location, which may be used to perform error correction in the measurement of the GNSS signals. The base station measurement information may have inherent uncertainty, which may affect the uncertainty of the determined position of the mobile device. However, the base station measurement uncertainty is generally not available to the mobile device, resulting in an unknown / unclear degree of uncertainty in the determined position of the mobile device. Summary of the invention

[0006] According to an example method of real-time precise positioning engine (PPE) measurement uncertainty modeling of the present disclosure, the method may include: for each epoch of a plurality of epochs, determining corresponding values ​​of pseudorange noise and multipath error of pseudorange measurements performed by a global navigation satellite system (GNSS) device. The method may also include: determining one or more statistical values ​​of the pseudorange noise and multipath error values ​​for the plurality of epochs. The method may also include: determining a positioning error (PE) value based on the one or more statistical values. The method may also include: outputting an indication of the determined PE for at least one epoch of the plurality of epochs.

[0007] According to an example mobile device for real-time precise positioning engine (PPE) measurement uncertainty modeling of the present disclosure, the mobile device may include: a transceiver; a memory; and one or more processors, the one or more processors are communicatively coupled to the transceiver and the memory, wherein the one or more processors are configured to: for each epoch in a plurality of epochs, determine the corresponding values ​​of pseudorange noise and multipath error of pseudorange measurements performed by a global navigation satellite system (GNSS) device. The one or more processors may be further configured to: determine one or more statistical values ​​of the pseudorange noise and multipath error values ​​of the plurality of epochs. The one or more processors may be further configured to: determine a positioning error (PE) value based on the one or more statistical values. The one or more processors may be further configured to: output an indication of the determined PE for at least one epoch in the plurality of epochs.

[0008] According to an example apparatus for real-time precise positioning engine (PPE) measurement uncertainty modeling of the present disclosure, the apparatus may include: a component for determining, for each epoch of a plurality of epochs, a corresponding value of pseudorange noise and multipath error of a pseudorange measurement performed by a global navigation satellite system (GNSS) device. The apparatus may also include: a component for determining one or more statistical values ​​of the pseudorange noise and multipath error values ​​for the plurality of epochs. The apparatus may also include: a component for determining a positioning error (PE) value based on the one or more statistical values. The apparatus may also include: a component for outputting an indication of the determined PE for at least one epoch of the plurality of epochs.

[0009] According to the present disclosure, an example non-transitory computer-readable medium stores instructions for real-time precise positioning engine (PPE) measurement uncertainty modeling, the instructions including: code for determining, for each epoch in a plurality of epochs, respective values ​​of pseudorange noise and multipath error of pseudorange measurements performed by a global navigation satellite system (GNSS) device. The instructions may also include: code for determining one or more statistical values ​​of the pseudorange noise and multipath error values ​​for the plurality of epochs. The instructions may also include: code for determining a positioning error (PE) value based on the one or more statistical values. The instructions may also include: code for outputting an indication of the determined PE for at least one epoch in the plurality of epochs.

[0010] This summary is neither intended to identify key features or essential features of the claimed subject matter nor is it intended to be used alone to determine the scope of the claimed subject matter. The subject matter should be understood by reference to appropriate portions of the entire specification of the disclosure, any or all of the drawings, and each claim. The foregoing and other features and examples will be described in more detail in the following description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a simplified diagram of the Global Navigation Satellite System (GNSS) system.

[0012] Figure 2 is a simplified diagram of a real-time kinematic (RTK) system according to an implementation scheme.

[0013] Figure 3 The flowchart of exemplifies how correction data from an RTK base station can be used to mitigate error sources in a Precise Positioning Engine (PPE) position determination for a mobile device.

[0014] Figure 4 The graphical illustrations show different operating states of a GNSS device (eg, a mobile device) based on different values ​​of protection level and positioning error.

[0015] Figure 5 The flowchart of exemplifies a general method for modeling measurement uncertainty of pseudorange and carrier phase measurements.

[0016] Fig. 6A and Figure 6B The diagram plots the simulated horizontal errors and the corresponding horizontal protection level values ​​for a series of epochs.

[0017] Figure 7 is a flow chart of a method for real-time PPE measurement uncertainty modeling according to an embodiment.

[0018] Figure 8 is a block diagram of various hardware and software components of a mobile device according to an embodiment.

[0019] Similar reference symbols in the various drawings indicate similar elements according to certain example implementations. In addition, multiple instances of an element can be indicated by adding a letter or hyphen and a second number after the first number of the element. For example, multiple instances of element 110 can be indicated as 110-1, 110-2, 110-3, etc. or 110a, 110b, 110c, etc. When only the first number is used to refer to such an element, any instance of the element should be understood (for example, the element 110 in the previous example will refer to elements 110-1, 110-2 and 110-3 or to elements 110a, 110b and 110c). DETAILED DESCRIPTION

[0020] Several illustrative embodiments will now be described with reference to the accompanying drawings which form a part hereof.While specific embodiments are described below in which one or more aspects of the present disclosure may be implemented, other embodiments may be used and various modifications may be made without departing from the scope of the present disclosure.

[0021] As described herein, a satellite receiver such as a global navigation satellite system (GNSS) receiver may be integrated into a mobile device including an electronic device or system. Such a mobile device may include, for example, consumer, industrial and / or commercial electronics, vehicles, assets, ships, etc. As described herein, a satellite receiver or a location estimate of a mobile device into which a satellite receiver is integrated may be referred to as a location, location estimate, location fix, fix, position, position estimate, or position fix of a satellite receiver or mobile device. In addition, the location estimate may be geodesic, thereby providing location coordinates (e.g., latitude and longitude) of a mobile device, which may or may not include an altitude component (e.g., height above sea level; height above or depth below ground level, floor level, or basement level). In some embodiments, the location of a satellite receiver and / or a mobile device including a satellite receiver may also be expressed as an area or volume (defined in geodetic or municipal form) within which the satellite receiver is expected to be located with a certain probability or confidence level (e.g., 67%, 95%, etc.). In the description contained herein, the use of the term location may include any of these variants unless otherwise indicated. In calculating the position of a satellite receiver, such calculations may solve for local X, Y, and possibly Z coordinates, and then, if necessary, convert the coordinates from one coordinate system to another.

[0022] As used herein, the terms "positioning" and "location" are used interchangeably. In addition, terms such as "position determination", "position fix", "position estimate", "estimated position", "position fix", etc. may also be used interchangeably herein for GNSS-based positioning to refer to the estimated position of a mobile device or other device that includes a GNSS receiver. The position or location may be a two-dimensional position (e.g., for a two-dimensional map) or a three-dimensional position.

[0023] Additionally, as used herein, the terms "correction data," "base station measurement data," and / or variations thereof may refer to correction information provided by a real-time kinematic (RTK) service to enable high-accuracy positioning determination of a device having a GNSS receiver. The correction data may include measurement data taken by a reference station and / or correction information derived from the measurement data, such as the difference between a true distance determination based on a known position of a reference station and a measurement performed at the reference station. The correction data may be used as described herein in conjunction with measurements performed at a device having a GNSS receiver to determine a high-accuracy positioning of the device.

[0024] As noted, a high-accuracy position of a mobile device may be determined by a precise positioning engine (PPE) that utilizes correction data / measurement information from an RTK base station to perform error correction on GNSS measurements (e.g., carrier phase measurements), thereby enabling the PPE to determine a high-precision (e.g., centimeter-level accuracy) position determination of the mobile device. However, the correction data / measurement information from the RTK base station may have errors that may cause a degree of uncertainty in the correction data / measurement information. If these errors are not taken into account, the accuracy and / or integrity of the determined position of the mobile device may be affected in some cases. The embodiments herein are intended to model the error sources to help mitigate and / or take into account errors and uncertainties associated with the position of the mobile device. It may be noted that although the embodiments herein describe modeling uncertainties regarding base station measurements, the embodiments are not limited thereto. The techniques described herein may be applied to modeling uncertainties regarding other GNSS devices (such as, mobile devices). After reviewing the related art, a detailed description of these techniques and embodiments will be provided.

[0025] Figure 1 1 is a simplified diagram of a GNSS system 100, which is provided to illustrate how GNSS is generally used to determine an accurate position of a GNSS receiver 110 on Earth 120 (also referred to as a "position fix" of the GNSS receiver). In general, the GNSS system 100 implements an accurate GNSS position fix of a GNSS receiver 110, which receives radio frequency (RF) signals from GNSS satellites 130 from one or more GNSS constellations. (Satellites such as GNSS satellites 130 may also be referred to herein as space vehicles (SVs)). The type of GNSS receiver 110 used may vary depending on the application. In some embodiments, for example, the GNSS receiver 110 may include a consumer electronic product or device, such as a mobile phone, a tablet computer, a laptop computer, a wearable device, a vehicle (or vehicle-mounted device), etc. In some embodiments, the GNSS receiver 110 may include industrial or commercial equipment, such as exploration equipment.

[0026] It should be understood that Figure 1The illustration provided in is greatly simplified. In practice, there may be dozens of satellites 130 and a given GNSS constellation, and there are many different types of GNSS systems. GNSS systems include, for example, the Global Positioning System (GPS), Galileo (GAL), GLONASS, the Quasi-Zenith Satellite System (QZSS) over Japan, the Indian Regional Navigation Satellite System (IRNSS) over India, the BeiDou Navigation Satellite System (BDS), and the like. In addition to the basic positioning functionality described later, GNSS enhancements (e.g., satellite-based augmentation systems (SBAS)) may also be used to provide higher accuracy. Such enhancements may be associated with or otherwise enabled for use with one or more global and / or regional navigation satellite systems, such as, for example, the Wide Area Augmentation System (WAAS), the European Geostationary Navigation Overlay Service (EGNOS), the Multifunctional Satellite Augmentation System (MSAS), and the Geographic Augmentation Navigation System (GAGAN), and the like.

[0027] GNSS positioning is based on multilateration, which is a method of determining positioning by measuring the distance to known coordinate points. In general, the determination of the position of the GNSS receiver 110 in three dimensions may rely on the determination of the distance between the GNSS receiver 110 and four or more satellites 130. As illustrated, the 3D coordinates may be based on a coordinate system centered on the center of mass of the earth (e.g., XYZ coordinates; latitude, longitude, and altitude, etc.). The distance between each satellite 130 and the GNSS receiver 110 may be determined by the GNSS receiver 110 accurately measuring the time difference between the transmission of the radio frequency RF signal from the corresponding satellite 130 and the reception of the signal at the GNSS receiver 110. To help ensure accuracy, the GNSS receiver 110 not only needs to accurately determine when the corresponding signal from each satellite 130 is received, but also needs to consider and take into account many additional factors. These factors include, for example, clock differences (e.g., clock bias) at the GNSS receiver 110 and the satellite 130, the precise position of each satellite 130 at the time of transmission (e.g., as determined by the broadcast ephemeris), the effects of atmospheric distortion (e.g., ionospheric and tropospheric delays), etc.

[0028] To perform a conventional GNSS positioning fix, the GNSS receiver 110 may use code-based positioning to determine its distance from each satellite 130 based on the determined delay in the generated pseudo-random binary sequence received in the RF signal received from each satellite, taking into account the additional factors and error sources mentioned above. Using the distance and position information of the satellites 130, the GNSS receiver 110 may then determine a positioning fix about its position. For example, the positioning fix may be determined by a separate positioning engine (SPE) executed by one or more processors of the GNSS receiver 110. However, code-based positioning is relatively inaccurate and, without error correction, is susceptible to many of the errors described above. Even so, code-based GNSS positioning may provide the GNSS receiver 110 with positioning accuracy in the order of meters.

[0029] More accurate carrier-based ranging is based on the carrier (carrier phase) of the RF signal from the satellite and can use measurements at a base station or reference station (not shown) to perform error correction to help reduce errors from the previously mentioned error sources. More specifically, errors (e.g., atmospheric error sources) in carrier-based ranging of satellites 130 observed by GNSS receiver 110 can be mitigated or eliminated based on similar carrier-based ranging of satellites 130 using highly accurate GNSS receivers at base stations at known locations. These measurements and the locations of the base stations can be provided to GNSS receiver 110 for error correction. For example, the positioning fix can be determined by a precise positioning engine (PPE) executed by one or more processors of GNSS receiver 110. More specifically, in addition to the information provided to the SPE, the PPE can also use base station GNSS measurement information and additional correction information (such as precise orbits and / or clocks, troposphere, and ionosphere) to provide a high-accuracy, carrier-based positioning fix. Several GNSS technologies may be employed in PPE, such as Differential GNSS (DGNSS), Real Time Kinematic (RTK), and PPP, and may provide sub-meter accuracy (eg, centimeter level).

[0030] Figure 2is a simplified diagram of an RTK system according to an embodiment. RTK system 200 may be used in conjunction with a GNSS system (e.g., GNSS system 100) to achieve a highly accurate (e.g., sub-meter) GNSS position fix for mobile device 210 by using GNSS receivers at both mobile device 210 (also referred to as a "rover" or "rovers") and one or more base stations 220 (also referred to as "reference stations") that receive radio frequency (RF) signals 230 from satellite vehicles (SVs) 240 (GNSS satellites) from one or more GNSS constellations (e.g., Global Positioning System (GPS), Galileo (GAL), Global Navigation Satellite System (GLONASS), BeiDou, etc.). (SVs 240 may be associated with Figure 1 Likewise, the type of mobile device 210 used may vary depending on the application, and may include any of a variety of types of devices capable of accessing GNSS positioning data, such as a mobile device equipped with a GNSS receiver.

[0031] RTK positioning can provide accurate carrier-based ranging solutions (e.g., centimeter or decimeter scale) based on the phase of the carrier of the RF signal 230. RTK positioning can use the reference station 220 to make measurements of the RF signal 230 from a known location with a highly accurate GNSS receiver. However, unlike DGNSS, RTK correction data / measurement data (also referred to as "RTK service data") includes highly accurate carrier-based ranging. The RTK correction data can be associated with the mobile device 210 via a radio broadcast and / or data communication network 250. The mobile device 210 can then use the RTK correction data to correct errors in its own carrier-based ranging using measurements of the RF signal 230 from its own GNSS receiver. Error corrections for RTK positioning can include corrections for satellite clocks and orbits, ionospheric and tropospheric delays, phase wrapping, station displacements (including solid earth tides, ocean loads, and / or polar tides). This more accurate positioning fix (i.e., position fix) can be determined, for example, by PPE executed by one or more processors of the mobile device 210. More specifically, the PPE may use RTK correction data in addition to the information provided to the SPE to provide a high accuracy, carrier-based positioning fix.Several GNSS technologies may be employed in the PPE, such as DGNSS, RTK and PPP.

[0032] The mobile device 210 may determine its position using a position / location estimator or positioning engine (e.g., PPE) that combines ambiguity resolution and differential correction. The position / location estimator may use estimation techniques, such as by using an extended Kalman filter (EKF), weighted least squares (WLS), a particle filter, etc. The accuracy of the position fix of the mobile device 210 may depend on its distance or "baseline" 260 from the reference station 220; the accuracy of the differential correction, etc. Although traditional DGNSS and RTK corrections are limited to baselines 260 on the order of a few kilometers or tens of kilometers, new technologies may extend the baseline 260 to greater distances using enhanced error correction techniques. For example, ultra-long baseline RTK (ULB-RTK) may use a multi-cluster, multi-frequency (MCMF) GNSS receiver at the mobile device 210 and tropospheric modeling to perform corrections for errors caused by ionospheric and tropospheric delays, allowing baselines 260 up to 1000km or more. Due to this increased distance, there may be fewer SVs 240 that can be observed by both the mobile device 210 and the reference station 220. These SVs 240 are referred to herein as "common-view satellites."

[0033] RTK positioning can be further enhanced using network-based techniques. In network-based DGNSS / RTK, correction data from multiple reference stations 220 is sent to a service provider 270. The mobile device 210 can then receive on-demand RTK correction data, including an approximate location of the mobile device 210 (e.g., based on a previously known location, a non-GNSS-based positioning (such as a tracking area in a wireless communication network or a dead reckoning-based positioning of a vehicle), etc.) by sending a request to the service provider 270. The service provider 270, which may include one or more computer servers, can then provide customized RTK service data for the mobile device 210 by interpolating the correction data from the multiple reference stations 220 to provide RTK service data for the approximate location of the mobile device 210. In order to interpolate the correction data, the service provider 270 may perform complex GNSS algorithms based on the geometry of the reference stations 220 used. Due to the complexity of the interpolation solution, the convergence time (the length of time it takes to obtain a high-accuracy positioning determination) may be relatively long.

[0034] Figure 3Flowchart 300 illustrates how correction data from an RTK base station can be used to mitigate error sources in PPE / high precision position determination for a mobile device. Here, both a base station ("base station B") and a mobile device ("device D") make pseudorange measurements of GNSS signals. The corresponding raw pseudorange measurement P represented by the equation in box 310 includes the true range ρ, which contains additional errors from various error sources. This includes, for example, dS (errors from satellite orbits, clocks, and differential code bias (DCB)), dT (receiver clock error), dTrop (tropospheric delay residual error after applying a tropospheric model), dIono (ionospheric delay residual error after applying an ionospheric model), and ∈ P (noise and high frequency multipath). As indicated, the SPE can use the raw pseudorange measurements to determine the location of the mobile device, but they may be affected by these various errors. By differencing the pseudorange measurements performed by the base station and the mobile device, most of the errors can be removed (e.g., after the mobile device receives the measurement / correction information from the base station). As shown in the equation of block 320, the only remaining error source for the double-differenced pseudorange measurement is include (noise and high frequency multipath) (where is the true distance). Figure 3 As shown in , PPE can also use carrier phase measurements in a similar manner to provide high accuracy positioning estimates.

[0035] Using correction data from a base station to determine a location estimate for a mobile device may call into question the uncertainty of the measurements made by the base station. That is, various aspects of the location estimate for the mobile device, such as positioning error (PE) and / or protection level (PL), may be affected based on the uncertainty of the measurements made by the base station. Figure 4 Additional details are provided.

[0036] Figure 4 Graph 400 of exemplifies a plot of protection level (PL) versus positioning error (PE). As illustrated, graph 400 may be segmented into various regions defining operating states that reflect the integrity of a positioning determination (e.g., for a mobile device). This is referred to as a "Stanford graph" and is used in various applications, particularly safety-related applications such as autopilots, aircraft, etc. These various regions are defined based on PL and PE and warning limits (AL) 410 representing PL and PE thresholds.

[0037] Generally, PL is used as a boundary of PE (eg, to determine normal operation 420) and can be determined based on PE. For example, the horizontal PL (HPL) can be calculated using the following equation:

[0038] HPL=HPL0+HPL1, (1)

[0039] Wherein, the terms HPL0 and HPL1 can be calculated using the following equations:

[0040] HPL0=K(P IR )*d major , (2)

[0041] and

[0042]

[0043] In equations (2) and (3), K(P IR ) is the inflation factor as a function of the integrity risk requirement, d major is the semi-major axis of the horizontal error ellipse, hslope is the projection of the sight vector onto the horizontal domain, and T is a threshold called the normalized sum of squared error (NSSE), calculated as T = r T C -1 r, where r is the measurement residual vector, C is the measurement uncertainty covariance matrix, and σ sh is the uncertainty corresponding to the satellite with the maximum hslope. It is important to use knowledge of the uncertainty to determine these values. For example, d major is determined based on the horizontal uncertainty of the positioning error (HEPE), and σ sh It is determined based on the uncertainty model for the base station.

[0044] like Figure 4 As shown, various operating states are defined by the relationship between PE, AL, and PL. For example, normal operation 420 occurs when PL is greater than PE and both PL and PE are less than AL. Other operating states include system unavailable states 430, 440, misleading operating state 450, system unavailable / misleading operating state 460, and dangerous operating state 470.

[0045] The PE and PL and various regions illustrated in graph 400 are calculated based on an accurate description of the GNSS error sources. As noted, the term σ sh For determining PL, it can be derived from the uncertainty model for the base station. If the error sources are not correctly modeled or described in real time, the protection level may become optimistic (leading to misleading information or dangerous operation) as well as pessimistic (reducing system availability). Therefore, modeling the uncertainty of base station measurements can help ensure the integrity of the operating state defined as graph 400 (or similar operating states).

[0046] To address these and other issues, embodiments herein provide real-time base station measurement uncertainty modeling, which can be performed by PPE. This can provide a determination of pseudorange measurement quality for base stations in real-time operation without the need for offline pre-computation. In addition, according to some embodiments, the techniques provided herein provide a geometry-free method that is independent of the base station positioning accuracy. This means that the techniques provided herein may also be applicable to mobile base stations. In addition, as previously noted, the techniques provided herein may also provide measurement uncertainty modeling for mobile devices (e.g., performing PPE) in case the measurement uncertainty model of the mobile device is inaccurate or unavailable. Among other benefits, embodiments may provide better positioning accuracy (HE) and / or better HEPE determination (e.g., by taking into account errors at the base station), thereby benefiting PL calculations (and the integrity of operating states that rely on them, such as Figure 4 those shown in ).

[0047] Figure 5 The flowchart of illustrates a general method for modeling measurement uncertainty of pseudorange and carrier phase measurements. As noted above, this can be performed by the PPE in real time. The base station measurement uncertainty can be determined by the mobile device, for example, using measurement data received from the base station. Additionally or alternatively, as further noted, the mobile device measurement uncertainty can be modeled in situations where a measurement uncertainty model is not available.

[0048] At block 510, the functionality includes determining pseudorange differences for consecutive epochs. i and t j The pseudorange measurement can be expressed as follows:

[0049] P(t i )=ρ(t i )+dS(t i )+dT(t i )+dTrop(t i )+dIono(t i )+∈ P (t i ),

[0050] P(t j )=ρ(t j )+dS(t j )+dT(t j )+dTrop(t j )+dIono(t j )+∈ P (t j ), (4)

[0051] The various components / error sources in equation (4) reflect Figure 3 Here, the following errors are approximately the same in successive epochs (e.g., epochs 1 second apart):

[0052] dS(t i )≈dS(t j ),

[0053] dTrop(t i )≈dTrop(t j ),and

[0054] dIono(t i )≈dIono(t j ). (5)

[0055] In addition, ∈ P (t j ) and ∈ P (t i ) are at the same level. Therefore, at time point t i and t j The difference between the pseudorange measurements between successive epochs can be calculated as:

[0056]

[0057] in, Represents noise and multipath.

[0058] At block 520, a similar process may be performed to determine the carrier phase difference between consecutive epochs. i and t j The carrier phase measurement can be expressed as follows:

[0059] Φ(t i )=ρ(t i )+dS(t i )+dT(t i )+dTrop(t i )-dIono(t i )+λN+∈ Φ (t i ), Φ(t j )=ρ(t j )+dS(t j )+dT(t j )+dTrop(t j )-dIono(t j )+λN+∈ Φ (t j ), (7)

[0061] Again, most values ​​are roughly the same between the two epochs, and when taking Φ(t i )Φ(t j ) can be cancelled when differencing between them. This includes λN (an integer number of wavelengths, where N is the ambiguity term) since there is no cycle slip between the two epochs. In addition, considering the noise level (∈ Φ ) is relatively small relative to the other terms, and the noise level of the two epochs can be ignored. (In many specific implementations, for example, the noise can be on the order of 2 mm). Taking these factors into account, the difference between equations (7) can be expressed as follows:

[0062] Φ(t j )-Φ(t i )=[ρ(t j )-ρ(t i )]+[dT(t j )-dT(t i )]. (8)

[0063] Equations (6) and (8) can be used to solve for the noise and multipath terms The following equation is obtained:

[0064]

[0065] This allows at time t j Determine the error due to noise and multipath error, which is Figure 5 In addition, by further solving across a plurality of consecutive epochs (e.g., 5, 10, 15, 20, 30, or 60 epochs or more, which represent consecutive epochs t k ,t l ,t m Based on this noise / multipath error (e.g., the noise / multipath error), a statistical value of the noise / multipath error, such as a standard deviation (STD) value, a root mean square (RMS) value, etc., may be determined. In some embodiments, the number of consecutive epochs used to determine the statistical value may be adjusted based on a setting (e.g., at the mobile device). This determination of one or more such statistical values ​​is Figure 5 The statistical value of the noise / multipath error can provide the base station (or Figure 5 Accurate modeling of the measurement uncertainty of the pseudorange and carrier phase measurements of any device making pseudorange and carrier phase measurements used at blocks 510 and 520 in FIG.

[0066] The value of the noise / multipath error at the base station can be used to determine the value of PE (e.g., HEPE) and PL (e.g., HPL using equations (1) to (3)). This can help reduce the value of PE and increase the accuracy of the corresponding PL. Fig. 6A and Figure 6B Such an example is illustrated in .

[0067] Fig. 6A and Figure 6B The diagram plots the simulated horizontal PE (HE) and the corresponding HPL values ​​for a series of epochs. Fig. 6A shows the HE and HPL values ​​when the uncertainty at the base station is unknown, and Figure 6B The HE and HPL values ​​are shown when the uncertainty at the base station is modeled using the techniques described herein (using Fig. 6A The same pseudorange and carrier phase measurements used in .

[0068] It can be seen that Figure 6B The value compared to Fig. 6A There are various improvements to the value of . For example, Figure 6B The HE value of 610 is compared with Fig. 6A The corresponding HE value 620 in has been slightly improved (reduced). In addition, Figure 6B The HPL value of 630 is compared to Fig. 6A The corresponding HPL value 640 in has increased significantly. This illustrates that Figure 6B The value compared to Fig. 6A A more accurate determination of the HPL value can lead to a more accurate determination of the operating state (e.g., using Figure 4 400 in FIG. 4 ), thereby providing a system with higher integrity, potentially increasing the safety of people and / or cargo in systems that rely on accurate determination of such operating states (e.g., vehicles such as automobiles or aircraft).

[0069] Figure 7 is a flow chart of a method 700 for real-time PPE measurement uncertainty modeling according to an embodiment. Figure 7 Means of functionality illustrated in one or more of the illustrated blocks may be performed by hardware and / or software components of a device, such as a mobile device, that receives measurement / correction information from a base station (eg, an RTK base station). Figure 8 Example components of a mobile device are illustrated in FIG. 4 and are described in more detail below.

[0070] At block 710, the functionality includes determining, for each epoch of a plurality of epochs, a pseudorange noise value and a corresponding value of a multipath error for pseudorange measurements performed by a GNSS device. This may be done, for example, using Figure 5For any given epoch, for example, pseudorange noise and multipath (∈ P ) can be obtained from the epoch (e.g., t j ) and the previous epoch (e.g., t i ) is calculated using pseudorange and carrier phase measurements of the RTK. As noted elsewhere herein, uncertainty may be calculated for a base station or a mobile device. Thus, according to some embodiments of method 700, the GNSS device may include an RTK base station or a mobile device.

[0071] The means for performing the functionality at block 710 may include a bus 805, a processing unit 810, a DSP 820, a wireless communication interface 830, a memory 860, a GNSS receiver 880, and / or other components of the mobile device 800, such as Figure 8 exemplified and described in more detail below.

[0072] At block 720, functionality includes determining one or more statistics of pseudorange noise and multipath error values ​​for the plurality of epochs. As previously indicated, the statistics may include STD, RMS, and / or other values ​​(e.g., average, mean, etc.) representing pseudorange noise and multipath error across the plurality of epochs. As noted elsewhere herein, the number of epochs (e.g., in the plurality of epochs) may vary depending on the desired functionality. In some embodiments, for example, the number of epochs used to determine the statistics may include, for example, 10, 20, 30, or 60 epochs. Alternative embodiments may use a different number.

[0073] The means for performing the functionality at block 720 may include a bus 805, a processing unit 810, a DSP 820, a wireless communication interface 830, a memory 860, a GNSS receiver 880, and / or other components of the mobile device 800, such as Figure 8 exemplified and described in more detail below.

[0074] At block 730, the functionality includes determining a PE value based on the one or more statistical values. Fig. 6A and Figure 6B As illustrated, the value may include a horizontal error (HE). Additionally or alternatively, the value may include a horizontal uncertainty of the positioning error (HEPE).

[0075] The means for performing the functionality at block 730 may include a bus 805, a processing unit 810, a DSP 820, a wireless communication interface 830, a memory 860, a GNSS receiver 880, and / or other components of the mobile device 800, such as Figure 8 exemplified and described in more detail below.

[0076] At block 740, functionality includes, for at least one epoch of the plurality of epochs, outputting an indication of the determined PE. In some embodiments, the indication may include a HE and / or HEPE value. In some embodiments, the output may be provided by one component of the device to another component. For example, a GNSS engine executing the PPE may output the HE and / or HEPE value to a component such as an application processor. Additionally or alternatively, the PPE may output the PE (or derived value) to an application, or an operating system, or other software layer.

[0077] The means for performing the functionality at block 740 may include the bus 805, the processing unit 810, the DSP 820, the wireless communication interface 830, the memory 860, the GNSS receiver 880, and / or other components of the mobile device 800, such as Figure 8 exemplified and described in more detail below.

[0078] As indicated in the previously described embodiments, one or more additional features may be implemented depending on the desired functionality. For example, according to some embodiments of method 700, the method may also include: determining a PL based at least in part on the PE value; and outputting an indication of the determined PL for at least one epoch of the plurality of epochs. According to some embodiments, this may include outputting an indication of an operating state (e.g., as previously described for Figure 4 In addition, as described in Figure 5 As indicated by the illustrated method 500, embodiments may further include: for each epoch of the plurality of epochs, determining a corresponding pseudorange noise value and a corresponding multipath error value based on: a difference between a corresponding pseudorange value of the corresponding epoch and a pseudorange value of a previous epoch (e.g., an epoch immediately preceding the corresponding epoch), and a difference between a carrier phase value of the corresponding epoch and a carrier phase value of the previous epoch. In some embodiments, the PE value may include a HEPE value, and / or the PL may include an HPL.

[0079] As noted herein, embodiments of method 700 may be implemented by a mobile device that receives measurement / error correction information from a base station. For embodiments in which the GNSS device includes an RTK base station, the mobile device may perform, for each of the multiple epochs, determining values ​​of corresponding pseudorange noise and corresponding multipath error based at least in part on information received by the mobile device indicating the pseudorange measurement performed by the RTK base station. According to some embodiments, the method may also include: determining, for at least one epoch of the multiple epochs, a GNSS-based positioning of the mobile device based at least in part on the information received by the mobile device indicating the pseudorange measurement performed by the RTK base station; and outputting an indication of the GNSS-based positioning. In such embodiments, the determined PL and / or PE values ​​may correspond to the GNSS-based positioning. According to some embodiments, for example, an operating state (e.g., such as Figure 4 The information may be provided by one component of the mobile device to another component (e.g., from the PPE to the application processor, operating system, application, etc.).

[0080] Figure 8 800 according to an embodiment. These components may be as described herein above (e.g., with Figures 1 to 7 For example, the mobile device 800 may execute Figure 5 and / or Figure 7 The operations of the illustrated methods, and / or one or more of the functions of the mobile device 800 as described in the embodiments herein. It should be noted that Figure 8 It is intended only to provide a generalized illustration of the various components, any or all of which may be used as appropriate. As previously noted, mobile device 800 may vary in form and function, and may ultimately include any GNSS-enabled device, including vehicles, commercial and consumer electronic devices, surveying equipment, and the like. Thus, in some instances, Figure 8 The illustrated components may be localized into a single physical device and / or distributed among various networked devices that may be located at different physical locations (e.g., different locations of a vehicle). It may be further noted that the reference station may use hardware and / or software components similar to mobile device 800 to provide the functionality described herein.

[0081] Mobile device 800 is shown as including hardware elements that may be electrically coupled via bus 805 (or may communicate in other ways as appropriate). The hardware elements may include a processing unit 810, which may include, but is not limited to, one or more general-purpose processors, one or more special-purpose processors (such as digital signal processing (DSP) chips, graphics processing units (GPUs), application-specific integrated circuits (ASICs), etc.), and / or other processors, processing structures, or processing components. Figure 8 As shown in , some embodiments may have a separate digital signal processor (DSP) 820 depending on the desired functionality. Position determination and / or other determinations based on wireless communication may be provided in the processing unit 810 and / or the wireless communication interface 830 (discussed below). The mobile device 800 may also include: one or more input devices 870, which may include but are not limited to keyboards, touch screens, touch pads, microphones, buttons, dials, switches, etc.; and one or more output devices 815, which may include but are not limited to displays, light emitting diodes (LEDs), speakers, etc. As will be understood, the type of input device 870 and output device 815 may depend on the type of mobile device 800 with which the input device 870 and output device 815 are integrated.

[0082] The mobile device 800 may also include a wireless communication interface 830, which may include but is not limited to a modem, a network card, an infrared communication device, a wireless communication device and / or a chipset (such as Devices, IEEE 802.11 devices, IEEE 802.15.4 devices, Wi-Fi devices, WiMAX TM Devices, wide area network (WAN) devices, and / or various cellular devices, etc.), etc., which can enable the mobile device 800 to communicate via a network as described herein and / or directly with other devices as described herein. The wireless communication interface 830 can permit communication (e.g., sending and receiving) of data and signaling with a network (e.g., via a WAN access point, a cellular base station and / or other access node types, and / or other network components, computer systems, and / or any other electronic devices described herein). Communication can be performed via one or more wireless communication antennas 832 that send and / or receive wireless signals 834. The antenna 832 may include one or more discrete antennas, one or more antenna arrays, or any combination.

[0083] Depending on the desired functionality, the wireless communication interface 830 may include a separate transceiver, a separate receiver and transmitter, or any combination of transceivers, transmitters, and / or receivers to communicate with base stations and other terrestrial transceivers (such as wireless devices and access points). The mobile device 800 can communicate with different data networks, which can include a variety of network types. For example, the wireless wide area network (WWAN) can be a code division multiple access (CDMA) network, a time division multiple access (TDMA) network, a frequency division multiple access (FDMA) network, an orthogonal frequency division multiple access (OFDMA) network, a single carrier frequency division multiple access (SC-FDMA) network, WiMAX, or a wireless broadband network. TM (IEEE 802.16), etc. A CDMA network may implement one or more radio access technologies (RATs), such as Wideband CDMA (WCDMA), etc. These include IS-95, IS-2000, and / or IS-856 standards. A TDMA network may implement Global System for Mobile Communications (GSM), Digital Advanced Mobile Phone System (D-AMPS), or some other RAT. An OFDMA network may employ Long Term Evolution (LTE), Advanced LTE, 5G NR, 6G, and so on. In the 3rd Generation Partnership Project (3GPP TM 5G NR, LTE, Advanced LTE, GSM and WCDMA are described in the document ) Described in documents from an organization named "3rd Generation Partnership Project 2" (3GPP2). 3GPP TM and 3GPP2 documents are publicly available. A wireless local area network (WLAN) can also be an IEEE 802.11x network, and a wireless personal area network (WPAN) can be A WWAN, a WLAN, and / or a WPAN may be used in combination with a wireless LAN, a wireless LAN, or some other type of network.

[0084] The mobile device 800 may also include a sensor 840. In some examples, the sensor 840 may include, but is not limited to, one or more inertial sensors and / or other sensors (e.g., accelerometers, gyroscopes, cameras, magnetometers, altimeters, microphones, proximity sensors, light sensors, barometers, etc.), some of which may be used to supplement and / or facilitate the position determination described herein.

[0085] Embodiments of mobile device 800 may also include a GNSS receiver 880 capable of receiving signals from one or more GNSS satellites as described herein (e.g., Figure 1 Satellite 130 and / or Figure 2GNSS receiver 880 may receive signals 884 from GNSS SVs (e.g., GPS, GAL, GLONASS, QZSS, INSS, BDS, etc.) of GNSS systems such as GPS, GAL, GLONASS, QZSS, INSS, BDS, etc. Figure 1 Satellite 130 and / or Figure 2 The SV 240 of the mobile device 800 may be used to extract the position of the mobile device 800. In addition, the GNSS receiver 880 may be used for various augmentation systems (e.g., a satellite-based augmentation system (SBAS)) that may be associated with or otherwise enabled for use with one or more global and / or regional navigation satellite systems, such as, for example, the Wide Area Augmentation System (WAAS), the European Geostationary Navigation Overlay Service (EGNOS), the Multifunction Satellite Augmentation System (MSAS), and the Geographic Augmentation Navigation System (GAGAN), among others.

[0086] It can be noted that although Figure 8 The illustrated GNSS receiver 880 is illustrated as a component distinct from other components within the mobile device 800, but embodiments are not limited thereto. As used herein, the term "GNSS receiver" may include hardware and / or software components configured to obtain GNSS measurements (measurements from GNSS satellites). Thus, in some embodiments, the GNSS receiver may include a measurement engine executed by one or more processing units such as the processing unit 810, the DSP 820, and / or a processing unit (as software) within the wireless communication interface 830 (e.g., in a modem). The GNSS receiver may also optionally include a positioning engine, such as those described herein (e.g., EKF / Kalman filter, WLS, particle filter, etc.), which may use GNSS measurements from the measurement engine and RTK / D GNSS correction information to determine the positioning of the GNSS receiver. The positioning engine may also be executed by one or more processing units (such as the processing unit 810 and / or the DSP 820).

[0087] The mobile device 800 may also include and / or be in communication with a memory 860. The memory 860 may include machine-readable or computer-readable media, which may include, but are not limited to, local and / or network accessible storage, disk drives, drive arrays, optical storage devices, solid-state storage devices (such as random access memory (RAM) and / or read-only memory (ROM)), which may be programmable, flash-updatable, etc. Such storage devices may be configured to implement any suitable data storage, including, but not limited to, various file systems, database structures, etc.

[0088] The memory 860 of the mobile device 800 may also include software elements ( Figure 8 ), these software elements include operating systems, device drivers, executable libraries and / or other code, such as one or more applications, which may include computer programs provided by various embodiments and / or may be designed to implement and / or configure methods and / or systems provided by other embodiments as described herein. By way of example only, one or more steps described with respect to the methods discussed above may be implemented as code and / or instructions in memory 860, which are executable by mobile device 800 (and / or processing unit 810 or DSP 820 within mobile device 800). In one aspect, such code and / or instructions may then be used to configure and / or adapt a general purpose computer (or other device) to perform one or more operations according to the described methods.

[0089] It will be apparent to those skilled in the art that substantial modifications may be made according to specific requirements. For example, customized hardware may also be used, and / or specific elements may be implemented in hardware, software (including portable software, such as applets, etc.), or both. In addition, connections to other computing devices (such as network input / output devices) may be employed.

[0090] With reference to the accompanying drawings, components that may include memory may include non-transient machine-readable media. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any storage medium that participates in providing data that enables a machine to operate in a particular manner. In the embodiments provided above, various machine-readable media may be involved when providing instructions / codes to a processor and / or other devices for execution. Additionally or alternatively, machine-readable media may be used to store and / or carry such instructions / codes. In many specific implementations, computer-readable media are physical and / or tangible storage media. Such media may take many forms, including but not limited to non-volatile media and volatile media. Common forms of computer-readable media include, for example: magnetic and / or optical media, any other physical media with hole patterns, RAM, programmable ROM (PROM), erasable PROM (EPROM), FLASH-EPROM, any other memory chip or memory box, or any other medium from which a computer can read instructions and / or codes.

[0091] The methods, systems and devices discussed herein are examples. Various embodiments may omit, replace or add various procedures or components as appropriate. For example, the features described in certain embodiments may be combined in various other embodiments. Different aspects and elements of the embodiments may be combined in a similar manner. The various components of the drawings provided herein may be embodied in hardware and / or software. In addition, technology may evolve, and therefore many elements are examples, which do not limit the scope of the present disclosure to those specific examples.

[0092] It has proven convenient at times, primarily for reasons of common usage, to refer to such signals as bits, information, values, elements, symbols, characters, variables, terms, numbers, digital symbols, and the like. However, it should be understood that all of these or similar terms are to be associated with the appropriate physical quantities and are merely convenient labels. Unless otherwise specifically stated, as will be apparent from the above discussion, it should be understood that throughout this specification, discussions utilizing terms such as "processing," "computing," "calculating," "determining," "ascertaining," "identifying," "correlating," "measuring," "performing," and the like refer to the actions or processes of a particular device such as a special-purpose computer or similar special-purpose electronic computing device. Thus, in the context of this specification, a special-purpose computer or similar special-purpose electronic computing device is capable of manipulating or transforming signals, typically represented as physical, electronic, electrical, or magnetic quantities in a memory, register, or other information storage device, a transmitting device, or a display device of the special-purpose computer or similar special-purpose electronic computing device.

[0093] As used herein, the terms "and" and "or" may include various meanings that are also intended to depend at least in part on the context in which such terms are used. Generally, "or", if used in association with a list, such as A, B, or C, is intended to mean A, B, and C (inclusive meanings are used here) as well as A, B, or C (exclusive meanings are used here). In addition, as used herein, the term "one or more" may be used to describe any feature, structure, or characteristic in the singular form, or may be used to describe a certain combination of features, structures, or characteristics. However, it should be noted that this is merely an illustrative example, and the subject matter claimed is not limited to this example. In addition, the term "at least one of...", if used in association with a list, such as A, B, or C, may be interpreted to mean any combination of A, B, and / or C, such as A, AB, AA, AAB, AABBCCC, etc.

[0094] Several embodiments have been described, and various modifications, alternative configurations, and equivalents may be used without departing from the scope of the present disclosure. For example, the above elements may be components of a larger system, wherein other rules may take precedence over the application of the various embodiments or otherwise modify the application of the various embodiments. In addition, multiple steps may be performed before, during, or after considering the above elements. Accordingly, the above description does not limit the scope of the present disclosure.

[0095] In view of this description, various embodiments may include different combinations of features. Specific implementation examples are described in the following numbered clauses:

[0096] Clause 1. A method for modeling measurement uncertainty of a real-time precise positioning engine (PPE), the method comprising: determining, for each epoch of a plurality of epochs, corresponding values ​​of pseudorange noise and multipath error of pseudorange measurements performed by a global navigation satellite system (GNSS) device; determining one or more statistical values ​​of the pseudorange noise and multipath error values ​​of the plurality of epochs; determining a positioning error (PE) value based on the one or more statistical values; and outputting, for at least one epoch of the plurality of epochs, an indication of the determined PE.

[0097] Clause 2. The method of clause 1, further comprising: determining a protection level (PL) based at least in part on the PE value; and outputting an indication of the determined PL for at least one epoch of the plurality of epochs.

[0098] Clause 3. A method according to any one of clauses 1 to 2, wherein for each epoch of the multiple epochs, determining the corresponding pseudorange noise value and the corresponding multipath error value is based on: the difference between the corresponding pseudorange value of the corresponding epoch and the pseudorange value of the previous epoch; and the difference between the carrier phase value of the corresponding epoch and the carrier phase value of the previous epoch.

[0099] Clause 4. The method of any one of clauses 1 to 3, wherein the GNSS device comprises a mobile device or a real-time kinematic (RTK) base station.

[0100] Clause 5. A method according to any one of clauses 1 to 4, wherein the PE value comprises a horizontal uncertainty of positioning error (HEPE) value and the PL comprises a horizontal protection level (HPL).

[0101] Clause 6. A method according to any one of clauses 1 to 5, wherein the GNSS device includes an RTK base station, and wherein the mobile device determines the values ​​of the corresponding pseudorange noise and the corresponding multipath error for each epoch of the multiple epochs at least in part based on information received by the mobile device indicating the pseudorange measurements performed by the RTK base station.

[0102] Clause 7. The method according to Clause 6 further includes: determining, for at least one epoch among the multiple epochs, a GNSS-based positioning of the mobile device based at least in part on the information received by the mobile device indicating the pseudorange measurement performed by the RTK base station; and outputting an indication of the GNSS-based positioning.

[0103] Item 8. A mobile device for real-time precise positioning engine (PPE) measurement uncertainty modeling, the mobile device comprising: a transceiver; a memory; and one or more processors, the one or more processors being communicatively coupled to the transceiver and the memory, wherein the one or more processors are configured to: determine, for each epoch of a plurality of epochs, corresponding values ​​of pseudorange noise and multipath error of pseudorange measurements performed by a global navigation satellite system (GNSS) device; determine one or more statistical values ​​of the pseudorange noise and multipath error values ​​of the plurality of epochs; determine a positioning error (PE) value based on the one or more statistical values; and output an indication of the determined PE for at least one epoch of the plurality of epochs.

[0104] Clause 9. A mobile device according to clause 8, wherein the one or more processors are further configured to: determine a protection level (PL) based at least in part on the PE value; and output an indication of the determined PL for at least one epoch of the plurality of epochs.

[0105] Clause 10. A mobile device according to any one of clauses 8 to 9, wherein for each epoch of the plurality of epochs, the one or more processors are configured to determine the corresponding pseudorange noise value and the corresponding multipath error value based on: a difference between a corresponding pseudorange value of the corresponding epoch and a pseudorange value of a previous epoch; and a difference between a carrier phase value of the corresponding epoch and a carrier phase value of the previous epoch.

[0106] Clause 11. The mobile device of any of clauses 8 to 10, wherein the GNSS device comprises the mobile device or a real-time kinematic (RTK) base station.

[0107] Clause 12. A mobile device as described in any of clauses 8 to 11, wherein the PE value comprises a horizontal uncertainty of positioning error (HEPE) value and the PL comprises a horizontal protection level (HPL).

[0108] Clause 13. A mobile device according to any one of clauses 8 to 12, wherein the GNSS device includes an RTK base station, and wherein the mobile device is configured to: determine the values ​​of the corresponding pseudorange noise and the corresponding multipath error for each of the multiple epochs based at least in part on information received by the mobile device indicating the pseudorange measurements performed by the RTK base station.

[0109] Clause 14. A mobile device according to clause 13, wherein the one or more processors are further configured to, for at least one epoch among the multiple epochs: determine a GNSS-based positioning of the mobile device based at least in part on the information received by the mobile device indicating the pseudorange measurements performed by the RTK base station; and output an indication of the GNSS-based positioning.

[0110] Clause 15. An apparatus for real-time precise positioning engine (PPE) measurement uncertainty modeling, the apparatus comprising: a component for determining, for each epoch of a plurality of epochs, corresponding values ​​of pseudorange noise and multipath error of pseudorange measurements performed by a global navigation satellite system (GNSS) device; a component for determining one or more statistical values ​​of the pseudorange noise and multipath error values ​​for the plurality of epochs; a component for determining a positioning error (PE) value based on the one or more statistical values; and a component for outputting, for at least one epoch of the plurality of epochs, an indication of the determined PE.

[0111] Clause 16. The apparatus of clause 15, further comprising: means for determining a protection level (PL) based at least in part on the PE value; and means for outputting an indication of the determined PL for at least one epoch of the plurality of epochs.

[0112] Clause 17. An apparatus according to any one of clauses 15 to 16, wherein the means for determining the corresponding pseudorange noise value and the corresponding multipath error value for each epoch of the plurality of epochs is configured to base the determination on: a difference between the corresponding pseudorange value of the corresponding epoch and the pseudorange value of the previous epoch; and a difference between the carrier phase value of the corresponding epoch and the carrier phase value of the previous epoch.

[0113] Clause 18. The apparatus of any of clauses 15 to 17, wherein the GNSS device comprises a mobile device or a real-time kinematic (RTK) base station.

[0114] Clause 19. The apparatus of any of clauses 15 to 18, wherein the PE value comprises a horizontal uncertainty of positioning error (HEPE) value and the PL comprises a horizontal protection level (HPL).

[0115] Clause 20. An apparatus according to any one of clauses 15 to 19, wherein the GNSS device includes an RTK base station, and wherein the mobile device is configured to: determine the values ​​of the corresponding pseudorange noise and the corresponding multipath error for each epoch of the multiple epochs based at least in part on information received by the mobile device indicating the pseudorange measurement performed by the RTK base station.

[0116] Clause 21. An apparatus according to clause 20, further comprising a component for performing the following operations for at least one of the multiple epochs: determining a GNSS-based positioning of the mobile device based at least in part on the information received by the mobile device indicating the pseudorange measurements performed by the RTK base station; and outputting an indication of the GNSS-based positioning.

[0117] Item 22. A non-transitory computer-readable medium storing instructions for real-time precise positioning engine (PPE) measurement uncertainty modeling, the instructions comprising code for: determining, for each epoch of a plurality of epochs, corresponding values ​​of pseudorange noise and multipath error of pseudorange measurements performed by a global navigation satellite system (GNSS) device; determining one or more statistical values ​​of the pseudorange noise and multipath error values ​​of the plurality of epochs; determining a positioning error (PE) value based on the one or more statistical values; and outputting, for at least one epoch of the plurality of epochs, an indication of the determined PE.

[0118] Clause 23. A computer-readable medium according to clause 22, wherein the instructions further comprise code for: determining a protection level (PL) based at least in part on the PE value; and outputting an indication of the determined PL for at least one epoch of the plurality of epochs.

[0119] Clause 24. A computer-readable medium according to any one of clauses 22 to 23, wherein the code for determining the corresponding pseudorange noise value and the corresponding multipath error value for each epoch of the plurality of epochs is configured to base the determination on: a difference between the corresponding pseudorange value of the corresponding epoch and the pseudorange value of the previous epoch; and a difference between the carrier phase value of the corresponding epoch and the carrier phase value of the previous epoch.

[0120] Clause 25. The computer-readable medium of any one of clauses 22 to 24, wherein the GNSS device comprises a mobile device or a real-time kinematic (RTK) base station.

[0121] Clause 26. The computer-readable medium of any one of clauses 22 to 25, wherein the PE value comprises a horizontal uncertainty of positioning error (HEPE) value and the PL comprises a horizontal protection level (HPL).

[0122] Clause 27. A computer-readable medium according to any one of clauses 22 to 26, wherein the GNSS device includes an RTK base station, and wherein the mobile device is configured to: determine the values ​​of the corresponding pseudorange noise and the corresponding multipath error for each epoch of the multiple epochs based at least in part on information received by the mobile device indicating the pseudorange measurement performed by the RTK base station.

[0123] Clause 28. A computer-readable medium according to clause 27, wherein the instructions also include code for performing the following operations for at least one of the multiple epochs: determining a GNSS-based positioning of the mobile device based at least in part on the information received by the mobile device indicating the pseudorange measurements performed by the RTK base station; and outputting an indication of the GNSS-based positioning.

Claims

1. A method for real-time precision positioning engine (PPE) measurement uncertainty modeling, the method comprising: determining, for each epoch of a plurality of epochs, respective values ​​of pseudorange noise and multipath error of pseudorange measurements performed by a global navigation satellite system (GNSS) device; determining one or more statistics of the pseudorange noise and multipath error values ​​for the plurality of epochs; determining a positioning error (PE) value based on the one or more statistical values; as well as For at least one epoch of the plurality of epochs, an indication of the determined PE is output.

2. The method according to claim 1, further comprising: determining a protection level (PL) based at least in part on the PE value; as well as For at least one epoch of the plurality of epochs, an indication of the determined PL is output.

3. The method of claim 1 , wherein for each epoch in the plurality of epochs, determining the corresponding pseudorange noise value and the corresponding multipath error value is based on: the difference of the corresponding pseudorange value for the corresponding epoch and the pseudorange value for the previous epoch; and The difference between the carrier phase value of the corresponding epoch and the carrier phase value of the previous epoch. The method of claim 1 , wherein the GNSS device comprises a mobile device or a real-time kinematic (RTK) base station. 5 . The method of claim 1 , wherein the PE value comprises a horizontal uncertainty of positioning error (HEPE) value, and the PL comprises a horizontal protection level (HPL).

6. The method of claim 1 , wherein the GNSS device comprises an RTK base station, and wherein a mobile device performs determining the values ​​of the respective pseudorange noise and the respective multipath error for each of the plurality of epochs based at least in part on information received by the mobile device indicating the pseudorange measurements performed by the RTK base station.

7. The method according to claim 6, further comprising: For the at least one epoch of the plurality of epochs: determining a GNSS-based position of the mobile device based at least in part on the information received by the mobile device indicative of the pseudorange measurements performed by the RTK base station; as well as An indication of the GNSS-based position fix is ​​output.

8. A mobile device for real-time precise positioning engine (PPE) measurement uncertainty modeling, the mobile device comprising: Transceiver; Memory; and one or more processors communicatively coupled to the transceiver and the memory, wherein the one or more processors are configured to: determining, for each epoch of a plurality of epochs, respective values ​​of pseudorange noise and multipath error of pseudorange measurements performed by a global navigation satellite system (GNSS) device; determining one or more statistics of the pseudorange noise and multipath error values ​​for the plurality of epochs; determining a positioning error (PE) value based on the one or more statistical values; as well as For at least one epoch of the plurality of epochs, an indication of the determined PE is output.

9. The mobile device of claim 8, wherein the one or more processors are further configured to: determining a protection level (PL) based at least in part on the PE value; and For at least one epoch of the plurality of epochs, an indication of the determined PL is output.

10. The mobile device of claim 8, wherein for each epoch of the plurality of epochs, the one or more processors are configured to determine the corresponding pseudorange noise value and the corresponding multipath error value based on: the difference of the corresponding pseudorange value for the corresponding epoch and the pseudorange value for the previous epoch; and The difference between the carrier phase value of the corresponding epoch and the carrier phase value of the previous epoch.

11. The mobile device of claim 8, wherein the GNSS device comprises the mobile device or a real-time kinematic (RTK) base station.

12. The mobile device of claim 8, wherein the PE value comprises a horizontal uncertainty of positioning error (HEPE) value, and the PL comprises a horizontal protection level (HPL).

13. The mobile device of claim 8 , wherein the GNSS device comprises an RTK base station, and wherein the mobile device is configured to perform determining the values ​​of the corresponding pseudorange noise and the corresponding multipath error for each of the plurality of epochs based at least in part on information received by the mobile device indicating the pseudorange measurements performed by the RTK base station.

14. The mobile device of claim 13, wherein the one or more processors are further configured to, for the at least one epoch of the plurality of epochs: determining a GNSS-based position of the mobile device based at least in part on the information received by the mobile device indicative of the pseudorange measurements performed by the RTK base station; and An indication of the GNSS-based position fix is ​​output.

15. An apparatus for real-time precise positioning engine (PPE) measurement uncertainty modeling, the apparatus comprising: means for determining, for each epoch of a plurality of epochs, respective values ​​of pseudorange noise and multipath error of pseudorange measurements performed by a global navigation satellite system (GNSS) device; means for determining one or more statistics of said pseudorange noise and multipath error values ​​for said plurality of epochs; means for determining a positioning error (PE) value based on the one or more statistical values; and Means for outputting an indication of the determined PE for at least one epoch of the plurality of epochs.

16. The apparatus according to claim 15, further comprising: means for determining a protection level (PL) based at least in part on the PE value; and Means for outputting, for at least one epoch of the plurality of epochs, an indication of the determined PL.

17. The apparatus of claim 15, wherein the means for determining the respective pseudorange noise value and the respective multipath error value for each epoch of the plurality of epochs is configured to base the determination on: the difference of the corresponding pseudorange value for the corresponding epoch and the pseudorange value for the previous epoch; and The difference between the carrier phase value of the corresponding epoch and the carrier phase value of the previous epoch.

18. The apparatus of claim 15, wherein the GNSS device comprises a mobile device or a real-time kinematic (RTK) base station.

19. The apparatus of claim 15, wherein the PE value comprises a horizontal uncertainty of positioning error (HEPE) value, and the PL comprises a horizontal protection level (HPL).

20. The apparatus of claim 15, wherein the GNSS device comprises an RTK base station, and wherein the mobile device is configured to perform determining the values ​​of the corresponding pseudorange noise and the corresponding multipath error for each of the plurality of epochs based at least in part on information received by the mobile device indicating the pseudorange measurements performed by the RTK base station.

21. The apparatus of claim 20, further comprising means for performing, for the at least one epoch of the plurality of epochs: determining a GNSS-based position of the mobile device based at least in part on the information received by the mobile device indicative of the pseudorange measurements performed by the RTK base station; and An indication of the GNSS-based position fix is ​​output.

22. A non-transitory computer readable medium storing instructions for real-time precise positioning engine (PPE) measurement uncertainty modeling, the instructions comprising code for: determining, for each epoch of a plurality of epochs, respective values ​​of pseudorange noise and multipath error of pseudorange measurements performed by a global navigation satellite system (GNSS) device; determining one or more statistics of the pseudorange noise and multipath error values ​​for the plurality of epochs; determining a positioning error (PE) value based on the one or more statistical values; as well as For at least one epoch of the plurality of epochs, an indication of the determined PE is output.

23. The computer-readable medium of claim 22, wherein the instructions further comprise code for: determining a protection level (PL) based at least in part on the PE value; and For at least one epoch of the plurality of epochs, an indication of the determined PL is output.

24. The computer-readable medium of claim 22, wherein the code for determining the respective pseudorange noise value and the respective multipath error value for each epoch of the plurality of epochs is configured to base the determination on: the difference of the corresponding pseudorange value for the corresponding epoch and the pseudorange value for the previous epoch; and The difference between the carrier phase value of the corresponding epoch and the carrier phase value of the previous epoch.

25. The computer-readable medium of claim 22, wherein the GNSS device comprises a mobile device or a real-time kinematic (RTK) base station.

26. The computer-readable medium of claim 22, wherein the PE value comprises a horizontal uncertainty of position error (HEPE) value and the PL comprises a horizontal protection level (HPL).

27. The computer-readable medium of claim 22, wherein the GNSS device comprises an RTK base station, and wherein the mobile device is configured to perform determining the values ​​of the corresponding pseudorange noise and the corresponding multipath error for each of the plurality of epochs based at least in part on information received by the mobile device indicating the pseudorange measurements performed by the RTK base station.

28. The computer-readable medium of claim 27, wherein the instructions further comprise code for performing, for the at least one epoch in the plurality of epochs: determining a GNSS-based position of the mobile device based at least in part on the information received by the mobile device indicative of the pseudorange measurements performed by the RTK base station; and An indication of the GNSS-based position fix is ​​output.

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