Cross-over frequency correction for precise positioning

Abstract

An example method performed at a mobile device for determining a location may include receiving correction data associated with (1) a first pseudo-range measurement of a first GNSS signal transmitted from a satellite aircraft on a first GNSS carrier frequency and (2) a second pseudo-range measurement of a second GNSS signal transmitted from the satellite aircraft on a second GNSS carrier frequency. The method may also include measuring a third GNSS signal transmitted from the satellite aircraft on a third GNSS carrier frequency and received at the mobile device to generate a third pseudo-range measurement. The method may also include determining the location of the mobile device using (a) the third pseudo-range measurement of the third GNSS signal on the third GNSS carrier frequency and (b) the correction data associated with the first pseudo-range measurement and the second pseudo-range measurement.

Description

[0001] Related Applications

[0002] This application claims the benefit of U.S. Application No. 17 / 931,399, filed on September 12, 2022, entitled “CROSS-FREQUENCY CORRECTION FOR PRECISE POSITIONING,” which is assigned to the assignee of this application and is incorporated herein by reference in its entirety. Background Art 1. Technical Field

[0004] The present disclosure relates generally to the field of satellite-based positioning, and more particularly to precise positioning techniques such as Differential Global Navigation Satellite System (DGNSS) and Real Time Kinematic (RTK) for determining the position of a mobile device using measurements performed at the mobile device in combination with measurements performed at a reference station.

[0005] 2. Related technologies

[0006] Global Navigation Satellite System (GNSS) positioning involves estimating the position of a mobile receiver based on pseudorange measurements obtained using radio frequency signals from satellites, such as satellites of the Global Positioning System (GPS). Conventional GNSS positioning itself typically achieves moderate accuracy (e.g., a few meters). Precise positioning technologies such as DGNSS and RTK have been developed that are capable of estimating positioning with high accuracy (e.g., a few centimeters), which combine measurements of GNSS signals made at a mobile device with correction data transmitted from a reference station. The correction information involves measurements made on GNSS signals received at a reference station with a known position. The correction data is used to reduce errors in measurements of GNSS signals made at a mobile device, thereby facilitating a more accurate positioning estimate. To ensure correct corrections, the GNSS signals received at the reference station and the GNSS signals received at the mobile station typically have the same carrier frequency. Summary of the invention

[0007] According to the present disclosure, an example method performed at a mobile device for determining a position based on a global navigation satellite system (GNSS) signal may include: using a communication interface to receive correction data associated with two or more pseudorange measurements, the two or more pseudorange measurements including (1) a first pseudorange measurement of a first GNSS signal transmitted from a satellite vehicle at a first GNSS carrier frequency and received at a reference station and (2) a second pseudorange measurement of a second GNSS signal transmitted from the satellite vehicle at a second GNSS carrier frequency and received at the reference station, the first GNSS carrier frequency being different from the second GNSS carrier frequency. The method may also include: measuring a third GNSS signal transmitted from the satellite vehicle at a third GNSS carrier frequency and received at the mobile device to generate a third pseudorange measurement, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency. The method may also include determining the positioning of the mobile device using (a) the third pseudorange measurement of the third GNSS signal on the third GNSS carrier frequency and (b) the correction data associated with the two or more pseudorange measurements, the two or more pseudorange measurements including the first pseudorange measurement of the first GNSS signal on the first GNSS carrier frequency and the second pseudorange measurement of the second GNSS signal on the second GNSS carrier frequency.

[0008] According to the present disclosure, an example method for providing correction data for a global navigation satellite system (GNSS) signal performed at a reference station or a server may include: measuring to obtain two or more pseudorange measurements at the reference station or receiving the two or more pseudorange measurements at the server, the two or more pseudorange measurements including (1) a first pseudorange measurement of a first GNSS signal transmitted from a satellite vehicle at a first GNSS carrier frequency and received at the reference station and (2) a second pseudorange measurement of a second GNSS signal transmitted from the satellite vehicle at a second GNSS carrier frequency and received at the reference station, the first GNSS carrier frequency being different from the second GNSS carrier frequency. The method may also include: generating the correction data associated with the two or more pseudorange measurements at the reference station or the server, the two or more pseudorange measurements including the first pseudorange measurement of the first GNSS signal at the first GNSS carrier frequency and the second pseudorange measurement of the second GNSS signal at the second GNSS carrier frequency. The method may also include transmitting the correction data from the reference station or the server to a mobile device, the mobile device being configured to obtain a third pseudorange measurement of a third GNSS signal transmitted from the satellite vehicle on a third GNSS carrier frequency and received at the mobile device, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency.

[0009] According to the present disclosure, an example mobile device for determining a position based on a global navigation satellite system (GNSS) signal may include: a communication interface configured to receive correction data associated with two or more pseudorange measurements, the two or more pseudorange measurements including (1) a first pseudorange measurement of a first GNSS signal transmitted from a satellite vehicle at a first GNSS carrier frequency and received at a reference station and (2) a second pseudorange measurement of a second GNSS signal transmitted from the satellite vehicle at a second GNSS carrier frequency and received at the reference station, the first GNSS carrier frequency being different from the second GNSS carrier frequency; and a GNSS receiver configured to measure a second pseudorange measurement of a second GNSS signal transmitted from the satellite vehicle at a third GNSS carrier frequency and received at the GNSS receiver. a third GNSS signal on the third GNSS carrier frequency to generate a third pseudorange measurement, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency; a memory; and one or more processing units communicatively coupled to the communication interface, the GNSS receiver, and the memory, the one or more processing units configured to determine the position of the mobile device using (a) the third pseudorange measurement of the third GNSS signal on the third GNSS carrier frequency and (b) the correction data associated with the two or more pseudorange measurements, the two or more pseudorange measurements including the first pseudorange measurement of the first GNSS signal on the first GNSS carrier frequency and the second pseudorange measurement of the second GNSS signal on the second GNSS carrier frequency.

[0010] According to the present disclosure, an example apparatus for determining a location of a mobile device based on a global navigation satellite system (GNSS) signal may include components for receiving correction data associated with two or more pseudorange measurements, the two or more pseudorange measurements including (1) a first pseudorange measurement of a first GNSS signal transmitted from a satellite vehicle at a first GNSS carrier frequency and received at a reference station and (2) a second pseudorange measurement of a second GNSS signal transmitted from the satellite vehicle at a second GNSS carrier frequency and received at the reference station, the first GNSS carrier frequency being different from the second GNSS carrier frequency. The apparatus may also include components for measuring a third GNSS signal transmitted from the satellite vehicle at a third GNSS carrier frequency and received at the mobile device to generate a third pseudorange measurement, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency. The apparatus may further include means for determining the position of the mobile device using (a) the third pseudorange measurement of the third GNSS signal on the third GNSS carrier frequency and (b) the correction data associated with the two or more pseudorange measurements, the two or more pseudorange measurements including the first pseudorange measurement of the first GNSS signal on the first GNSS carrier frequency and the second pseudorange measurement of the second GNSS signal on the second GNSS carrier frequency.

[0011] This summary is not 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

[0012] Figure 1 is a simplified diagram of a GNSS system capable of precise positioning according to an embodiment.

[0013] Figure 2 Techniques for GNSS precise positioning limited by the GNSS frequency band received at a reference station are illustrated.

[0014] Figure 3 Techniques for GNSS precise positioning that are not limited by the GNSS frequency band received at a reference station are illustrated.

[0015] Figure 4 is a flow chart illustrating a process for performing precise positioning based on virtual pseudorange measurements, carrier phase measurements, and / or Doppler shift measurements generated at a reference station, according to some aspects of the present disclosure.

[0016] Figure 5 is a flow chart illustrating a process for performing precise positioning based on virtual pseudorange measurements, carrier phase measurements, and / or Doppler shift measurements generated at a mobile device in accordance with some aspects of the present disclosure.

[0017] Figure 6 is a flow chart illustrating a process for performing precise positioning based on virtual pseudorange measurements, carrier phase measurements, and / or Doppler shift measurements generated at a server according to some aspects of the present disclosure.

[0018] FIG. 7A to FIG. 7D A series of plots illustrating the performance improvements resulting from implementations of crossover frequency correction in accordance with aspects of the present disclosure are presented.

[0019] Fig. 8A is a flow chart of a method performed at a mobile device for determining a position based on GNSS signals according to an aspect of the present disclosure.

[0020] Figure 8B is a flow chart of a method performed at a mobile device for determining a position based on GNSS signals, wherein correction data is generated at the mobile device, according to an aspect of the present disclosure.

[0021] Figure 8C is a flow chart of a method performed at a mobile device for determining a position based on GNSS signals, further taking into account an estimate of a carrier phase, according to an aspect of the present disclosure.

[0022] Fig.8D is a flow chart of a method performed at a mobile device for determining a position based on GNSS signals, further taking into account an estimate of Doppler shift, according to an aspect of the present disclosure.

[0023] Fig. 9 is a flow chart of a method performed at a mobile device for determining a position based on GNSS signals taking into account an estimate of a carrier phase according to an aspect of the present disclosure.

[0024] Fig.10 is a flow chart of a method performed at a mobile device for determining a position based on GNSS signals taking into account an estimate of Doppler shift according to an aspect of the present disclosure.

[0025] Fig.11 is a flow chart of a method performed at a reference station or server for providing correction data for GNSS signals according to an aspect of the present disclosure.

[0026] Fig.12 is a block diagram of an embodiment of a mobile device that may be utilized in embodiments as described herein.

[0027] Fig.13 is a block diagram of an implementation of a reference station that may be utilized in implementations as described herein.

[0028] Fig.14 is a block diagram of an embodiment of a computer system that may be utilized in embodiments as described herein.

[0029] According to certain example implementations, similar reference numerals in the various drawings indicate similar elements. In addition, multiple instances of an element may be indicated by adding a letter or hyphen and a second numeral after the first numeral of the element. For example, multiple instances of element 110 may be indicated as 110-1, 110-2, 110-3, etc. or 110a, 110b, 110c, etc. When only the first numeral is used to refer to such an element, any instance of the element should be understood (e.g., element 110 in the previous example will refer to elements 110-1, 110-2, and 110-3 or elements 110a, 110b, and 110c). DETAILED DESCRIPTION

[0030] Several illustrative embodiments will now be described with reference to the accompanying drawings which form a part hereof.While some embodiments are described below that may implement one or more aspects of the present disclosure, other embodiments may be used and various modifications may be made without departing from the scope of the present disclosure.

[0031] As used herein, "RF signals" include electromagnetic waves that transmit information through the space between a transmitter (or transmitting device) and a receiver (or receiving device). As used herein, a transmitter may send a single "RF signal" or multiple "RF signals" to a receiver. However, due to the propagation characteristics of RF signals through multipath channels, a receiver may receive multiple "RF signals" corresponding to each transmitted RF signal. The same transmitted RF signal on different paths between the transmitter and the receiver may be referred to as a "multipath" RF signal. The RF signal transmitted by a GNSS satellite is referred to as a "GNSS signal". In some cases, the RF signal may be referred to as a "signal" in this article. In addition, as used herein, the term "carrier frequency" of a GNSS signal refers to a frequency value that characterizes the position of a GNSS signal within the RF spectrum. GNSS signals may occupy a frequency band and are typically modulated by a carrier signal. The carrier frequency of a GNSS signal may refer to a frequency (e.g., a center frequency) associated with the frequency band of the GNSS signal.

[0032] Additionally, as used herein, the term "correction data" may refer to correction information provided by a precise positioning system (e.g., a differential global navigation satellite (DGNSS) system or a real-time kinematic (RTK) system) 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 (e.g., carrier phase measurements and / or pseudorange measurements, which may be raw measurements or processed measurements) and / or correction information derived from the measurement data, such as the difference between a true range determination based on a known position of a reference station and a measurement taken at the reference station. The correction data may be used as described herein together with measurements taken at a device having a GNSS receiver to determine the position of the device with a high level of accuracy.

[0033] One of the problems associated with existing precise positioning techniques is that, in order to ensure correct corrections, the GNSS signals received at the reference station and the GNSS signals received at the mobile station generally need to correspond to the same GNSS frequency band (i.e., the GNSS signals need to occupy the same frequency band centered on the same carrier frequency). However, the GNSS receiver at the mobile device and the GNSS receiver at the reference station may have different capabilities—for example, they may be manufactured by different manufacturers, have different models, have different firmware versions, etc. The GNSS receiver at the mobile device may be able to receive a first set of GNSS carrier frequencies. The GNSS receiver at the reference station may be able to receive a second set of GNSS carrier frequencies, which may overlap with but not be the same as the first set of GNSS carrier frequencies. Some errors within the GNSS signal measurements are frequency-dependent. Therefore, correction data generated based on measurements of GNSS signals received by a reference station on one GNSS carrier frequency may not correct errors in measurements of GNSS signals received by a mobile device on another GNSS carrier frequency. To ensure proper correction of errors, existing precise positioning systems typically need to generate correction data based on GNSS signals received at a reference station on the same GNSS carrier frequency as the GNSS signals received at the mobile device. In other words, precise positioning systems that use correction data are typically only usable for overlapping sets of GNSS carrier frequencies that both the mobile device and the reference station can receive. However, such limitations may significantly limit the flexibility of precise positioning systems. Various aspects of the present disclosure provide techniques for relaxing such limitations to allow precise positioning based on signals received by a mobile device on GNSS carrier frequencies that are not received by the reference station. Additional details will follow the initial description of the relevant systems and techniques.

[0034] Figure 1is a simplified diagram of a GNSS system 100 capable of precise positioning according to an embodiment. The GNSS system 100 enables highly accurate (e.g., sub-meter) GNSS position fixes for mobile devices 110 by using GNSS receivers at both mobile devices 110 (also referred to as "rover stations" or "rovers") and one or more reference stations 120 (also referred to as "base stations"), which receive RF signals 130 from satellite vehicles (SVs) 140 (GNSS satellites) from one or more GNSS constellations (e.g., Global Positioning System (GPS), Galileo (GAL), Global Navigation Satellite System (GLONASS), BeiDou, etc.). The type of mobile device 110 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. Such mobile devices may include, for example, consumer electronics or other mobile consumer devices, such as mobile phones, tablet computers, laptop computers, wearable devices, or vehicles, etc. In some embodiments, the mobile device 110 may include industrial equipment, such as exploration equipment.

[0035] In GNSS-based positioning, the mobile device 110 may use code-based positioning to estimate the distance of each of the SVs 140 based on the determined delays in the generated pseudo-random binary sequence received in the RF signal 130. The mobile device 110 may further use ephemeris (or navigation) data about the SVs 140 to accurately calculate the position of each SV 140 at a particular moment in time. Using the distance and position information of the SVs 140, the mobile device 110 may then use conventional GNSS techniques to determine a position fix about its position. For example, the position fix may be determined by a separate positioning engine (SPE) executed by one or more processors of the mobile device 110. However, the accuracy of the resulting position fix about the mobile device 110 is subject to errors caused by SV 140 orbits and clocks, ionospheric and tropospheric delays, and other phenomena. Although this may provide an accuracy on the order of meters, such accuracy may be insufficient for many applications.

[0036] Precision positioning technologies such as DGNSS present an enhancement to traditional GNSS positioning by providing correction data from a reference station 120 having a known fixed position. More specifically, the reference station 120 uses a highly accurate GNSS receiver to make GNSS measurements of the RF signal 130. The measurements or information derived therefrom are provided to the mobile device 110 along with the known position of the reference station 120 (e.g., via a radio broadcast and / or a data communication network 150, such as the Internet). The mobile device can then use the correction data (which may include measurement data such as raw measurement information, information derived from such measurements, and location information of the reference station 120) to enhance GNSS-based positioning by making corrections to the measured distances (e.g., pseudoranges) to each of the SVs 140. Such corrected distances (range estimates) can be used to generate a more accurate positioning estimate (positioning fix) for the mobile device. The more accurate positioning fix can be determined, for example, by a positioning engine executed by one or more processors of the mobile device 110.

[0037] The correction data may be communicated to the mobile device in various ways, including by radio broadcasts from the reference stations 120 or by messages communicated by a wired or wireless network (e.g., data communications network 150) coupling the service provider 170 to the mobile device 110. Such a network may include any of a variety of public and / or private networks, such as the Internet, one or more mobile operator networks, and / or other such wide area networks (WANs). In a network-based DGNSS, the correction data from the plurality of reference stations 120 is communicated to a service provider (e.g., service provider 170). The mobile device 110 may then receive the correction data by transmitting a request to the service provider 170. The request may include an approximate location of the mobile device 110, such as based on a previously known position, a non-GNSS-based position (such as a tracking area in a wireless communication network or a dead reckoning-based position of a vehicle), etc. In response to the request, the service provider 170, which may include one or more computer servers, may transmit correction data and / or GNSS service data regarding the approximate location of the mobile device 110.

[0038] In some implementations of precise positioning, the GNSS system 100 is alternatively or additionally configured to support RTK positioning, which can provide a more accurate solution (e.g., on the order of centimeters or decimeters) than GNSS-based positioning alone or GNSS-based positioning enhanced using traditional DGNSS techniques. Similar to DGNSS, RTK positioning can use reference stations 120 to make measurements of RF signals 130 at known locations using highly accurate GNSS receivers. However, RTK positioning can achieve much higher positioning accuracy than DGNSS by adding carrier phase measurements, the measurement generation of which is performed at both the reference station 120 and the mobile device 110.

[0039] In some aspects, correction data can be generated at an optional correction server 180 based on measurements made at the reference station 120. The correction server 180 can be communicatively coupled to the reference station 120 and the mobile device 110 via the data communications network 150. Measurements made at the reference station 120 (e.g., pseudorange measurements and carrier phase measurements) and related data can be transmitted from the reference station 120 to the correction server 180. In such implementations, the correction data can be transmitted from the correction server 180 to the mobile device 110.

[0040] The mobile device 110 can use the correction data it receives to correct errors in the measurement of the RF signal 130 from its own GNSS receiver. Error corrections may include corrections for satellite clocks and orbits, ionospheric and tropospheric delays, phase wrapping, site displacements (including solid earth tides, ocean loads and / or polar tides). This more accurate position fix (i.e., position fix) may be determined, for example, by a positioning engine executed by one or more processors of the mobile device 110. In some specific implementations, the mobile device 110 may include a standalone positioning engine (SPE) configured to determine a position fix using conventional GNSS technology and a separate precise positioning engine (PPE) configured to correct the position fix of the SPE using correction data generated according to the improved DGNSS technology described herein. The SPE and PPE may be executed separately by one or more processors of the mobile device 110. Alternatively, the functionality of the SPE and PPE may be combined into a single positioning engine executed by one or more processors of the mobile device 110. In some cases, the SPE or PPE may be integrated into the GNSS receiver of the mobile device 110.

[0041] The precise positioning engine or PPE of the mobile device 110 may determine the position using differential correction and estimation techniques, such as by using an extended Kalman filter (EKF), weighted least squares (WLS), or a particle filter, among others. In some implementations, the precise positioning engine or PPE of the mobile device 110 may be configured to resolve ambiguities in the carrier phase measurements performed by the reference station 120. In other implementations, ambiguity resolution may alternatively be performed at the reference station before the correction data is communicated to the mobile device. The accuracy of the position fix for the mobile device 110 may depend on, among other things, its distance or "baseline" 160 from the reference station 120 and the accuracy of any differential corrections.

[0042] According to various aspects of the present disclosure, a mobile device (e.g., mobile device 110) measures each GNSS signal received at the mobile device to generate a pseudorange measurement and a carrier phase measurement. For example, such a GNSS receiver may be a GNSS receiver 980 (discussed in a later section) within the mobile device 110. Similarly, a reference station (e.g., any of the reference stations 120) measures each GNSS signal received at the reference station to generate a pseudorange measurement and a carrier phase measurement. For example, such a GNSS receiver may be a GNSS receiver 1030 (discussed in a later section) within the reference station 120.

[0043] Figure 2 Techniques for GNSS precise positioning limited by the GNSS frequency band received at a reference station are illustrated. According to aspects of such conventional methods, a mobile device (e.g., Figure 1 The mobile device 110) receives data from a reference station (e.g., Figure 1 A reference station 120 in FIG. 1 receives correction data based on pseudorange measurements of GNSS signals in a GNSS frequency band (eg, Figure 2 B1I in the Figure 1 The mobile device obtains pseudorange measurements of GNSS signals transmitted from the satellite vehicle on the same GNSS frequency band and received at the mobile device. The mobile device determines the position of the mobile device using (a) the pseudorange measurements of the GNSS signals received at the mobile device on the GNSS carrier frequency and (b) correction data based on the pseudorange measurements of the GNSS signals received at the reference station on the same GNSS carrier frequency.

[0044] Therefore, the mobile device is limited to performing precise positioning only on the GNSS carrier frequencies also received at the reference station, e.g. Figure 2. Here, the reference station is shown as being able to receive a set 202 of GNSS bands, which includes the L1 / CA band, the L2 band, and the L5 band on the Global Positioning System (GPS) constellation, the B1I band and the B3 band on the BeiDou (BDS) constellation, and the E1 band and the E5A band on the Galileo (GAL) constellation. The mobile device is shown as being able to receive a set 204 of GNSS bands, which includes the L1 / CA band and the L5 band on the GPS constellation, the B1I band, the B1C band, and the B2A band on the BDS constellation, and the E1 band and the E5A band on the GAL constellation. The set 202 and the set 204 of GNSS bands overlap but are not the same. The mobile device cannot expect to receive correction data for all GNSS bands that it is able to receive (i.e., the set 204). Instead, the mobile device is limited to receiving correction data only for those GNSS bands that the reference station is able to receive (i.e., the set 202).

[0045] In a typical implementation, the frequency overlap identification module 206 can be used to identify a set 208 of GNSS frequency bands that are common to both the reference station and the mobile device. Here, the set 208 of GNSS frequency bands includes the L1 / CA band and the L5 band on the GPS constellation, the B1I band on the BDS constellation, and the E1 band and the E5A band on the GAL constellation. In at least one implementation, the frequency overlap identification module 206 is implemented within the PPE of the mobile device. Once the set 208 of GNSS frequency bands that are common to both the reference station and the mobile device is identified, the mobile device can select one or more GNSS signals from the common set of GNSS frequency bands to perform precise positioning. This process ensures that correction data will be available for the selected GNSS signals.

[0046] Figure 2 A disadvantage of the technology shown in is that the precise positioning performed at the mobile device is limited to the GNSS carrier frequency that can be received at the reference station. In some scenarios, this limitation can significantly weaken the potential capabilities of the positioning system. For example, given that the B1C band of the BDS constellation provides a pilot channel that can be used to prevent "half-cycle jumps", the B1C band may be particularly desirable. The B1C band has two channels: a data channel and a pilot channel. The data channel modulates the data bits onto the carrier signal. Modulating data onto a GNSS carrier signal can introduce phase shifts, such as a 180-degree phase shift or a half-cycle jump in the signal (for example, in binary phase shift keying or BPSK modulation). Such phase shifts may introduce additional challenges to integer ambiguity resolution in RTK. In contrast, there is no data modulation on the pilot channel, and therefore no half-cycle jump.

[0047] In another example, the B2A band of the BDS constellation may be desirable due to its high chip rate. Typically, a high chip rate is associated with lower impact from multipath effects and better measurement accuracy. In environments where multipath channels exist and are important, GNSS signals with higher chip rates may be preferred for this reason. For example, the typical chip rate for the B2A band is 10 MHz, which is a relatively high rate. In contrast, the typical chip rate for the B1I band of the BDS constellation is only 2 MHz. The typical chip rate for the L1 / CA band of the GPS constellation is an even lower 1 MHz. By comparison, the B2A band is more resilient to multipath effects because the chip rate of the B2A band is 5 times higher than the chip rate of the B1I band and 10 times higher than the chip rate of the L1 / CA band.

[0048] Therefore, in some cases, it is desirable for a mobile device to be able to perform precise positioning of the GNSS signals it receives at carrier frequencies associated with the B1C band and the B2A band. Figure 2 As shown in FIG, the frequency overlap identification module 206 generates a common set 208 of GNSS frequency bands that does not include the B1C band and the B2A band because the reference station cannot receive these two bands. Therefore, the mobile station is not allowed to select the B1C or B2A band when performing precise positioning.

[0049] Figure 3 Techniques for GNSS precise positioning that is not limited by the GNSS frequency band received at a reference station are illustrated. According to certain aspects of the present disclosure, a mobile device (e.g., Figure 1 The mobile device 110) receives data from a reference station (e.g., Figure 1 The reference station 120 in FIG. 1 receives correction data based on: (1) a correction signal at a first GNSS carrier frequency (e.g., Figure 3 carrier frequencies associated with the B1I band in the satellite spacecraft (e.g. Figure 1 140) and received at the reference station and (2) a first pseudorange measurement of a first GNSS signal transmitted at a second GNSS carrier frequency (e.g., with Figure 3 The mobile device obtains a second pseudorange measurement of a second GNSS signal transmitted from the satellite vehicle on a carrier frequency associated with the B3 frequency band in the B3 frequency band in the B3 frequency band and received at the reference station. The mobile device obtains a second pseudorange measurement of a second GNSS signal transmitted from the satellite vehicle on a carrier frequency associated with the B3 frequency band in ... Figure 3The mobile device determines a position of the mobile device using (a) the third pseudorange measurement of the third GNSS signal on the third GNSS carrier frequency and (b) correction data based on the first pseudorange measurement of the first GNSS signal on the first GNSS carrier frequency and the second pseudorange measurement of the second GNSS signal on the second GNSS carrier frequency.

[0050] exist Figure 3 , a reference station is shown as being able to receive a set 302 of GNSS frequency bands, which includes L1 / CA band, L2 band, and L5 band on the Global Positioning System (GPS) constellation, B1I band and B3 band on the BeiDou (BDS) constellation, and E1 band and E5A band on the Galileo (GAL) constellation. A mobile device is shown as being able to receive a set 304 of GNSS frequency bands, which includes L1 / CA band and L5 band on the GPS constellation, B1I band, B1C band, and B2A band on the BDS constellation, and E1 band and E5A band on the GAL constellation. The set 302 and the set 304 of GNSS frequency bands overlap but are not identical.

[0051] According to some aspects of the present disclosure, the available correction data is not limited to those correction data associated with the GNSS carrier frequencies received at the reference station. The cross-frequency correction generator 306 receives measurements such as pseudorange measurements and / or carrier phase measurements about the GNSS signals received at the reference station. Based on such inputs, the cross-frequency correction generator 306 generates correction data for GNSS carrier frequencies not received at the reference station. The correction data may include virtual pseudorange estimates, virtual carrier phase estimates, and / or virtual Doppler shift estimates, as discussed in more detail in a later section. For example, the cross-frequency correction generator 306 may generate correction data for a set 308 of GNSS carrier frequencies, such as GNSS carrier frequencies associated with the L1 / CA band, L2 band, and L5 band on the GPS constellation, the B1I band, B3 band, B1C band, and B2A band on the BDS constellation, and the E1 band and E5A band on the GAL constellation. Note that these GNSS carrier frequencies include GNSS carrier frequencies associated with the B1C band and the B2A band, which, as previously discussed, the reference station cannot receive and does not actually receive. The generation of such "virtual" correction data (such as virtual pseudorange measurements and / or virtual carrier phase measurements) will be discussed in more detail in subsequent sections.

[0052] In some implementations, the cross-frequency correction data is generated at a reference station. Figure 3 An example is found in , which shows that the cross-frequency correction generator 306 is implemented as part of a reference station. The cross-frequency correction generator 306 may be executed, for example, in one or more processors associated with the reference station. In such a specific implementation, the correction data transmitted from the reference station may include virtual pseudorange measurements and / or virtual carrier phase measurements generated for GNSS carrier frequencies not received at the reference station (e.g., at the cross-frequency correction generator 306). The reference station may choose to generate virtual pseudorange measurements and / or virtual carrier phase measurements for multiple different GNSS carrier frequencies not received at the reference station (e.g., Figure 3 In other implementations, the cross-frequency correction generator 306 may be implemented as part of a correction server (e.g., correction server 180) that may generate correction data.

[0053] A mobile device that has received correction data for such an extended list of GNSS carrier frequencies may have more flexibility in determining on which GNSS carrier frequency to perform precise positioning. In this example, the mobile device may utilize a frequency overlap identification module 310 to generate a common set 312 of GNSS frequency bands received at the mobile device and supported by correction data received from a reference station. In the example shown, the common set 312 of GNSS frequency bands includes the L1 / CA band, the L2 band, and the L5 band on the GPS constellation, the B1I band, the B1C band, and the B2A band on the BDS constellation, and the E1 band and the E5A band on the GAL constellation. In at least one specific implementation, the frequency overlap identification module 310 is implemented within the PPE of the mobile device.

[0054] In other implementations, the cross-frequency correction data is generated at the mobile device. For example, the cross-frequency correction generator 306 can be implemented as part of the mobile device. The cross-frequency correction generator 306 can be executed, for example, in one or more processors associated with the mobile device. In such implementations, the correction data transmitted from the reference station can include at least two pseudorange measurements and / or at least two carrier phase measurements for the GNSS carrier frequency received at the reference station.

[0055] has been received for a GNSS carrier frequency limited to that received at the reference station (e.g. Figure 3 Mobile devices that use such measurements to generate correction data in the form of pseudorange measurements and / or carrier phase measurements for GNSS carrier frequencies not received at a reference station (e.g., Figure 3The mobile device may then use the virtual pseudorange measurements and / or virtual carrier phase measurements to perform precise positioning based on pseudorange measurements and / or carrier phase measurements of GNSS signals received at the mobile device on GNSS carrier frequencies not received at the reference station.

[0056] Whether implemented at the reference station or the mobile station, the cross-frequency correction generator 306 generates each virtual pseudorange measurement based on a linear combination of at least two existing pseudorange measurements of the GNSS signals received at the reference station. Similarly, the cross-frequency correction generator 306 generates each virtual carrier phase measurement based on a linear combination of at least two existing carrier phase measurements of the GNSS signals received at the reference station (if carrier phase correction is applicable, for example, in RTK precise positioning).

[0057] According to aspects of the present disclosure, a linear combination of (1) a first pseudorange measurement of a first GNSS signal transmitted from a satellite vehicle on a first GNSS carrier frequency and received at a reference station and (2) a second pseudorange measurement of a second GNSS signal transmitted from the same satellite vehicle on a second GNSS carrier frequency and received at the reference station produces a third pseudorange measurement for a third GNSS carrier frequency. In certain aspects, the third GNSS carrier frequency can be controlled by adjusting coefficients or weights used in the linear combination. For example, if a mobile device is receiving a GNSS carrier frequency that is not received at the reference station (e.g., that is different from the GNSS carrier frequency received at the reference station), the third pseudorange measurement may be controlled by adjusting the coefficients or weights used in the linear combination. Figure 3 If a GNSS signal is received on a carrier frequency associated with the B1C band in the GNSS carrier frequency, a virtual pseudorange measurement for the GNSS carrier frequency may be generated based on a linear combination of: (1) a linear combination of the first GNSS carrier frequency (e.g., Figure 3 and (2) a first pseudorange measurement of a first GNSS signal transmitted from a satellite vehicle at a carrier frequency associated with the B1I band in the reference station and received at a reference station and (3) a first pseudorange measurement of a first GNSS signal transmitted from a satellite vehicle at a carrier frequency associated with the B1I band in the reference station and received at a reference station and (4) a first pseudorange measurement of a first GNSS signal transmitted from a satellite vehicle at a carrier frequency associated with the B1I band in the reference station and received at a reference station and Figure 3 A second pseudorange measurement of a second GNSS signal transmitted from the same satellite vehicle on a carrier frequency associated with the B3 frequency band in GNSS and received at the reference station.

[0058] Similarly, a linear combination of (1) a first carrier phase measurement of a first GNSS signal transmitted from a satellite vehicle on a first GNSS carrier frequency and received at a reference station and (2) a second carrier phase measurement of a second GNSS signal transmitted from the same satellite vehicle on a second GNSS carrier frequency and received at the reference station produces a third carrier phase measurement for a third GNSS carrier frequency. Thus, virtual carrier phase measurements may also be generated for GNSS carrier frequencies that are not received at the reference station. Again, the third GNSS carrier frequency may be controlled by adjusting coefficients or weights used in the linear combination. For example, if a mobile device is receiving a GNSS carrier frequency that is not received at the reference station (e.g., with respect to a GNSS carrier frequency that is not received at the reference station), the third GNSS carrier frequency may be controlled by adjusting coefficients or weights used in the linear combination. Figure 3 If a GNSS signal is received on a carrier frequency associated with the B1C band in the GNSS carrier frequency, a virtual carrier phase measurement for the GNSS carrier frequency may be generated based on a linear combination of: (1) a first GNSS carrier frequency (e.g., Figure 3 and (2) a first carrier phase measurement of a first GNSS signal transmitted from a satellite vehicle at a carrier frequency associated with the B1I band in the reference station and received at a reference station and (3) a first carrier phase measurement of a first GNSS signal transmitted from a satellite vehicle at a carrier frequency associated with the B1I band in the reference station and received at a reference station and (4) a first carrier phase measurement of a first GNSS signal transmitted from a satellite vehicle at a carrier frequency associated with the B1I band in the reference station and received at a reference station and Figure 3 A second carrier phase measurement of a second GNSS signal transmitted from the same satellite vehicle on a carrier frequency associated with the B3 frequency band in GNSS and received at the reference station.

[0059] In some aspects of the present disclosure, the coefficients of each linear combination mentioned above may be derived based on a mathematical model of pseudorange measurements and / or carrier phase measurements. Figure 1 In general, a pseudorange is an estimate of the actual distance (geometric range) between a transmitter (e.g., SV 140) and a receiver (e.g., reference station 120 or mobile device 110) using a correlation between a pseudorandom binary sequence received in an RF signal (e.g., RF signal 130) and a reference signal. The accuracy of the pseudorange estimate is affected by various factors such as ionospheric and tropospheric delays and clock bias. Since reference station 120 is in close proximity to mobile device 110 (e.g., within 30 kilometers), the effects of certain types of errors such as ionospheric and tropospheric delays are similar for the same GNSS signal received by reference station 120 and mobile device 110. Therefore, if the degree of error in the pseudorange estimate performed by reference station 120 is determined (which is possible because the location of reference station 120 is known), a correction can be applied by mobile device 110 to a pseudorange measurement of the same GNSS signal. Pseudorange measurements are sometimes referred to as code pseudorange measurements to distinguish them from carrier phase measurements of the distance between a transmitter and a receiver.

[0060] The first GNSS signal is analyzed at the reference station 120. The first pseudorange measurement and the second GNSS signal at the reference station 120 The second pseudorange measurement It can be expressed mathematically as follows: (1) (2) in is the geometric range, is the difference between the clocks of the receiver and transmitter (in this case SV 140 and reference station 120), is the tropospheric delay, dIono is the ionospheric delay on the L1 band (more specifically, the residual ionospheric delay error after applying an ionospheric model to reduce such errors), f1 and f2 are the GNSS signal and The carrier frequency, and Indicates and receives GNSS signals respectively and In at least some embodiments, carrier frequencies f1 and f2 are different frequencies. As can be seen from Equations 1 and 2, each of the pseudorange measurements includes the true distance or geometric range between reference station 120 and SV 140, plus various error terms associated with clock bias, ionospheric and tropospheric errors, noise, and multipath errors. As expressed herein, a term such as and The pseudorange term and geometric range term of It can be expressed in distance units such as meters (m). The transmitter and receiver clock difference , Tropospheric delay , ionospheric delay dIono and error terms caused by noise and multipath and Each of can also be expressed in distance units, such as (m). Alternatively, the terms can be expressed in time units by dividing each term by a velocity term, such as the speed of light traveling through space or a related medium, e.g., 3*10 8 Meters per second (m / s).

[0061] Carrier phase measurements are another way to determine a measure of the distance between a transmitter and a receiver, and are expressed in units of periods of the carrier frequency of the transmitted RF signal. Carrier phase measurements have a higher accuracy, i.e., one hundredth of the carrier wavelength and are in the millimeter range. However, there is an unknown integer number of periods in the carrier phase measurement, known as an ambiguity term, and thus carrier phase measurements cannot be used directly for GNSS positioning like pseudorange measurements before resolving the unknown integer ambiguity. This ambiguity can be resolved through estimates over time together with the GNSS satellite geometry changes. Ambiguity resolution may involve using information about the transmitting satellite (e.g., satellite fractional biases) and / or using ambiguity resolution techniques such as moving window averaging, integer ambiguity searches, etc.

[0062] The first GNSS signal is analyzed at the reference station 120. The first carrier phase measurement and the second GNSS signal at the reference station 120 The second carrier phase measurement It can be expressed mathematically as follows: (3) (4) The carrier phase measurement includes components that correspond to the components of the pseudorange measurement. In this case, the sign of the ionospheric error is negative, rather than positive as in Equations 1 and 2. Therefore, in the context of carrier phase measurements, the ionospheric error is often referred to as an ionospheric advance (rather than a delay). Additionally, the carrier phase measurement includes the following as error terms: an ambiguity term N, which is a value representing the number of cycles of the carrier frequency taken in traveling from the transmitter to the receiver; and a satellite fractional bias term s, which represents the error due to inaccuracies in the satellite clock (e.g., the clock of SV 140). and They are GNSS signals and wavelength.

[0063] Based on a third GNSS signal that is needed but not available at the reference station 120 The third pseudorange measurement and the third carrier phase measurement can be mathematically expressed as: (5) (6) The geometric range , receiver and transmitter clock difference , Tropospheric delay , ionospheric delay dIono on the L1 band, ambiguity term N, and noise and multipath errors Similar to comparable components described previously.

[0064] Here, the reference station 120 (eg, due to its manufacturer, model, firmware version, etc.) is unable to receive the third GNSS signal transmitted on the third carrier frequency f3. However, the mobile device 110 may need to be aware of the third GNSS signal To address this need, a "virtual" GNSS measurement can be generated based on a linear combination of existing GNSS measurements. For example, a virtual pseudorange measurement Can be generated as a first pseudorange measurement and the second pseudorange measurement Virtual carrier phase measurement can be generated as a first carrier phase measurement and second carrier phase measurement A linear combination of: (7) (8)

[0065] According to aspects of the present disclosure, the coefficient The value of can be found by restricting the solution to satisfy two criteria, which are expressed as: (9) (10)

[0066] As discussed, f1 and f2 are GNSS signals and The carrier frequencies of f1 and f2 are usually different from each other. Solving equations 9 and 10 yields the coefficients Explicit solution for the value of : (11) (12)

[0067] In some aspects of the present disclosure, the selection coefficient To satisfy equations 9 and 10 provides a virtual pseudorange measurement and virtual carrier phase measurement These measurements can be used (e.g., as correction data) to remove errors in pseudorange measurements and carrier phase measurements made by a mobile device (e.g., mobile device 110). Such errors include ionospheric delay errors and timing group delay (TGD) errors that may be present in the mobile device's measurements.

[0068] In various implementations, the carrier frequency f3 can be set to any desired value. and virtual carrier phase measurement The reference station 120 (or mobile device 110) may generate a linear combination of existing pseudorange measurements and carrier phase measurements of two GNSS signals received at the reference station on the first GNSS carrier frequency f1 and the second GNSS carrier frequency f2 for any desired GNSS carrier frequency f3. Figure 3 The linear combination of the existing pseudorange measurements and carrier phase measurements of the B1I and B3 signals in the GNSS is used to generate the desired GNSS carrier frequency f3 (which can be Figure 3 In another example, the reference station 120 (or the mobile device 110) may be based on the virtual pseudorange measurement and virtual carrier phase measurement of B1C in FIG. Figure 3 The linear combination of the existing pseudorange measurements and carrier phase measurements of the same B1I signal and B3 signal in the GNSS carrier frequency f3 (which can be Figure 3 The process may be repeated to generate other virtual pseudorange measurements and virtual carrier phase measurements for additional GNSS carrier frequencies as desired.

[0069] In some aspects of the present disclosure, Equations 1-6 may be modified to include satellite differential code biases such as and fractional period deviation The model used for GNSS signal measurements is refined by additional terms such as: (13) (14) (15) (16) (17) (18)

[0070] In the differential code deviation term There may be actual third GNSS signal measurements (e.g., pseudorange measurements) ) and virtual GNSS signal measurements (e.g., pseudorange measurements ). Virtual pseudorange measurement It can be expressed as: (19) The virtual DCB item Expressed as: (20)

[0071] DCB is usually caused by satellite hardware delays, which can have different values ​​for different types of pseudorange measurements at the same GNSS carrier frequency or at different GNSS carrier frequencies. Therefore, the virtual DCB term Not necessarily with the actual DCB entry If such differences are not accounted for in the virtual GNSS measurements, the precise positioning performance (e.g., as performed by the PPE) may be degraded. Therefore, according to some aspects of the present disclosure, virtual pseudorange measurements for the third GNSS carrier frequency are generated by taking into account the differential code bias correction term. In one specific implementation, it is assumed that the satellite DCB is long-term stable (e.g., stability on the order of nanoseconds over months or even years (depending on the GNSS constellation / satellite type)). Therefore, the virtual DCB term and the actual DCB item The difference between is pre-calculated, i.e., when receiving the GNSS signal and Based on the differential code deviations for the first GNSS carrier frequency, the second GNSS carrier frequency, and the third GNSS carrier frequency, respectively. , and The differential code deviation correction term with a known value of It can be calculated as: (twenty one)

[0072] Virtual pseudo-range measurement The modified version of can be expressed as: (twenty two)

[0073] By including the differential code bias correction term , virtual pseudorange measurement Modified versions of the virtual DCB entry may not be and the actual DCB item The effect of DCB mismatch between them is reduced, thereby improving the performance of precise positioning as performed by PPE.

[0074] There may also be actual third GNSS signal measurements (e.g., carrier phase measurements) in terms of the fractional periodic bias term FCB. ) and virtual GNSS signal measurements (e.g., carrier phase measurements ). Virtual carrier phase measurement It can be expressed as: (twenty three)

[0075] in is an integer term of ambiguity and For virtual carrier phase measurement The fractional period deviation of .

[0076] Similar to the DCB term in the virtual pseudorange estimate, FCB is also caused by the satellite hardware delay, and it has different values ​​on different types of carrier phase measurements at the same frequency or at different frequencies. It does not have to be the same as the actual FCB item. If such differences are not taken into account in the new virtual measurements, the double-difference ambiguity term at the third frequency band L3 may not have an integer property when applying the virtual third frequency carrier phase correction.

[0077] Different approaches can be used to resolve such non-integer ambiguity term problems, which may interfere with the virtual carrier phase measurement. According to one embodiment, the third frequency ambiguity term is simply excluded from the integer ambiguity resolution process previously discussed. In such a specific implementation, the number of cycles of the carrier in the expression of the virtual carrier phase measurement is simply maintained as a floating point number instead of an integer. According to another embodiment, the FCB correction is calculated using other reference stations with actual measurements on the third frequency band L3. Here, the calculated FCB correction can be sent to the device (e.g., mobile device) responsible for calculating the virtual carrier phase by using a messaging protocol (e.g., through a QCT priority message). On the device side, after applying the calculated FCB correction, the third frequency band ambiguity can maintain its integer properties and can therefore be included in the integer ambiguity resolution process.

[0078] For example, the FCB correction can be calculated from other reference stations with actual measurements in the third frequency band according to the following equation : (twenty four) in is the virtually generated third band carrier phase measurement (m), is the actual third-band carrier phase measurement (m), is the wavelength of the third frequency band (m), and Represents the operation of the round-to-nearest integer operator.

[0079] In the example described in Equation 1-24, for two GNSS signals at two GNSS carrier frequencies f1 and f2 and A linear combination of pseudorange measurements and / or carrier phase measurements generates a virtual GNSS signal at the desired GNSS carrier frequency f3. However, aspects of the present disclosure are not limited to using only two GNSS signals in the linear combination of pseudorange measurements and / or carrier phase measurements. In fact, in some aspects of the present disclosure, the number of GNSS signals used in the linear combination may be greater than two.

[0080] As an example only, for three GNSS signals at three GNSS carrier frequencies f1, f2 and f3 , and A linear combination of pseudorange measurements and / or carrier phase measurements may generate a virtual GNSS signal at the desired GNSS carrier frequency f4. In such cases, the virtual pseudorange measurement Can be generated as a first pseudorange measurement , the second pseudorange measurement and the third pseudorange measurement Virtual carrier phase measurement can be generated as a first carrier phase measurement , second carrier phase measurement and third carrier phase measurement A linear combination of: (25) (26)

[0081] According to aspects of the present disclosure, the coefficient , and The value of can be found by restricting the solution to satisfy two criteria, which are expressed as: (27) (28)

[0082] In some aspects of the present disclosure, the selection coefficient , and To satisfy equations 27 and 28 provides a virtual pseudorange measurement and virtual carrier phase measurement These measurements can be used (e.g., as correction data) to remove errors in pseudorange measurements and carrier phase measurements made by a mobile device (e.g., mobile device 110). Such errors include ionospheric delay errors and timing group delay (TGD) errors that may be present in the mobile device's measurements.

[0083] Note that in this particular example, Equations 27 and 28 are underdetermined because there are three variables , and And there are only two equations. Therefore, there may be more than one solution set that satisfies equations 27 and 28. , and More than one set of possible values ​​of may be selected to generate a virtual pseudorange measurement at the desired GNSS carrier frequency f4 and / or carrier phase measurements .

[0084] Doppler shift measurements are typically made with each received GNSS signal and are used in conjunction with pseudorange measurements and / or carrier phase measurements for positioning determination. Doppler shift is caused by the relative velocity of a SV (such as a GNSS satellite) relative to the receiver. The Doppler shift can be expressed as the time derivative of the carrier phase of the received GNSS signal. The first GNSS signal is measured at reference station 120. The first Doppler shift measurement and the second GNSS signal at the reference station 120 The second Doppler shift measurement It can be expressed mathematically as: (29) (30)

[0085] Here, the Doppler shift is measured and It can be expressed in meters per second (m / s). Geometric Range Velocity It can be expressed in units of (m / s). The receiver and transmitter clock difference rate It can also be expressed in units of (m / s) and represents the rate of change of the difference between the receiver clock and the transmitter clock. It can also be expressed in units of (m / s). Ionospheric delay residual error rate It can also be expressed in units of (m / s) and represents the ionospheric delay rate after applying the above model. The carrier frequencies f1 and f2 are the GNSS signal and The carrier frequency. The error term and represents the error in the Doppler shift measurement due to noise and multipath, and can also be expressed in units of (m / s).

[0086] Based on a third GNSS signal that is needed but not available at the reference station 120 The third pseudorange measurement and the third Doppler shift measurement can be mathematically expressed as: (31) The geometric range rate , receiver and transmitter clock difference rate , tropospheric delay rate , ionospheric delay residual error rate And the Doppler frequency shift error caused by noise and multipath Similar to comparable components described previously.

[0087] Once again, the reference station 120 (eg, due to its manufacturer, model, firmware version, etc.) is unable to receive the third GNSS signal transmitted on the third carrier frequency f3. However, the mobile device 110 may need to Performing positioning, for example, includes estimating Doppler shift. To address this need, "virtual" GNSS measurements can be generated based on linear combinations of existing GNSS measurements. For example, virtual Doppler shift measurements A first Doppler shift measurement may be generated and second Doppler shift measurement A linear combination of: (32)

[0088] According to aspects of the present disclosure, the coefficient The value of can be found by restricting the solution to satisfy two criteria, which are expressed as: (33) (34)

[0089] Solving equations 33 and 34 yields the coefficients Explicit solution for the value of : (35) (36)

[0090] In various implementations, the carrier frequency f3 can be set to any desired value. The Doppler shift frequency of the two GNSS signals received at the reference station on the first GNSS carrier frequency f1 and the second GNSS carrier frequency f2 may be generated for any desired GNSS carrier frequency f3 based on a linear combination of existing Doppler shift measurements of two GNSS signals received at the reference station on the first GNSS carrier frequency f1 and the second GNSS carrier frequency f2. Figure 3The linear combination of the existing Doppler shift measurements of the B1I signal and the B3 signal in the GNSS carrier frequency f3 (which can be Figure 3 In another example, the reference station 120 (or the mobile device 110) may be based on a virtual Doppler shift measurement of B1C in FIG. Figure 3 The linear combination of the existing Doppler shift measurements of the same B1I signal and the B3 signal in the GNSS carrier frequency f3 (which can be Figure 3 The process may be repeated to generate additional Doppler shift measurements for additional GNSS carrier frequencies as desired. In some implementations, the effects of satellite differential code biases (DCBs) on the Doppler shift measurements are small enough that they are negligible and are not considered in the virtual Doppler shift measurements.

[0091] Figure 4 1 is a flow chart illustrating a process 400 for performing precise positioning based on virtual pseudorange measurements, carrier phase measurements, and / or Doppler shift measurements generated at a reference station according to some aspects of the present disclosure. Process 400 involves functionality performed by reference station 120, mobile device 110, and GNSS satellites (SV 140), each of which is described above in conjunction with Figure 1 Description. Provide Figure 4 10 is an example of a virtual pseudorange measurement, a virtual carrier phase measurement, and / or a virtual Doppler shift measurement that can be generated at a reference station and transmitted to a mobile device as correction data. According to some aspects of the present disclosure, mobile device 110 is within a predetermined proximity to reference station 120. The predetermined proximity can be set to a value such as 5 kilometers, 10 kilometers, 30 kilometers, 50 kilometers, 100 kilometers, or some other distance. If baseline distance 160 is at or below the predetermined proximity, the condition can be considered satisfied. Although one satellite is shown, it should be understood that Figure 4 The functionality depicted may be repeated in conjunction with other satellites of a GNSS constellation (e.g., to perform precise positioning between mobile device 110 and a second SV, between mobile device 110 and a third SV, between mobile device 110 and a fourth SV, etc.), where correction data is provided by one reference station 120 and possibly additional reference stations in order to determine a number of positioning measurements sufficient to estimate the position of mobile device 110 geometrically (e.g., using multi-angle measurements and / or multilateration) and based on distance measurements and / or angle measurements together with the known positions of one or more components such as reference station 120.

[0092] At 402, SV 140 transmits a first GNSS signal on a first carrier frequency f1. , and sends a second GNSS signal on a second carrier frequency f2 . For example, SV 140 may transmit a signal using the B1I frequency and transmit another signal using the B3 frequency (e.g., as part of a dual-band transmission). For purposes of illustration, certain examples of the present disclosure relate to the B1I frequency and the B3 frequency. However, it should be understood that other frequencies may also be used. Therefore, the techniques described herein are not limited to use with the B1I frequency and the B3 frequency. The first GNSS signal and the second GNSS signal may be transmitted concurrently and are typically broadcast at periodic intervals.

[0093] At 404, the reference station 120 uses its local GNSS receiver to receive the first GNSS signal and the second GNSS signal and performs pseudorange measurements, carrier phase measurements, and / or Doppler measurements on each signal. The pseudorange measurements may be represented as and The carrier phase measurement can be expressed as and The Doppler shift measurement can be expressed as and .

[0094] At 406, SV 140 transmits a third GNSS signal on a third carrier frequency f3. For example, SV 140 may use B1C to transmit the signal. This particular carrier frequency is presented as an example, and it should be understood that other frequencies may also be used. Available with the first GNSS signal and second GNSS signal Transmitted concurrently and usually broadcast at periodic intervals. In some cases, SVs may transmit concurrently on more than three frequencies.

[0095] At 408, the mobile device 110 receives the third GNSS signal using its local GNSS receiver and performs pseudorange measurements, carrier phase measurements, and / or Doppler shift measurements on the third GNSS signal. The local pseudorange measurements may be represented as , the local carrier phase measurement can be expressed as , and the local Doppler shift measurement can be expressed as .

[0096] At 410, reference station 120 generates a virtual pseudorange measurement and a carrier phase measurement for a third carrier frequency f3. The virtual pseudorange measurement and the virtual carrier phase measurement may be generated based on the process described herein (eg, according to equations 1-24). The virtual pseudorange measurement may be represented as , and the virtual carrier phase measurement can be expressed as Reference station 120 may also generate a virtual Doppler shift measurement for a third carrier frequency f3 as discussed previously, for example, according to equations 29-36 (which may be expressed as ).

[0097] At 412, reference station 120 sends correction data to mobile device 110. The correction data may include virtual pseudorange measurements generated at reference station 120, virtual carrier phase measurements, and / or virtual Doppler shift measurements.

[0098] At 414, the mobile device 110 converts the local pseudorange measurements , local carrier phase measurement and / or local Doppler shift measurements The correction data is combined with the correction data received from the reference station 120 to determine the position of the mobile device 110. The correction data may include virtual pseudorange measurements , Virtual Carrier Phase Measurement and / or virtual Doppler shift measurements . Specifically, the mobile device 110 may use the correction data to correct errors in local pseudorange measurements, for example, according to DNSS techniques. In addition, the mobile device 110 may use the correction data to correct errors in local carrier phase measurements, for example, according to RTK techniques. The mobile device 110 may also use the correction data to correct Doppler shift measurements. After the corrected local pseudorange measurements, carrier phase measurements, and / or Doppler shift measurements have been obtained, the mobile device 110 may establish its position using conventional GNSS positioning techniques. This may involve obtaining additional pseudorange measurements, carrier phase measurements, and / or Doppler shift measurements corresponding to signals from other space vehicles. Typically, measurements of signals from at least four GNSS satellites are required to establish a three-dimensional position fix (such as horizontal coordinates of latitude and longitude plus elevation) through GNSS positioning.

[0099] As previously discussed, in some aspects of the present disclosure, the calibration data may be stored at an optional correction server (e.g., Figure 1 In such implementations, the process may be similar in many respects to Figure 4 For example, steps 402, 404, 406, and 408 may be Figure 41 and 12. However, steps 410 and 412 may be replaced by operations performed in conjunction with a correction server. For example, once pseudorange measurements and / or carrier phase measurements of the first GNSS signal and the second GNSS signal have been made at reference station 120, these measurements may be transmitted to the correction server. The correction server, rather than reference station 120, may generate virtual pseudorange measurements, carrier phase measurements, and / or Doppler shift measurements for a third carrier frequency. In addition, the correction server may transmit correction data to mobile device 110. At 414, mobile device 110 may transmit the local pseudorange measurements to the correction server. , local carrier phase measurement and / or local Doppler shift measurements Combined with the correction data received from the correction server to determine the location of the mobile device 110 .

[0100] Figure 4 Specific implementations of the techniques illustrated in may potentially be detected based on the presence of a flag or other indication provided by a reference station that a virtual pseudorange measurement, a virtual carrier phase measurement, and / or a virtual Doppler shift measurement provided by the reference station (e.g., as correction data) is not suitable for ambiguity resolution. As shown in Equations 3 and 4, the carrier phase of the GNSS signal includes an ambiguity term N. The ambiguity term may be resolved by a receiving device (e.g., a mobile device) by combining or taking the difference of multiple carrier phase measurements. The introduction of "virtual" carrier phase measurements generated based on linear combinations of actual carrier phase measurements (e.g., Equation 8) may interfere with the ambiguity resolution process. A virtual carrier phase according to certain aspects of the present disclosure is, for example, a linear combination of two actual carrier phase measurements N1 and N2. If the two actual phase measurements have different ambiguity terms (N1≠N2), then the linear combination of the two ambiguity terms will likely produce a non-integer ambiguity term as a component of a virtual carrier phase measurement. Such a non-integer ambiguity term is not a real ambiguity term (i.e., it is not a real number of carrier phase periods) and it cannot be used in the ambiguity resolution process. Therefore, the reference station will likely provide a flag or some other indication, e.g. as part of the correction data, that the virtual carrier phase measurement is to be treated differently, e.g., that it cannot be used for ambiguity resolution. Otherwise, a mobile device receiving the virtual carrier phase measurement may not be able to distinguish it from the real carrier phase measurement and may use the virtual carrier phase measurement in the ambiguity resolution, which may lead to incorrect ambiguity resolution results.

[0101] Figure 51 is a flow chart illustrating a process 500 for performing precise positioning based on virtual pseudorange measurements, carrier phase measurements, and / or Doppler shift measurements generated at a mobile device according to some aspects of the present disclosure. Process 500 involves functionality performed by reference station 120, mobile device 110, and GNSS satellites (SVs 140), each of which is described above in conjunction with Figure 1 Description. Provide Figure 5 The example of is to illustrate that virtual pseudorange measurements, virtual carrier phase measurements, and / or virtual Doppler shift measurements can be generated at a mobile device based on correction data received from a reference station. According to some aspects of the present disclosure, mobile device 110 is within a predetermined proximity to reference station 120. The predetermined proximity can be set to a value such as 5 kilometers, 10 kilometers, 30 kilometers, 50 kilometers, 100 kilometers, or some other distance. If baseline distance 160 is at or below the predetermined proximity, then the condition can be considered satisfied. Although one satellite is shown, it should be understood that Figure 5 The functionality depicted may be repeated in conjunction with other satellites of a GNSS constellation (e.g., to perform precise positioning between mobile device 110 and a second SV, between mobile device 110 and a third SV, between mobile device 110 and a fourth SV, etc.), where correction data is provided by one reference station 120 and possibly additional reference stations in order to determine a number of positioning measurements sufficient to estimate the position of mobile device 110 geometrically (e.g., using multi-angle measurements and / or multilateration) and based on distance measurements and / or angle measurements together with the known positions of one or more components such as reference station 120.

[0102] At 502, SV 140 transmits a first GNSS signal on a first carrier frequency f1. , and sends a second GNSS signal on a second carrier frequency f2 . For example, SV 140 may transmit a signal using the B1I frequency and transmit another signal using the B3 frequency (e.g., as part of a dual-band transmission). For purposes of illustration, certain examples of the present disclosure relate to the B1I frequency and the B3 frequency. However, it should be understood that other frequencies may also be used. Therefore, the techniques described herein are not limited to use with the B1I frequency and the B3 frequency. The first GNSS signal and the second GNSS signal may be transmitted concurrently and are typically broadcast at periodic intervals.

[0103] At 504, the reference station 120 uses its local GNSS receiver to receive the first GNSS signal and the second GNSS signal and performs pseudorange measurements, carrier phase measurements, and / or Doppler shift measurements on each signal. The pseudorange measurements may be represented as and The carrier phase measurement can be expressed as and The Doppler shift measurement can be expressed as and .

[0104] At 506, SV 140 transmits a third GNSS signal on a third carrier frequency f3. For example, SV 140 may use B1C to transmit the signal. This particular carrier frequency is presented as an example, and it should be understood that other frequencies may also be used. Available with the first GNSS signal and second GNSS signal Transmitted concurrently and usually broadcast at periodic intervals. In some cases, SVs may transmit concurrently on more than three frequencies.

[0105] At 508, the mobile device 110 receives the third GNSS signal using its local GNSS receiver and performs pseudorange measurements, carrier phase measurements, and / or Doppler shift measurements on the third GNSS signal. The local pseudorange measurements may be represented as , the local carrier phase measurement can be expressed as , and the local Doppler shift measurement can be expressed as .

[0106] At 510, reference station 120 sends correction data to mobile device 110. The correction data may include pseudorange measurements made at reference station 120. and , carrier phase measurement performed at reference station 120 and and / or Doppler shift measurements made at reference station 120 and .

[0107] At 512, the mobile device 110 generates a virtual pseudorange measurement, a carrier phase measurement, and / or a Doppler shift measurement for the third carrier frequency f3. The virtual pseudorange measurement and the virtual carrier phase measurement can be generated based on the processes described herein (e.g., according to equations 1-24). The virtual pseudorange measurement can be represented as , and the virtual carrier phase measurement can be expressed as The mobile device 110 may also generate a virtual Doppler shift measurement for a third carrier frequency f3 as previously discussed, for example, according to equations 29-36 (which may be expressed as ).

[0108] At 514, the mobile device 110 converts the local pseudorange measurements , local carrier phase measurement and / or local Doppler shift measurements With locally generated virtual pseudorange measurements , Virtual Carrier Phase Measurement and / or virtual Doppler shift measurements Specifically, the mobile device 110 may use the locally generated virtual pseudorange measurements For example, the mobile device 110 can use the locally generated virtual carrier phase measurements to correct errors in the local pseudorange measurements according to DNSS techniques. Errors in local carrier phase measurements are corrected, for example, according to RTK techniques. After corrected local pseudorange measurements, carrier phase measurements, and / or Doppler shift measurements have been obtained, the mobile device 110 can establish its position through traditional GNSS positioning techniques. This may involve obtaining additional pseudorange measurements, carrier phase measurements, and / or Doppler shift measurements corresponding to signals from other space vehicles. Typically, measurements of signals from at least four GNSS satellites are required to establish a three-dimensional position fix (such as horizontal coordinates of latitude and longitude plus elevation) through GNSS positioning.

[0109] Figure 5 Specific implementations of the techniques illustrated in can potentially be detected by: (1) providing correction data from a reference station to a mobile device, the correction data comprising pseudorange measurements, carrier phase measurements, and / or Doppler shift measurements on a first set of GNSS carrier frequencies (e.g., B1I and B3) received at the reference station, (2) allowing the mobile device to receive GNSS signals on a second set of GNSS carrier frequencies (e.g., B1C and B2A) that do not overlap with the first set of GNSS carrier frequencies, and (3) detecting that the mobile station is still performing precise positioning such as DGNSS or RTK. The first set and the second set of GNSS carrier frequencies can be associated with a particular GNSS constellation (e.g., BDS). In such a case, a mobile device that does not have the ability to generate virtual pseudorange measurements and / or virtual carrier phase measurements based on the first set of GNSS carrier frequencies will not enter DNSS or RTK mode. In contrast, a mobile device having the capability to generate virtual pseudorange measurements and / or virtual carrier phase measurements based on a first set of GNSS carrier frequencies may enter a DGNSS or RTK mode even if the correction data corresponds to a GNSS carrier frequency that does not overlap with the set of GNSS carrier frequencies on which the mobile device is receiving GNSS signals.

[0110] The various aspects of the present disclosure are not necessarily limited to Figure 4 or Figure 5 The specific sequence of events shown in . is for example only. Figure 4The transmission of a first GNSS signal and a second GNSS signal (402) and the measurement of pseudoranges and carrier phases of the first GNSS signal and the second GNSS signal (404) are shown, followed by the transmission of a third GNSS signal (406) and the measurement of pseudoranges and carrier phases of the third signal (408). However, such an order is not required. The transmission of the third GNSS signal (406) and the measurement of pseudoranges and carrier phases of the third signal (408) may occur before the transmission of the first GNSS signal and the second GNSS signal (402) and the measurement of pseudoranges and carrier phases of the first GNSS signal and the second GNSS signal (404). As another example, Figure 4 The generation of virtual pseudorange and carrier phase measurements for a third carrier frequency (410) and the transmission of correction data (414) are shown occurring after all GNSS signal transmissions and pseudorange and carrier phase measurement events (i.e., 402, 404, 406, and 408). Again, such an order is not required. The generation of virtual pseudorange and carrier phase measurements for a third carrier frequency (410) and the transmission of correction data (414) may occur before, during, after, or interspersed with the various GNSS signal transmissions and pseudorange and carrier phase measurement events (i.e., 402, 404, 406, and 408). Similarly, Figure 5 The particular order of events shown in is not required. For example, the transmission of the third GNSS signal (506) and the measurement of the pseudorange and carrier phase of the third signal (508) may occur before the transmission of the first GNSS signal and the second GNSS signal (502) and the measurement of the pseudorange and carrier phase of the first GNSS signal and the second GNSS signal (504). In addition, the transmission of the correction data (510) may occur before the transmission of the third GNSS signal (506) and the measurement of the pseudorange and carrier phase of the third signal (508).

[0111] Figure 6 6 is a flow chart illustrating a process 600 for performing precise positioning based on virtual pseudorange measurements, carrier phase measurements, and / or Doppler shift measurements generated at a server according to some aspects of the present disclosure. Process 600 involves functionality performed by server 130, reference station 120, mobile device 110, and GNSS satellite (SV 140), each of which is described above in conjunction with Figure 1 Description. Provide Figure 6The example of illustrates that virtual pseudorange measurements, virtual carrier phase measurements, and / or virtual Doppler shift measurements may be generated at a server based on correction data received from a reference station. According to some aspects of the present disclosure, mobile device 110 is within a predetermined proximity to reference station 120. The predetermined proximity may be set to a value such as 5 kilometers, 10 kilometers, 30 kilometers, 50 kilometers, 100 kilometers, or some other distance. If baseline distance 160 is at or below the predetermined proximity, the condition may be considered satisfied. Although one satellite is shown, it should be understood that Figure 6 The functionality depicted may be repeated in conjunction with other satellites of a GNSS constellation (e.g., to perform precise positioning between mobile device 110 and a second SV, between mobile device 110 and a third SV, between mobile device 110 and a fourth SV, etc.), where correction data is provided by one reference station 120 and possibly additional reference stations in order to determine a number of positioning measurements sufficient to estimate the position of mobile device 110 geometrically (e.g., using multi-angle measurements and / or multilateration) and based on distance measurements and / or angle measurements together with the known positions of one or more components such as reference station 120.

[0112] At 602, SV 140 transmits a first GNSS signal on a first carrier frequency f1. , and sends a second GNSS signal on a second carrier frequency f2 . For example, SV 140 may transmit a signal using the B1I frequency and transmit another signal using the B3 frequency (e.g., as part of a dual-band transmission). For purposes of illustration, certain examples of the present disclosure relate to the B1I frequency and the B3 frequency. However, it should be understood that other frequencies may also be used. Therefore, the techniques described herein are not limited to use with the B1I frequency and the B3 frequency. The first GNSS signal and the second GNSS signal may be transmitted concurrently and are typically broadcast at periodic intervals.

[0113] At 604, the reference station 120 uses its local GNSS receiver to receive the first GNSS signal and the second GNSS signal and performs pseudorange measurements, carrier phase measurements, and / or Doppler shift measurements on each signal. The pseudorange measurements may be represented as and The carrier phase measurement can be expressed as and The Doppler shift measurement can be expressed as and .

[0114] At 606, SV 140 transmits a third GNSS signal on a third carrier frequency f3. For example, SV 140 may use B1C to transmit the signal. This particular carrier frequency is presented as an example, and it should be understood that other frequencies may also be used. Available with the first GNSS signal and second GNSS signal Transmitted concurrently and usually broadcast at periodic intervals. In some cases, SVs may transmit concurrently on more than three frequencies.

[0115] At 608, the mobile device 110 receives the third GNSS signal using its local GNSS receiver and performs pseudorange measurements, carrier phase measurements, and / or Doppler shift measurements on the third GNSS signal. The local pseudorange measurements may be represented as , the local carrier phase measurement can be expressed as , and the local Doppler shift measurement can be expressed as .

[0116] At 610, reference station 120 sends its pseudorange measurements, carrier phase measurements, and / or Doppler shift measurements of the first GNSS signal and the second GNSS signal at the first GNSS carrier frequency and the second GNSS carrier frequency, respectively, to server 130. Again, the pseudorange measurements may be represented as and The carrier phase measurement can be expressed as and The Doppler shift measurement can be expressed as and .

[0117] At 612, the server 130 generates a virtual pseudorange measurement and a carrier phase measurement for the third carrier frequency f3. The virtual pseudorange measurement and the virtual carrier phase measurement may be generated based on the process described herein (eg, according to equations 1-24). The virtual pseudorange measurement may be represented as , and the virtual carrier phase measurement can be expressed as Reference station 120 may also generate a virtual Doppler shift measurement for a third carrier frequency f3 as discussed previously, for example, according to equations 29-36 (which may be expressed as ).

[0118] At 614, server 130 sends correction data to mobile device 110. The correction data may include virtual pseudorange measurements, virtual carrier phase measurements, and / or virtual Doppler shift measurements generated at server 130.

[0119] At 616, the mobile device 110 converts the local pseudorange measurements , local carrier phase measurement and / or local Doppler shift measurements Combined with the correction data received from server 130 to determine the location of mobile device 110. The correction data may include virtual pseudorange measurements , Virtual Carrier Phase Measurement and / or virtual Doppler shift measurements . Specifically, the mobile device 110 may use the correction data to correct errors in local pseudorange measurements, such as according to DNSS techniques. In addition, the mobile device 110 may use the correction data to correct errors in local carrier phase measurements, such as according to RTK techniques. The mobile device 110 may also use the correction data to correct Doppler shift measurements. After the corrected local pseudorange measurements, carrier phase measurements, and / or Doppler shift measurements have been obtained, the mobile device 110 may establish its position through traditional GNSS positioning techniques. Typically, measurements of signals from at least four GNSS satellites are required to establish a three-dimensional position fix (such as horizontal coordinates of latitude and longitude plus elevation) through GNSS positioning.

[0120] FIG. 7A to FIG. 7D A series of plots illustrating the performance improvements resulting from a specific implementation of crossover frequency correction according to aspects of the present disclosure are presented. Fig. 7A , plot 702 is a plot of the number of RTK measurements generated at a particular reference station without implementing cross-frequency correction. The y-axis represents the number of RTK measurements such as pseudorange (Pr) measurements and carrier phase (Cp) measurements made. Here, the RTK measurements only include pseudorange measurements and carrier phase measurements made for GNSS signals received at the reference station. The x-axis represents the GNSS reception time in seconds (s). As can be seen, the average number of RTK measurements over time is roughly about 35 measurements.

[0121] exist Figure 7B, plot 704 is a plot of the number of RTK measurements generated at the same reference station, where cross-frequency correction is implemented in accordance with aspects of the present disclosure. Again, the y-axis represents the number of RTK measurements such as pseudorange (Pr) measurements and carrier phase (Cp) measurements made. However, these RTK measurements include both: (1) pseudorange measurements and carrier phase measurements made for GNSS signals received at the reference station and (2) virtual pseudorange measurements and virtual carrier phase measurements generated at the reference station for GNSS signals not received at the reference station. This significantly increases the number of total RTK measurements available for use as a basis for correction data provided to the mobile device. As can be seen, the average number of RTK measurements over time exceeds 45 measurements, which is significantly higher than the average number of RTK measurements of approximately 35 measurements shown in plot 702. The availability of more RTK measurements, especially those for GNSS signals not received at the reference station (but potentially received at the mobile device) increases the potential correction opportunities in precise positioning.

[0122] exist Figure 7C , plot 706 is a plot of the cumulative distribution function (CDF) of the horizontal error (HE) when estimating the position of a mobile device in a GNSS receiver under certain conditions (e.g., a specific set of GNSS carrier frequencies, at certain signal strengths, at a specific amount of noise, in a specific environment, etc.) without implementing cross-frequency correction. The y-axis represents the CDF. The x-axis represents the horizontal error expressed in meters (m). A set of positioning estimates generated by a GNSS receiver is obtained. Each positioning estimate is compared with the true positioning to generate a horizontal error (HE) data point. The resulting set of HE data points has a specific distribution represented by the CDF curve. As shown, 50% of the HE data points correspond to a HE value of 0.28 meters. 68% of the HE data points correspond to a HE value of 0.28 meters (may be slightly higher, but the HE value is rounded to two decimal places). 95% of the HE data points correspond to a HE value of 0.38 meters. 99% of the HE data points correspond to a HE value of 0.39 meters.

[0123] exist Fig.7D , plot 708 is a plot of the cumulative distribution function (CDF) of horizontal error (HE) when estimating the position of a mobile device using the same GNSS receiver under the same conditions (such as the conditions of 706) but with cross-frequency correction implemented according to aspects of the present disclosure. Here, 50% of the HE data points correspond to a HE value of 0.10 meters. 68% of the HE data points correspond to a HE value of 0.16 meters. 95% of the HE data points correspond to a HE value of 0.29 meters. 99% of the HE data points correspond to a HE value of 0.38 meters. Clearly, the horizontal error is significantly reduced when cross-frequency correction is implemented.

[0124] Fig. 8A 8 is a flow chart of a method 810 performed at a mobile device for determining a position based on GNSS signals according to an aspect of the present disclosure. Means for performing the functionality illustrated in one or more of the blocks shown in FIG8 may be performed by hardware and / or software components of a mobile device. Fig.12 Example components of a mobile device are illustrated in FIG. 4 and are described in more detail below.

[0125] At block 812, the functionality includes: using the communication interface to receive correction data associated with two or more pseudorange measurements, the two or more pseudorange measurements including (1) a first pseudorange measurement of a first GNSS signal transmitted from a satellite vehicle on a first GNSS carrier frequency and received at a reference station and (2) a second pseudorange measurement of a second GNSS signal transmitted from the satellite vehicle on a second GNSS carrier frequency and received at the reference station. The correction data received from the reference station or correction server may include a virtual pseudorange measurement for a third GNSS carrier frequency generated at the reference station or correction server. Components for performing the functionality at block 812 may include, for example, Fig.12 A global navigation satellite system (GNSS) receiver 1280 is illustrated in FIG.

[0126] At block 814, the functionality includes measuring a third GNSS signal transmitted from the satellite vehicle and received at the mobile device on a third GNSS carrier frequency to generate a third pseudorange measurement, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency. Means for performing the functionality at block 814 may include, for example, Fig.12 The GNSS receiver 1280, processor 1210 and / or memory 1260 illustrated in FIG.

[0127] At block 816, the functionality includes determining the position of the mobile device using (a) the third pseudorange measurement of the third GNSS signal on the third GNSS carrier frequency and (b) the correction data associated with the two or more pseudorange measurements, the two or more pseudorange measurements including the first pseudorange measurement of the first GNSS signal on the first GNSS carrier frequency and the second pseudorange measurement of the second GNSS signal on the second GNSS carrier frequency. Means for performing the functionality at block 816 may include, for example, Fig.12 The GNSS receiver 1280, processor 1210 and / or memory 1260 illustrated in FIG.

[0128] Figure 8Bis a flow chart of a method 820 performed at a mobile device for determining a position based on GNSS signals according to an aspect of the present disclosure, wherein correction data is generated at the mobile device. Figure 8B The functional components illustrated in one or more of the blocks shown in may be performed by hardware and / or software components of the mobile device. Fig.12 Example components of a mobile device are illustrated in FIG. 4 and are described in more detail below.

[0129] At box 822, the functionality includes: using a communication interface to receive correction data associated with two or more pseudorange measurements, the two or more pseudorange measurements including (1) a first pseudorange measurement of a first GNSS signal transmitted from a satellite vehicle on a first GNSS carrier frequency and received at a reference station and (2) a second pseudorange measurement of a second GNSS signal transmitted from the satellite vehicle on a second GNSS carrier frequency and received at the reference station.

[0130] At block 824, the functionality includes generating, at the mobile device, a virtual pseudorange measurement for the third GNSS carrier frequency. Correction data may be generated based on the first pseudorange measurement and the second pseudorange measurement discussed above (e.g., using a linear combination). Means for performing the functionality at block 824 may include, for example, Fig.12 The GNSS receiver 1280, processor 1210 and / or memory 1260 illustrated in FIG.

[0131] At block 826, the functionality includes measuring a third GNSS signal transmitted from the satellite vehicle and received at the mobile device on a third GNSS carrier frequency to generate a third pseudorange measurement, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency. Means for performing the functionality at block 826 may include, for example, Fig.12 The GNSS receiver 1280, processor 1210 and / or memory 1260 illustrated in FIG.

[0132] At box 828, the functionality includes determining the position of the mobile device using (a) the third pseudorange measurement of the third GNSS signal on the third GNSS carrier frequency and (b) the correction data associated with the two or more pseudorange measurements, the two or more pseudorange measurements including the first pseudorange measurement of the first GNSS signal on the first GNSS carrier frequency and the second pseudorange measurement of the second GNSS signal on the second GNSS carrier frequency. Using the correction data to determine the position of the mobile device in this manner may include correcting the third pseudorange measurement of the third GNSS signal on the third GNSS carrier frequency measured at the mobile device using the virtual pseudorange measurement for the third GNSS carrier frequency generated at the mobile device. The components for performing the functionality at box 828 may include, for example, at Fig.12 The GNSS receiver 1280, processor 1210 and / or memory 1260 illustrated in FIG.

[0133] Figure 8C is a flow chart of a method 830 performed at a mobile device for determining a position based on GNSS signals, further taking into account an estimate of a carrier phase, according to an aspect of the present disclosure. Figure 8C The steps shown in Fig. 8A , Figure 8B , Fig.8D The steps shown in or any combination thereof are performed to improve carrier phase estimation. Figure 8C The functional components illustrated in one or more of the blocks shown in may be performed by hardware and / or software components of the mobile device. Fig.12 Example components of a mobile device are illustrated in FIG. 4 and are described in more detail below.

[0134] At box 832, the functionality includes: using the communication interface to receive additional correction data associated with two or more carrier phase measurements, the two or more carrier phase measurements including (1) a first carrier phase measurement of the first GNSS signal received at the reference station at the first GNSS carrier frequency that is different from the first GNSS carrier frequency and (2) a second carrier phase measurement of the second GNSS signal received at the reference station at the second GNSS carrier frequency. The additional correction data received from the reference station or the correction server may include a virtual carrier phase measurement of the third GNSS signal at the third GNSS carrier frequency, the virtual carrier phase measurement generated at the reference station or the correction server based on the first carrier phase measurement and the second carrier phase measurement. Alternatively, the virtual carrier phase measurement of the third GNSS signal at the third GNSS carrier frequency may be generated at the mobile device. Components for performing the functionality at box 832 may include, for example, Fig.12 A global navigation satellite system (GNSS) receiver 1280 is illustrated in FIG.

[0135] At block 834, the functionality includes measuring the third GNSS signal received at the mobile device on the third GNSS carrier frequency to generate a third carrier phase measurement, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency. Means for performing the functionality at block 834 may include, for example, Fig.12 The GNSS receiver 1280, processor 1210 and / or memory 1260 illustrated in FIG.

[0136] At box 836, the functionality includes: wherein determining the position of the mobile device also includes: using (a) the third carrier phase measurement of the third GNSS signal on the third GNSS carrier frequency and (b) the additional correction data associated with the two or more carrier phase measurements, the two or more carrier phase measurements including the first carrier phase measurement of the first GNSS signal on the first GNSS carrier frequency and the second carrier phase measurement of the second GNSS signal on the second GNSS carrier frequency. Using the additional correction data to determine the position of the mobile device may include: using a virtual carrier phase measurement included in the additional correction data or generated at the mobile device to estimate the carrier phase offset in the third GNSS signal. The determination of the position of the mobile device may take into account the carrier phase offset in the third GNSS signal by including the carrier phase measurement. The components for performing the functionality at box 836 may include, for example, at Fig.12 The GNSS receiver 1280, processor 1210 and / or memory 1260 illustrated in FIG.

[0137] Fig.8D is a flow chart of a method 840 performed at a mobile device for determining a position based on GNSS signals taking into account an estimate of Doppler shift according to an aspect of the present disclosure. Fig.8D The steps shown in Fig. 8A , Figure 8B , Figure 8C The steps shown in or any combination thereof may be performed to improve Doppler shift estimation. Fig.8D The functional components illustrated in one or more of the blocks shown in may be performed by hardware and / or software components of the mobile device. Fig.12 Example components of a mobile device are illustrated in FIG. 4 and are described in more detail below.

[0138] At box 842, the functionality includes: using the communication interface to receive additional additional correction data associated with two or more Doppler shift measurements, the two or more Doppler shift measurements including (1) a first Doppler shift measurement for the first GNSS signal received at the reference station at the first GNSS carrier frequency different from the first GNSS carrier frequency and (2) a second Doppler shift measurement for the second GNSS signal received at the reference station at the second GNSS carrier frequency. The additional additional correction data received from the reference station or the correction server may include a virtual Doppler shift measurement for the third GNSS signal at the third GNSS carrier frequency, the virtual Doppler shift measurement generated at the reference station or the correction server based on the first Doppler shift measurement and the second Doppler shift measurement. Alternatively, the virtual Doppler shift measurement for the third GNSS signal at the third GNSS carrier frequency may be generated at the mobile device. Components for performing the functionality at box 842 may include, for example, Fig.12 A global navigation satellite system (GNSS) receiver 1280 is illustrated in FIG.

[0139] At block 844, the functionality includes measuring the third GNSS signal received at the mobile device on the third GNSS carrier frequency to generate a third Doppler shift measurement, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency. Means for performing the functionality at block 844 may include, for example, Fig.12 The GNSS receiver 1280, processor 1210 and / or memory 1260 illustrated in FIG.

[0140] At box 846, the functionality includes: wherein determining the position of the mobile device also includes: using (a) the third Doppler shift measurement of the third GNSS signal on the third GNSS carrier frequency and (b) the additional additional correction data associated with the two or more Doppler shift measurements, the two or more Doppler shift measurements including the first Doppler shift measurement of the first GNSS signal on the first GNSS carrier frequency and the second Doppler shift measurement of the second GNSS signal on the second GNSS carrier frequency. Using the additional additional correction data to determine the position of the mobile device may include: using a virtual Doppler shift measurement included in the additional additional correction data or generated at the mobile device to estimate the frequency offset in the third GNSS signal. The frequency offset may correspond to a Doppler shift associated with the relative velocity between the satellite vehicle and the mobile device. The determination of the position of the mobile device may take into account the frequency offset in the third GNSS signal by including the virtual Doppler shift measurement. The components for performing the functionality at box 846 may include, for example, at Fig.12 The GNSS receiver 1280, processor 1210 and / or memory 1260 illustrated in FIG.

[0141] Fig. 9 9 is a flow chart of a method 900 performed at a mobile device for determining a position based on GNSS signals taking into account an estimate of a carrier phase according to an aspect of the present disclosure. Figure 8C The functional components illustrated in one or more of the blocks shown in may be performed by hardware and / or software components of the mobile device. Fig.12 Example components of a mobile device are illustrated in FIG. 4 and are described in more detail below.

[0142] At box 910, the functionality includes: using the communication interface to receive correction data associated with two or more carrier phase measurements, the two or more carrier phase measurements including (1) a first carrier phase measurement of the first GNSS signal received at the reference station at the first GNSS carrier frequency different from the first GNSS carrier frequency and (2) a second carrier phase measurement of the second GNSS signal received at the reference station at the second GNSS carrier frequency. The correction data received from the reference station or the correction server may include a virtual carrier phase measurement of the third GNSS signal at the third GNSS carrier frequency, the virtual carrier phase measurement generated at the reference station or the correction server based on the first carrier phase measurement and the second carrier phase measurement. Alternatively, the virtual carrier phase measurement of the third GNSS signal at the third GNSS carrier frequency may be generated at the mobile device. Components for performing the functionality at box 910 may include, for example, Fig.12 A global navigation satellite system (GNSS) receiver 1280 is illustrated in FIG.

[0143] At block 920, the functionality includes measuring the third GNSS signal received at the mobile device on the third GNSS carrier frequency to generate a third carrier phase measurement, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency. Means for performing the functionality at block 920 may include, for example, Fig.12 The GNSS receiver 1280, processor 1210 and / or memory 1260 illustrated in FIG.

[0144] At box 930, the functionality includes: determining the position of the mobile device by considering: (a) the third carrier phase measurement of the third GNSS signal on the third GNSS carrier frequency and (b) the correction data associated with the two or more carrier phase measurements, the two or more carrier phase measurements including the first carrier phase measurement of the first GNSS signal on the first GNSS carrier frequency and the second carrier phase measurement of the second GNSS signal on the second GNSS carrier frequency. Using additional correction data to determine the position of the mobile device may include: estimating the carrier phase offset in the third GNSS signal using a virtual carrier phase measurement included in the additional correction data or generated at the mobile device. The determination of the position of the mobile device may take into account the carrier phase offset in the third GNSS signal by including the carrier phase measurement. The components for performing the functionality at box 836 may include, for example, at Fig.12 The GNSS receiver 1280, processor 1210 and / or memory 1260 illustrated in FIG.

[0145] Fig.10 is a flow chart of a method 1000 performed at a mobile device for determining a position based on GNSS signals taking into account an estimate of Doppler shift according to an aspect of the present disclosure. Fig.10 The functional components illustrated in one or more of the blocks shown in may be performed by hardware and / or software components of the mobile device. Fig.12 Example components of a mobile device are illustrated in FIG. 4 and are described in more detail below.

[0146] At block 1010, the functionality includes: using the communication interface to receive correction data associated with two or more Doppler shift measurements, the two or more Doppler shift measurements including (1) a first Doppler shift measurement for the first GNSS signal received at the reference station at the first GNSS carrier frequency different from the first GNSS carrier frequency and (2) a second Doppler shift measurement for the second GNSS signal received at the reference station at the second GNSS carrier frequency. The further additional correction data received from the reference station or the correction server may include a virtual Doppler shift measurement for the third GNSS signal at the third GNSS carrier frequency, the virtual Doppler shift measurement generated at the reference station or the correction server based on the first Doppler shift measurement and the second Doppler shift measurement. Alternatively, the virtual Doppler shift measurement for the third GNSS signal at the third GNSS carrier frequency may be generated at the mobile device. Components for performing the functionality at block 1010 may include, for example, Fig.12 A global navigation satellite system (GNSS) receiver 1280 is illustrated in FIG.

[0147] At block 1020, the functionality includes measuring the third GNSS signal received at the mobile device on the third GNSS carrier frequency to generate a third Doppler shift measurement, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency. Means for performing the functionality at block 1020 may include, for example, Fig.12 The GNSS receiver 1280, processor 1210 and / or memory 1260 illustrated in FIG.

[0148] At box 1030, the functionality includes determining the position of the mobile device by taking into account: (a) the third Doppler shift measurement of the third GNSS signal on the third GNSS carrier frequency and (b) the additional additional correction data associated with the two or more Doppler shift measurements, the two or more Doppler shift measurements including the first Doppler shift measurement of the first GNSS signal on the first GNSS carrier frequency and the second Doppler shift measurement of the second GNSS signal on the second GNSS carrier frequency. Using the correction data to determine the position of the mobile device may include estimating a frequency offset in the third GNSS signal using a virtual Doppler shift measurement included in the additional additional correction data or generated at the mobile device. The frequency offset may correspond to a Doppler shift associated with a relative velocity between the satellite vehicle and the mobile device. The determination of the position of the mobile device may take into account the frequency offset in the third GNSS signal by including the virtual Doppler shift measurement. The components for performing the functionality at box 1030 may include, for example, at Fig.12 The GNSS receiver 1280, the processor 1210 and / or the memory 1260 illustrated in

[0149] Fig.11 is a flow chart of a method 1100 performed at a reference station or server for providing correction data for GNSS signals according to an aspect of the present disclosure. An example of such a server is Figure 1 The correction server 180 illustrated in FIG. Fig.11 The functional components illustrated in one or more of the illustrated blocks may be performed by hardware and / or software components of the reference station. Example components of the reference station are illustrated in Fig.10 These example components are described in more detail below.

[0150] At block 1110, the functionality includes measuring to obtain two or more pseudorange measurements at the reference station or receiving the two or more pseudorange measurements at the server, the two or more pseudorange measurements including (1) a first pseudorange measurement of a first GNSS signal transmitted from a satellite vehicle on a first GNSS carrier frequency and received at the reference station and (2) a second pseudorange measurement of a second GNSS signal transmitted from the satellite vehicle on a second GNSS carrier frequency and received at the reference station. Components for performing the functionality at block 1110 may include, for example, Fig.10 The GNSS receiver 1030 and Fig.11 The communication subsystem 1130, processor 1110, and storage device 1125 illustrated in FIG. 1 are described in more detail below.

[0151] At block 1120, the functionality includes generating, at the reference station or the server, the correction data associated with the two or more pseudorange measurements, the two or more pseudorange measurements including the first pseudorange measurement of the first GNSS signal on the first GNSS carrier frequency and the second pseudorange measurement of the second GNSS signal on the second GNSS carrier frequency. Means for performing the functionality at block 1110 may include, for example Fig.10 The GNSS receiver 1030, the processor 1010 and / or the memory 1060 and Fig.11 The processor 1110 and storage device 1125 are illustrated in FIG.

[0152] At block 1130, the functionality includes transmitting the correction data from the reference station or the server to a mobile device, the mobile device configured to obtain a third pseudorange measurement of a third GNSS signal transmitted from the satellite vehicle on a third GNSS carrier frequency and received at the mobile device, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency. Means for performing the functionality at block 1130 may include, for example, Fig.10 The GNSS receiver 1030 and Fig.11 The communication subsystem 1130, processor 1110 and storage device 1125 are illustrated in FIG.

[0153] Fig.12 is a block diagram of an embodiment of a mobile device 110, which may be described herein above (e.g., in conjunction with Figures 1 to 5 ) is utilized as described in . For example, mobile device 110 may execute Figure 4 , Figure 5 and one or more of the functions of the method shown in FIG8. It should be noted that Fig.12It is intended only to provide a generalized illustration of the various components, any or all of which may be utilized as appropriate. Mobile devices 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 cases, Fig.12 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). In addition, as previously mentioned, the functionality of the mobile device discussed in the previously described embodiments may be provided by Fig.12 The invention may be executed by one or more of the hardware and / or software components illustrated in the specification.

[0154] Mobile device 110 is shown as including hardware elements that may be electrically coupled via bus 1205 (or may otherwise communicate as appropriate). The hardware elements may include a processor 1210, which may include, but is not limited to, one or more general-purpose processors (e.g., application processors), one or more special-purpose processors (such as digital signal processor (DSP) chips, graphics acceleration processors, application-specific integrated circuits (ASICs), etc.), and / or other processing structures or components. Processor 1210 may include one or more processing units, which may be housed in a single integrated circuit (IC) or multiple ICs. Fig.12 As shown, some embodiments may have a separate DSP 1220, depending on the desired functionality. Position determination and / or other determinations based on wireless communications may be provided in the processor 1210 and / or the wireless communication interface 1230 (discussed below). The mobile device 110 may also include one or more input devices 1270, which may include but are not limited to one or more keyboards, touch screens, touch pads, microphones, buttons, dials, and / or switches, etc.; and one or more output devices 1215, which may include but are not limited to one or more displays (e.g., touch screens), light emitting diodes (LEDs), and / or speakers, etc.

[0155] The mobile device 110 may further include a wireless communication interface 1230, 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 a Bluetooth® device, an IEEE 802.11 device, an IEEE 802.15.4 device, a Wi-Fi device, a WiMAX device, a WAN device and / or various cellular devices, etc.), etc., which may enable the mobile device 110 to communicate with the user through the wireless communication interface 1230 described above. Figure 1The wireless communication interface 1230 may allow data and signaling to be communicated (e.g., sent and received) with a network (e.g., via a WAN access point, a cellular reference station, and / or other access node types, and / or other network components, a computer system, and / or any other electronic device described herein). Communication may be performed via one or more wireless communication antennas 1232 that transmit and / or receive wireless signals 1234. According to some embodiments, the wireless communication antenna 1232 may include multiple discrete antennas, an antenna array, or any combination thereof.

[0156] Depending on the functionality required, the wireless communication interface 630 may include a separate transceiver, a separate receiver and transmitter, or any combination of transceivers, transmitters, and / or receivers to communicate with reference stations and other ground transceivers (such as wireless devices and access points). As previously described, the mobile device 110 can communicate with different data networks, which may include various network types. For example, the WWAN can be a 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, a WiMAX (IEEE802.16) network, etc. A CDMA network can implement one or more RATs, such as CDMA2000®, WCDMA, etc. CDMA2000® includes IS-95, IS-2000, and / or IS-856 standards. A TDMA network can implement GSM, a digital advanced mobile phone system (D-AMPS), or some other RAT. An OFDMA network can use LTE, advanced LTE, 5G NR, etc. 5G NR, LTE, Advanced LTE, GSM, and WCDMA are described in documents from 3GPP. CDMA2000® is described in documents from an organization named "3rd Generation Partnership Project 2" (3GPP2). 3GPP and 3GPP2 documents are publicly available. A wireless local area network (WLAN) may also be an IEEE 802.11x network, and a wireless personal area network (WPAN) may be a Bluetooth network, IEEE 802.15x, or some other type of network. The techniques described herein may also be used for any combination of WWAN, WLAN, and / or WPAN.

[0157] The mobile device 110 may also include sensors 1240. The sensors 1240 may include, but are 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 obtain location-related measurements and / or other information.

[0158] Embodiments of the mobile device 110 may also include a global navigation satellite system (GNSS) receiver 1280 that is capable of receiving signals 1284 from one or more GNSS satellites using an antenna 1282 (which may be the same as the antenna 1232). The GNSS receiver 1280 may use signals 1284 from GNSS SVs (e.g., SV 140) of one or more GNSS constellations and DGNSS-related data (e.g., correction data, which may include measurements made at the reference station and / or information derived from these measurements) provided by a reference station and / or service provider to perform measurements as described herein to determine a position fix for the mobile device 110. Examples of GNSS constellations include the Global Positioning System (GPS), Galileo, GLONASS, the Quasi-Zenith Satellite System (QZSS) over Japan, the IRNSS over India, and / or the BeiDou Navigation Satellite System (BDS) over China, among others. The GNSS receiver 1280 may perform measurements on the signals 1284 using an internal processing unit and / or in conjunction with processing performed by one or more processing units 1210. Thus, a position fix may be determined by the GNSS receiver 1280 itself or by the processing unit 1210 based on the output of the GNSS receiver 1280. The measurements of the signal 1284 may include raw measurements (e.g., uncorrected pseudoranges) and / or processed measurements (e.g., differential pseudorange measurements, pseudoranges combined with carrier phase, etc.). The GNSS receiver 1280 may be used for various augmentation systems (e.g., satellite-based augmentation systems (SBAS)) that may be associated with or otherwise enabled for use with one or more global and / or regional navigation satellite systems, such as the Wide Area Augmentation System (WAAS), the European Geostationary Navigation Overlay Service (EGNOS), the Multifunction Satellite Augmentation System (MSAS), and / or the Geographic Augmentation Navigation System (GAGAN), etc.

[0159] It may be pointed out that although Fig.121280 is illustrated as a different component, but the embodiments are not limited to this. As used herein, the term "GNSS receiver" may include hardware and / or software components configured to obtain GNSS measurements (measurements from GNSS satellites). Therefore, in some embodiments, the GNSS receiver may include (as software) a measurement engine executed by one or more processors (such as processor 1210, DSP 1220 and / or a processor within wireless communication interface 1230 (for example, in a modem)). The GNSS receiver may also optionally include a positioning engine that can use the GNSS measurements from the measurement engine to determine the orientation of the GNSS receiver using an extended Kalman filter (EKF), weighted least squares (WLS), a hatch filter, or a particle filter, etc. The positioning engine may also be executed by one or more processors such as processor 1210 or DSP 1220.

[0160] The mobile device 110 may be configured to receive measurements of signals (e.g., pseudo-random measurements and carrier phase measurements) and / or information derived therefrom (e.g., virtual pseudo-random measurements and carrier phase measurements) from the reference station 120 or the correction server 180 as correction data. The correction data may also include other DGNSS related data, such as the known position of the reference station 120. The mobile device 110 may receive such correction data directly from the reference station 120 using the wireless communication interface 930. Alternatively, the mobile device 110 may receive such correction data from the reference station 120 or the correction server 180 via a network entity (e.g., the data communication network 150) using the network interface 990. Here, the network interface 990 is also an example of a communication interface, but is based on wired communication rather than wireless communication.

[0161] The network interface 990 may support wired communication technology. The network interface 990 may include a modem, a network card, and / or a chipset. The network interface 990 may include one or more input and / or output communication interfaces to allow data to be exchanged with a network (e.g., data communication network 150), a communication network server, a computer system, and / or any other electronic device described herein.

[0162] The mobile device 110 may also include and / or be in communication with a memory 1260. The memory 1260 may include, but is 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 and / or flash-updatable, etc. Such storage devices may be configured to implement any suitable data storage, including but not limited to various file systems and / or database structures, etc.

[0163] The memory 1260 of the mobile device 110 may also include software elements ( Fig.12 ), 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 processes described for the methods discussed above may be implemented as code and / or instructions in memory 1260 that may be executed by mobile device 110 (and / or processor 1210 or DSP 1220 within mobile device 110). Then, in some embodiments, such code and / or instructions may 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.

[0164] Fig.13 is a block diagram of an embodiment of a reference station 120, which may be described herein above (e.g., in conjunction with Figures 1 to 5 ) is utilized as described in . For example, mobile device 110 may execute Figure 4 , Figure 5 and one or more of the functions of the method shown in FIG8. It should be noted that Fig.13 It is intended only to provide a generalized illustration of the various components, any or all of which may be utilized as appropriate. In some embodiments, reference station 120 may correspond to a gNB, ng-eNB, and / or (more generally) a TRP. In other embodiments, reference station 120 may not include any functionality associated with a gNB, ng-eNB, and / or a TRP.

[0165] Reference station 120 is shown as including hardware elements that may be electrically coupled via bus 1305 (or may be in communication in other ways as appropriate). The hardware elements may include processor 1310, which may include, but is not limited to, one or more general purpose processors, one or more special purpose processors (such as DSP chips, graphics acceleration processors and / or ASICs, etc.), and / or other processing structures or components. Fig.13As shown, some embodiments may have a separate DSP 1320, depending on the desired functionality. According to some embodiments, position determination and / or other determinations based on wireless communication may be provided in the processor 1310 and / or the wireless communication interface 1340. The wireless communication interface 1040 may use an antenna 1042 to send and receive wireless signals 1044. The reference station 120 may also include one or more input devices, which may include but are not limited to a keyboard, a display, a mouse, a microphone, buttons, dials, and / or switches, etc.; and one or more output devices, which may include but are not limited to a display, a light emitting diode (LED), and / or a speaker, etc.

[0166] Reference station 120 also includes a GNSS receiver 1330 capable of making measurements on signals 1334 received from one or more GNSS satellites (e.g., SV 140) using antenna 1332. The measurements on signals 1334 may include any type of signal described herein as being capable of being performed by a reference station (e.g., reference station 120). For example, the measurements on signals 1334 may include raw measurements (e.g., uncorrected pseudorange measurements and / or carrier phase measurements (which may or may not be disambiguated)) and / or processed measurements (e.g., differential pseudoranges, differential carrier phases, linear combinations of pseudoranges, linear combinations of carrier phases, etc.).

[0167] Reference station 120 may be configured to provide measurements of signals (e.g., pseudo-random and carrier phase measurements) and / or information derived therefrom (e.g., virtual pseudo-random measurements and carrier phase measurements) as correction data to a mobile device (e.g., mobile device 110). The correction data may also include other DGNSS-related data, such as a known position of reference station 120. Reference station 120 may communicate such correction data to a mobile device using wireless communication interface 1040 or through a network entity (e.g., data communication network 150) using network interface 1380.

[0168] The network interface 1380 may support wired communication technology. The network interface 1380 may include a modem, a network card, and / or a chipset. The network interface 1380 may include one or more input and / or output communication interfaces to allow data to be exchanged with a network (e.g., data communication network 150), a communication network server, a computer system, and / or any other electronic device described herein.

[0169] Reference station 120 may also include memory 1360. Memory 1360 may include, but is not limited to, local and / or network accessible storage, disk drives, drive arrays, optical storage devices, solid-state storage devices (such as RAM and / or ROM), which may be programmable and / or flash-updatable, etc. Such storage devices may be configured to implement any suitable data storage, including, but not limited to, various file systems and / or database structures, etc.

[0170] The memory 1360 of the reference station 120 may also include software elements ( Fig.13 13), including an operating system, device drivers, executable libraries, and / or other code (such as one or more application programs), which software elements may include computer programs provided by various embodiments and / or may be designed to implement methods provided by other embodiments and / or configure systems provided by other embodiments, as described herein. By way of example only, one or more processes described with respect to the methods discussed above may be implemented as code and / or instructions in memory 1360 that are executable by reference station 120 (and / or processor 1310 or DSP 1320 within reference station 120). Then, in some embodiments, such code and / or instructions may 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.

[0171] Fig.14 is a block diagram of an embodiment of a computer system 1400 that may be used, in whole or in part, to provide one or more network components (e.g., Figure 1 The function of the service provider 170. It should be noted that Fig.14 It is intended only to provide a generalized illustration of the various components, any or all of which may be utilized as appropriate. Fig.14 The broad illustrations show how various system elements can be implemented in a relatively separate or relatively more integrated manner. Fig.14 The illustrated components may be localized to a single device and / or distributed among various networked devices that may be located at different geographical locations.

[0172] The computer system 1400 is shown as including hardware elements that can be electrically coupled via a bus 1405 (or can communicate in other ways as appropriate). The hardware elements may include a processor 1410, 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 chips, graphics acceleration processors, etc.) and / or other processing structures, which can be configured to perform one or more of the methods described herein. The computer system 1400 may also include one or more input devices 1415, which may include but are not limited to a mouse, a keyboard, a camera and / or a microphone, etc.; and one or more output devices 1420, which may include but are not limited to a display device and / or a printer, etc.

[0173] The computer system 1400 may also include (and / or communicate with) one or more non-transitory storage devices 1425, which may include, but are not limited to, local and / or network accessible storage devices, and / or may include, but are not limited to, disk drives, drive arrays, optical storage devices, solid-state storage devices (such as RAM and / or ROM), which may be programmable and / or flash-updatable, etc. Such storage devices may be configured to implement any suitable data storage, including, but not limited to, various file systems and / or database structures, etc. Such data storage may include databases and / or other data structures for storing and managing messages and / or other information to be transmitted to one or more devices via the hub, as described herein.

[0174] The computer system 1400 may also include a communication subsystem 1430, which may include wireless communication technologies managed and controlled by a wireless communication interface 1433, as well as wired technologies (such as Ethernet, coaxial communication, universal serial bus (USB), etc.). The wireless communication interface 1433 may include one or more wireless transceivers, which may transmit and receive wireless signals 1455 (e.g., signals according to 5G NR or LTE) via a wireless antenna 1450. Therefore, the communication subsystem 1430 may include a modem, a network card (wireless or wired), an infrared communication device, a wireless communication device, and / or a chipset, etc., which may enable the computer system 1400 to communicate with any device on the corresponding network (including user equipment (UE), base station and / or other TRP, and / or any other electronic device described herein) on any or all of the communication networks described herein. Therefore, the communication subsystem 1430 can be used to receive and transmit data, as described in the embodiments herein.

[0175] In many embodiments, the computer system 1400 will also include a working memory 1435, which may include a RAM or ROM device, as described above. The software elements shown as being located within the working memory 1435 may include an operating system 1440, device drivers, executable libraries, and / or other code (such as one or more applications 1445), which may include computer programs provided by various embodiments, and / or these software elements may be designed to implement methods provided by other embodiments and / or configure systems provided by other embodiments, as described herein. By way of example only, one or more of the processes described with respect to the methods discussed above may be implemented as code and / or instructions that can be executed by a computer (and / or a processor within a computer); then, in one aspect, such code and / or instructions may 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.

[0176] The set of these instructions and / or codes may be stored on a non-transitory computer-readable storage medium (such as the storage device 1425 described above). In some cases, the storage medium may be incorporated into a computer system (such as computer system 1400). In other embodiments, the storage medium may be separate from the computer system (e.g., removable media such as an optical disk), and / or may be provided in an installation package so that the storage medium can be used to program, configure, and / or adapt a general-purpose computer having the instructions / codes stored therein. These instructions may take the form of executable code that can be executed by the computer system 1400, and / or may take the form of source code and / or installable code that, when compiled and / or installed on the computer system 1400 (e.g., using any of a variety of commonly available compilers, installers, compression / decompression utilities, etc.), takes the form of executable code.

[0177] 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.

[0178] With reference to the accompanying drawings, components that may include memory may include non-transitory 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 causes 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.

[0179] The methods, systems and devices discussed herein are examples. Various embodiments may omit, replace or add various processes or components as appropriate. For example, features described with respect to 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 accompanying 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.

[0180] It turns out that it is convenient to sometimes refer to such signals as bits, information, values, elements, symbols, characters, variables, terms, numbers or digital symbols, etc., mainly for reasons of common usage. However, it should be understood that all of these or similar terms should be associated with appropriate physical quantities and are merely convenient labels. Unless otherwise specifically stated, as is apparent from the above discussion, it should be understood that throughout this specification, discussions using terms such as "processing", "calculating", "calculating", "determining", "ascertaining", "identifying", "associating", "measuring", "performing", etc. refer to the actions or processes of a specific device such as a special-purpose computer or similar special-purpose electronic computing device. Therefore, 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 a special-purpose computer or similar special-purpose electronic computing device.

[0181] As used herein, the terms "and" and "or" may include multiple 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.

[0182] 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.

[0183] In view of this description, various embodiments may include different combinations of features. Specific implementation examples are described in the following numbered clauses:

[0184] Clause 1: A method performed at a mobile device for determining a position based on a global navigation satellite system (GNSS) signal, the method comprising: using a communication interface to receive correction data based on two or more pseudorange measurements, the two or more pseudorange measurements comprising (1) a first pseudorange measurement of a first GNSS signal transmitted from a satellite vehicle at a first GNSS carrier frequency and received at a reference station and (2) a second pseudorange measurement of a second GNSS signal transmitted from the satellite vehicle at a second GNSS carrier frequency and received at the reference station, the first GNSS carrier frequency being different from the second GNSS carrier frequency; and measuring a second pseudorange measurement of a second GNSS signal transmitted from the satellite vehicle at a third GNSS carrier frequency. a third GNSS signal transmitted and received at the mobile device to generate a third pseudorange measurement, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency; and determining the positioning of the mobile device using (a) the third pseudorange measurement of the third GNSS signal on the third GNSS carrier frequency and (b) the correction data based on the two or more pseudorange measurements, the two or more pseudorange measurements including the first pseudorange measurement of the first GNSS signal on the first GNSS carrier frequency and the second pseudorange measurement of the second GNSS signal on the second GNSS carrier frequency.

[0185] Clause 2: The method of clause 1, wherein the correction data comprises (1) the first pseudorange measurement and (2) the second pseudorange measurement.

[0186] Clause 3: The method of any of clauses 1 to 2, wherein the method further comprises: generating, at the mobile device, a virtual pseudorange measurement for the third GNSS carrier frequency.

[0187] Clause 4: The method of clause 1, wherein the correction data comprises virtual pseudorange measurements for the third GNSS carrier frequency generated at the reference station or server.

[0188] Clause 5: A method according to any one of clauses 1 to 4, wherein the correction data includes a virtual pseudorange measurement for the third GNSS carrier frequency or is used to generate the virtual pseudorange measurement for the third GNSS carrier frequency, the virtual pseudorange measurement being based on a linear combination of (1) the first pseudorange measurement of the first GNSS signal on the first GNSS carrier frequency and (2) the second pseudorange measurement of the second GNSS signal on the second GNSS carrier frequency.

[0189] Clause 6: The method of clause 5, wherein the linear combination used to generate the virtual pseudorange measurement is expressed by: , Where P L3 corresponding to the virtual pseudorange measurement for the third GNSS carrier frequency, P L1 corresponding to the first pseudorange measurement of the first GNSS signal on the first GNSS carrier frequency, P L2 corresponds to the second pseudorange measurement of the second GNSS signal on the second GNSS carrier frequency, and a and b are coefficients satisfying the following equation: and , Wherein f1 corresponds to the first GNSS carrier frequency, f2 corresponds to the second GNSS carrier frequency, and f3 corresponds to the third GNSS carrier frequency.

[0190] Clause 7: The method of clause 5, wherein the virtual pseudorange measurement for the third GNSS carrier frequency is generated by taking into account a differential code bias correction term.

[0191] Clause 8: The method of clause 7, wherein the method for generating comprises: The linear combination of the virtual pseudorange measurements of the differential code bias correction term is expressed as: .

[0192] Clause 9: The method of clause 8, wherein the differential code bias correction term Based on differential code deviations for the first GNSS carrier frequency, the second GNSS carrier frequency, and the third GNSS carrier frequency, respectively , and The known value of and expressed as: .

[0193] Clause 10: A method according to any one of clauses 1 to 9, wherein the method further comprises: using the communication interface to receive additional correction data based on two or more carrier phase measurements, the two or more carrier phase measurements comprising (1) a first carrier phase measurement of the first GNSS signal received at the reference station at the first GNSS carrier frequency different from the first GNSS carrier frequency and (2) a second carrier phase measurement of the second GNSS signal received at the reference station at the second GNSS carrier frequency; and measuring the third GNSS signal received at the mobile device at the third GNSS carrier frequency to generate a third carrier phase measurement, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency, wherein determining the positioning of the mobile device further comprises: using (a) the third carrier phase measurement of the third GNSS signal at the third GNSS carrier frequency and (b) the additional correction data based on the two or more carrier phase measurements, the two or more carrier phase measurements comprising the first carrier phase measurement of the first GNSS signal at the first GNSS carrier frequency and the second carrier phase measurement of the second GNSS signal at the second GNSS carrier frequency.

[0194] Clause 11: The method of clause 10, wherein the additional correction data comprises (1) the first carrier phase measurement and (2) the second carrier phase measurement.

[0195] Clause 12: The method of clause 11, wherein the method further comprises: generating, at the mobile device, a virtual carrier phase measurement for the third GNSS carrier frequency.

[0196] Clause 13: The method of clause 10, wherein the additional correction data comprises virtual carrier phase measurements for the third GNSS carrier frequency generated at the reference station or server.

[0197] Clause 14: A method according to any one of clauses 10 to 13, wherein the additional correction data includes a virtual carrier phase measurement for the third GNSS carrier frequency or is used to generate the virtual carrier phase measurement for the third GNSS carrier frequency, the virtual carrier phase measurement being based on a linear combination of (1) the first carrier phase measurement of the first GNSS signal on the first GNSS carrier frequency and (2) the second carrier phase measurement of the second GNSS signal on the second GNSS carrier frequency.

[0198] Clause 15: A method according to clause 14, wherein the linear combination used to generate the virtual carrier phase measurement for the third GNSS carrier frequency is expressed as: , in corresponding to the virtual carrier phase measurement for the third GNSS carrier frequency, corresponding to said first carrier phase measurement of said first GNSS signal on said first GNSS carrier frequency, corresponds to the second carrier phase measurement of the second GNSS signal at the second GNSS carrier frequency, and a and b are coefficients satisfying the following equation: and , Wherein f1 corresponds to the first GNSS carrier frequency, f2 corresponds to the second GNSS carrier frequency, and f3 corresponds to the third GNSS carrier frequency.

[0199] Clause 16: A method according to any one of clauses 1 to 15, wherein determining the position of the mobile device includes: performing a real-time kinematic (RTK) correction on the third carrier phase measurement using the correction data, the additional correction data, or both the correction data and the additional correction data.

[0200] Clause 17: A method according to any one of clauses 1 to 15, wherein determining the position of the mobile device includes: using the correction data, the additional correction data, or both the correction data and the additional correction data to perform a differential global navigation satellite (DGNSS) correction on the third pseudorange measurement.

[0201] Clause 18: A method according to any one of clauses 1 to 17, wherein the method further comprises: using the communication interface to receive additional correction data based on two or more Doppler shift measurements, the two or more Doppler shift measurements comprising (1) a first Doppler shift measurement of the first GNSS signal received at the reference station at the first GNSS carrier frequency different from the first GNSS carrier frequency and (2) a second Doppler shift measurement of the second GNSS signal received at the reference station at the second GNSS carrier frequency; and measuring the third GNSS signal received at the mobile device at the third GNSS carrier frequency to generate a first Doppler shift measurement. three Doppler shift measurements, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency, wherein determining the position of the mobile device further comprises: using (a) the third Doppler shift measurement of the third GNSS signal on the third GNSS carrier frequency and (b) the additional additional correction data based on the two or more Doppler shift measurements, the two or more Doppler shift measurements comprising the first Doppler shift measurement of the first GNSS signal on the first GNSS carrier frequency and the second Doppler shift measurement of the second GNSS signal on the second GNSS carrier frequency.

[0202] Clause 19: A method according to claim 18, wherein the additional additional correction data received from the reference station or the correction server includes a virtual Doppler shift measurement of the third GNSS signal on the third GNSS carrier frequency, and the virtual Doppler shift measurement is generated at the reference station or the correction server based on the first Doppler shift measurement and the second Doppler shift measurement.

[0203] Clause 20: The method of claim 18, further comprising generating, at the mobile device, a virtual Doppler shift measurement of the third GNSS signal on the third GNSS carrier frequency based on the first Doppler shift measurement and the second Doppler shift measurement.

[0204] Clause 21: A method according to any one of clauses 19 or 20, wherein using the additional correction data to determine the positioning of the mobile device may include: using the virtual Doppler shift measurement included in the additional correction data or generated at the mobile device to estimate the frequency offset in the third GNSS signal, and determining the positioning of the mobile device taking into account the frequency offset in the third GNSS signal.

[0205] Clause 22: The method of any one of clauses 1 to 21, wherein the mobile device is within a predetermined proximity of the reference station.

[0206] Clause 23: A method for providing correction data for a global navigation satellite system (GNSS) signal, performed at a reference station or a server, the method comprising: measuring to obtain two or more pseudorange measurements at the reference station or receiving the two or more pseudorange measurements at the server, the two or more pseudorange measurements comprising (1) a first pseudorange measurement of a first GNSS signal transmitted from a satellite vehicle at a first GNSS carrier frequency and received at the reference station and (2) a second pseudorange measurement of a second GNSS signal transmitted from the satellite vehicle at a second GNSS carrier frequency and received at the reference station, the first GNSS carrier frequency being different from the second GNSS carrier frequency; at the reference station or the server, generating the correction data based on the two or more pseudorange measurements, the two or more pseudorange measurements including the first pseudorange measurement of the first GNSS signal on the first GNSS carrier frequency and the second pseudorange measurement of the second GNSS signal on the second GNSS carrier frequency; and transmitting the correction data from the reference station or the server to a mobile device, the mobile device being configured to obtain a third pseudorange measurement of a third GNSS signal transmitted from the satellite vehicle and received at the mobile device on a third GNSS carrier frequency, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency.

[0207] Clause 24: A method according to clause 23, wherein the method further comprises: measuring to obtain two or more carrier phase measurements at the reference station or receiving the two or more carrier phase measurements at the server, the two or more carrier phase measurements comprising (1) a first carrier phase measurement of the first GNSS signal received at the reference station on the first GNSS carrier frequency and (2) a second carrier phase measurement of the second GNSS signal received at the reference station on the second GNSS carrier frequency; generating additional correction data based on the two or more carrier phase measurements at the reference station or the server, the two or more carrier phase measurements comprising the first carrier phase measurement of the first GNSS signal on the first GNSS carrier frequency and the second carrier phase measurement of the second GNSS signal on the second GNSS carrier frequency; and transmitting the additional correction data from the reference station or the server to the mobile device, wherein the mobile device is configured to obtain a third carrier phase measurement of the third GNSS signal received at the mobile device on the third GNSS carrier frequency, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency.

[0208] Clause 25: The method of any of clauses 23 or 24, wherein the mobile device is within a predetermined proximity of the reference station.

[0209] Clause 26: A mobile device for determining a position based on a Global Navigation Satellite System (GNSS) signal, the mobile device comprising: a communication interface configured to receive correction data based on two or more pseudorange measurements, the two or more pseudorange measurements comprising (1) a first pseudorange measurement of a first GNSS signal transmitted from a satellite vehicle at a first GNSS carrier frequency and received at a reference station and (2) a second pseudorange measurement of a second GNSS signal transmitted from the satellite vehicle at a second GNSS carrier frequency and received at the reference station, the first GNSS carrier frequency being different from the second GNSS carrier frequency; and a GNSS receiver configured to measure a third GNSS signal transmitted from the satellite vehicle at a third GNSS carrier frequency and received at the GNSS receiver. S signal to generate a third pseudorange measurement, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency; a memory; and one or more processing units, the one or more processing units being communicatively coupled to the communication interface, the GNSS receiver, and the memory, the one or more processing units being configured to determine the positioning of the mobile device using (a) the third pseudorange measurement of the third GNSS signal on the third GNSS carrier frequency and (b) the correction data based on the two or more pseudorange measurements, the two or more pseudorange measurements including the first pseudorange measurement of the first GNSS signal on the first GNSS carrier frequency and the second pseudorange measurement of the second GNSS signal on the second GNSS carrier frequency.

[0210] Clause 27: The mobile device of clause 26, wherein the correction data comprises (1) the first pseudorange measurement and (2) the second pseudorange measurement.

[0211] Clause 28: The mobile device of clause 27, wherein the one or more processing units are further configured to: generate virtual pseudorange measurements for the third GNSS carrier frequency.

[0212] Clause 29: The mobile device of clause 26, wherein the correction data comprises virtual pseudorange measurements for the third GNSS carrier frequency generated at the reference station or server.

[0213] Clause 30: A mobile device according to any one of clauses 26 to 29, wherein the correction data includes a virtual pseudorange measurement or is used to generate the virtual pseudorange measurement, wherein the virtual pseudorange measurement is based on a linear combination of (1) the first pseudorange measurement of the first GNSS signal on the first GNSS carrier frequency and (2) the second pseudorange measurement of the second GNSS signal on the second GNSS carrier frequency.

[0214] Clause 31: A mobile device according to any of clauses 26 to 30, wherein the communication interface is further configured to receive additional correction data based on two or more carrier phase measurements, the two or more carrier phase measurements comprising (1) a first carrier phase measurement of the first GNSS signal received at the reference station on the first GNSS carrier frequency different from the first GNSS carrier frequency and (2) a second carrier phase measurement of the second GNSS signal received at the reference station on the second GNSS carrier frequency, the GNSS receiver being further configured to measure the third GNSS signal received at the GNSS receiver on the third GNSS carrier frequency to generate a third carrier phase measurement. The one or more processing units are further configured to determine the positioning of the mobile device by further using (a) the third carrier phase measurement of the third GNSS signal on the third GNSS carrier frequency and (b) the additional correction data based on the two or more carrier phase measurements, the two or more carrier phase measurements including the first carrier phase measurement of the first GNSS signal on the first GNSS carrier frequency and the second carrier phase measurement of the second GNSS signal on the second GNSS carrier frequency.

[0215] Clause 32: The mobile device of clause 31, wherein the additional correction data comprises (1) the first carrier phase measurement and (2) the second carrier phase measurement.

[0216] Clause 33: The mobile device of clause 32, wherein the one or more processing units are further configured to: generate, at the mobile device, a virtual carrier phase measurement for the third GNSS carrier frequency.

[0217] Clause 34: The mobile device of clause 31, wherein the additional correction data comprises a virtual carrier phase measurement for the third GNSS carrier frequency generated at the reference station or server.

[0218] Clause 35: A mobile device as recited in any one of clauses 26 to 34, wherein the mobile device is within a predetermined proximity of the reference station.

[0219] Clause 36: An apparatus for determining a location of a mobile device based on Global Navigation Satellite System (GNSS) signals, the apparatus comprising: means for receiving correction data based on two or more pseudorange measurements, the two or more pseudorange measurements comprising (1) a first pseudorange measurement of a first GNSS signal transmitted from a satellite vehicle at a first GNSS carrier frequency and received at a reference station and (2) a second pseudorange measurement of a second GNSS signal transmitted from the satellite vehicle at a second GNSS carrier frequency and received at the reference station, the first GNSS carrier frequency being different from the second GNSS carrier frequency; and means for measuring a second pseudorange measurement of a second GNSS signal transmitted from the satellite vehicle at a third GNSS carrier frequency and received at the reference station. a third GNSS signal received at the mobile device to generate a third pseudorange measurement, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency; and a component for determining the positioning of the mobile device using (a) the third pseudorange measurement of the third GNSS signal on the third GNSS carrier frequency and (b) the correction data based on the two or more pseudorange measurements, the two or more pseudorange measurements including the first pseudorange measurement of the first GNSS signal on the first GNSS carrier frequency and the second pseudorange measurement of the second GNSS signal on the second GNSS carrier frequency.

[0220] Clause 37: The apparatus of clause 36, wherein the mobile device is within a predetermined proximity of the reference station.

[0221] Clause 38: A method performed at a mobile device for determining a position based on a global navigation satellite system (GNSS) signal, the method comprising: using a communication interface to receive correction data associated with two or more satellite signal measurements, the two or more satellite signal measurements comprising (1) a first satellite signal measurement of a first GNSS signal transmitted from a satellite vehicle at a first GNSS carrier frequency and received at a reference station and (2) a second satellite signal measurement of a second GNSS signal transmitted from the satellite vehicle at a second GNSS carrier frequency and received at the reference station, the first GNSS carrier frequency being different from the second GNSS carrier frequency; and measuring a second satellite signal measurement of a second GNSS signal transmitted from the satellite vehicle at a third GNSS carrier frequency. the first GNSS signal being transmitted and received at the mobile device to generate third satellite signal measurements, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency; and determining the position of the mobile device using (a) the third satellite signal measurements of the third GNSS signal on the third GNSS carrier frequency and (b) the correction data associated with the two or more satellite signal measurements, the two or more satellite signal measurements comprising the first satellite signal measurements of the first GNSS signal on the first GNSS carrier frequency and the second satellite signal measurements of the second GNSS signal on the second GNSS carrier frequency.

[0222] Clause 39: The method of clause 38, wherein: the first satellite signal measurement comprises a first pseudorange measurement, the second satellite signal measurement comprises a second pseudorange measurement, and the third satellite signal measurement comprises a third pseudorange measurement.

[0223] Clause 40: The method of clause 38, wherein: the first satellite signal measurement comprises a first carrier phase measurement, the second satellite signal measurement comprises a second carrier phase measurement, and the third satellite signal measurement comprises a third carrier phase measurement.

[0224] Clause 41: The method of clause 38, wherein: the first satellite signal measurement comprises a first Doppler shift measurement, the second satellite signal measurement comprises a second Doppler shift measurement, and the third satellite signal measurement comprises a third Doppler shift measurement.

[0225] Clause 42: A method for providing correction data for a global navigation satellite system (GNSS) signal, performed at a reference station or a server, the method comprising: measuring to obtain two or more satellite signal measurements at the reference station or receiving the two or more satellite signal measurements at the server, the two or more satellite signal measurements comprising (1) a first satellite signal measurement of a first GNSS signal transmitted from a satellite vehicle at a first GNSS carrier frequency and received at the reference station and (2) a second satellite signal measurement of a second GNSS signal transmitted from the satellite vehicle at a second GNSS carrier frequency and received at the reference station, the first GNSS carrier frequency being different from the second GNSS carrier frequency; at the reference station or generating at the server the correction data associated with the two or more satellite signal measurements, the two or more satellite signal measurements comprising the first satellite signal measurement of the first GNSS signal on the first GNSS carrier frequency and the second satellite signal measurement of the second GNSS signal on the second GNSS carrier frequency; and transmitting from the reference station or the server to a mobile device, the mobile device being configured to obtain a third satellite signal measurement of a third GNSS signal transmitted from the satellite vehicle on a third GNSS carrier frequency and received at the mobile device, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency.

[0226] Clause 43: The method of clause 42, wherein: the first satellite signal measurement comprises a first pseudorange measurement, the second satellite signal measurement comprises a second pseudorange measurement, and the third satellite signal measurement comprises a third pseudorange measurement.

[0227] Clause 44: The method of clause 42, wherein: the first satellite signal measurement comprises a first carrier phase measurement, the second satellite signal measurement comprises a second carrier phase measurement, and the third satellite signal measurement comprises a third carrier phase measurement.

[0228] Clause 45: The method of clause 42, wherein: the first satellite signal measurement comprises a first Doppler shift measurement, the second satellite signal measurement comprises a second Doppler shift measurement, and the third satellite signal measurement comprises a third Doppler shift measurement.

[0229] Clause 46: A mobile device for determining a position based on a global navigation satellite system (GNSS) signal, the mobile device comprising: a communication interface configured to receive correction data associated with two or more satellite signal measurements, the two or more satellite signal measurements comprising (1) a first satellite signal measurement of a first GNSS signal transmitted from a satellite vehicle on a first GNSS carrier frequency and received at a reference station and (2) a second satellite signal measurement of a second GNSS signal transmitted from the satellite vehicle on a second GNSS carrier frequency and received at the reference station, the first GNSS carrier frequency being different from the second GNSS carrier frequency; and a GNSS receiver configured to measure a third GNSS signal transmitted from the satellite vehicle on a third GNSS carrier frequency and received at the GNSS receiver. a first GNSS carrier frequency signal to generate a third satellite signal measurement, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency; a memory; and one or more processing units communicatively coupled to the communication interface, the GNSS receiver, and the memory, the one or more processing units configured to determine the position of the mobile device using (a) the third satellite signal measurement of the third GNSS signal on the third GNSS carrier frequency and (b) the correction data associated with the two or more satellite signal measurements, the two or more satellite signal measurements comprising the first satellite signal measurement of the first GNSS signal on the first GNSS carrier frequency and the second satellite signal measurement of the second GNSS signal on the second GNSS carrier frequency.

[0230] Clause 47: The mobile device of clause 46, wherein: the first satellite signal measurement comprises a first pseudorange measurement, the second satellite signal measurement comprises a second pseudorange measurement, and the third satellite signal measurement comprises a third pseudorange measurement.

[0231] Clause 48: The mobile device of clause 46, wherein: the first satellite signal measurement comprises a first carrier phase measurement, the second satellite signal measurement comprises a second carrier phase measurement, and the third satellite signal measurement comprises a third carrier phase measurement.

[0232] Clause 49: The mobile device of clause 46, wherein: the first satellite signal measurement comprises a first Doppler shift measurement, the second satellite signal measurement comprises a second Doppler shift measurement, and the third satellite signal measurement comprises a third Doppler shift measurement.

[0233] Clause 50: An apparatus for determining a position associated with a global navigation satellite system (GNSS) signal for a mobile device, the apparatus comprising: means for receiving correction data based on two or more satellite signal measurements, the two or more satellite signal measurements comprising (1) a first satellite signal measurement of a first GNSS signal transmitted from a satellite vehicle at a first GNSS carrier frequency and received at a reference station and (2) a second satellite signal measurement of a second GNSS signal transmitted from the satellite vehicle at a second GNSS carrier frequency and received at the reference station, the first GNSS carrier frequency being different from the second GNSS carrier frequency; and means for measuring a second GNSS signal transmitted from the satellite vehicle at a third GNSS carrier frequency and received at the reference station. components for generating third satellite signal measurements of a third GNSS signal received at a mobile device, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency; and components for determining the position of the mobile device using (a) the third satellite signal measurement of the third GNSS signal on the third GNSS carrier frequency and (b) the correction data associated with the two or more satellite signal measurements, the two or more satellite signal measurements including the first satellite signal measurement of the first GNSS signal on the first GNSS carrier frequency and the second satellite signal measurement of the second GNSS signal on the second GNSS carrier frequency.

[0234] Clause 51: The apparatus of clause 50, wherein: the first satellite signal measurement comprises a first pseudorange measurement, the second satellite signal measurement comprises a second pseudorange measurement, and the third satellite signal measurement comprises a third pseudorange measurement.

[0235] Clause 52: The apparatus of clause 50, wherein: the first satellite signal measurement comprises a first carrier phase measurement, the second satellite signal measurement comprises a second carrier phase measurement, and the third satellite signal measurement comprises a third carrier phase measurement.

[0236] Clause 53: The apparatus of clause 50, wherein: the first satellite signal measurement comprises a first Doppler shift measurement, the second satellite signal measurement comprises a second Doppler shift measurement, and the third satellite signal measurement comprises a third Doppler shift measurement.

Claims

1. A method performed at a mobile device for determining a position based on a Global Navigation Satellite System (GNSS) signal, the method comprising: receiving, using a communication interface, correction data associated with two or more pseudorange measurements, the two or more pseudorange measurements comprising (1) a first pseudorange measurement of a first GNSS signal transmitted from a satellite vehicle at a first GNSS carrier frequency and received at a reference station and (2) a second pseudorange measurement of a second GNSS signal transmitted from the satellite vehicle at a second GNSS carrier frequency and received at the reference station, the first GNSS carrier frequency being different from the second GNSS carrier frequency; measuring a third GNSS signal transmitted from the satellite vehicle and received at the mobile device on a third GNSS carrier frequency different from the first GNSS carrier frequency and different from the second GNSS carrier frequency to generate a third pseudorange measurement; as well as The positioning of the mobile device is determined using (a) the third pseudorange measurement of the third GNSS signal on the third GNSS carrier frequency and (b) the correction data associated with the two or more pseudorange measurements, wherein the two or more pseudorange measurements include the first pseudorange measurement of the first GNSS signal on the first GNSS carrier frequency and the second pseudorange measurement of the second GNSS signal on the second GNSS carrier frequency.

2. The method of claim 1, wherein the correction data comprises (1) the first pseudorange measurement and (2) the second pseudorange measurement.

3. The method according to claim 2, wherein the method further comprises: A virtual pseudorange measurement is generated at the mobile device for the third GNSS carrier frequency. 4 . The method of claim 1 , wherein the correction data comprises virtual pseudorange measurements for the third GNSS carrier frequency generated at the reference station or server.

5. The method of claim 1 , wherein the correction data comprises or is used to generate a virtual pseudorange measurement for the third GNSS carrier frequency, the virtual pseudorange measurement being based on a linear combination of (1) the first pseudorange measurement for the first GNSS signal on the first GNSS carrier frequency and (2) the second pseudorange measurement for the second GNSS signal on the second GNSS carrier frequency.

6. The method of claim 5, wherein the linear combination used to generate the virtual pseudorange measurement is expressed by: ， in corresponding to the virtual pseudorange measurement for the third GNSS carrier frequency, corresponding to said first pseudorange measurement of said first GNSS signal on said first GNSS carrier frequency, corresponds to the second pseudorange measurement of the second GNSS signal on the second GNSS carrier frequency, and and is the coefficient that satisfies the following formula: and ， in corresponding to the first GNSS carrier frequency, corresponds to the second GNSS carrier frequency, and Corresponding to the third GNSS carrier frequency. 7 . The method of claim 5 , wherein the virtual pseudorange measurement for the third GNSS carrier frequency is generated by taking into account a differential code bias correction term.

8. The method according to claim 7, wherein the method for generating comprises: The linear combination of the virtual pseudorange measurements of the differential code bias correction term is expressed as: 。 9. The method of claim 8, wherein the differential code bias correction term Based on differential code deviations for the first GNSS carrier frequency, the second GNSS carrier frequency, and the third GNSS carrier frequency, respectively , and The known value of and expressed as: 。 10. The method according to claim 1, wherein the method further comprises: receiving, using the communication interface, additional correction data associated with two or more carrier phase measurements, the two or more carrier phase measurements comprising (1) a first carrier phase measurement of the first GNSS signal received at the reference station at the first GNSS carrier frequency different from the first GNSS carrier frequency and (2) a second carrier phase measurement of the second GNSS signal received at the reference station at the second GNSS carrier frequency; as well as measuring the third GNSS signal received at the mobile device on the third GNSS carrier frequency to generate a third carrier phase measurement, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency, Wherein determining the positioning of the mobile device further comprises using (a) the third carrier phase measurement of the third GNSS signal on the third GNSS carrier frequency and (b) the additional correction data associated with the two or more carrier phase measurements, wherein the two or more carrier phase measurements include the first carrier phase measurement of the first GNSS signal on the first GNSS carrier frequency and the second carrier phase measurement of the second GNSS signal on the second GNSS carrier frequency.

11. The method of claim 10, wherein the additional correction data comprises (1) the first carrier phase measurement and (2) the second carrier phase measurement.

12. The method according to claim 11, wherein the method further comprises: A virtual carrier phase measurement is generated at the mobile device for the third GNSS carrier frequency.

13. The method of claim 10, wherein the additional correction data comprises a virtual carrier phase measurement for the third GNSS carrier frequency generated at the reference station or server.

14. The method of claim 10, wherein the additional correction data comprises a virtual carrier phase measurement for the third GNSS carrier frequency or is used to generate the virtual carrier phase measurement for the third GNSS carrier frequency, the virtual carrier phase measurement being based on a linear combination of (1) the first carrier phase measurement of the first GNSS signal on the first GNSS carrier frequency and (2) the second carrier phase measurement of the second GNSS signal on the second GNSS carrier frequency.

15. The method of claim 14, wherein the linear combination used to generate the virtual carrier phase measurement for the third GNSS carrier frequency is expressed as: ， in corresponding to the virtual carrier phase measurement for the third GNSS carrier frequency, corresponding to said first carrier phase measurement of said first GNSS signal on said first GNSS carrier frequency, corresponds to the second carrier phase measurement of the second GNSS signal on the second GNSS carrier frequency, and and is the coefficient that satisfies the following formula: and ， in corresponding to the first GNSS carrier frequency, corresponds to the second GNSS carrier frequency, and Corresponding to the third GNSS carrier frequency.

16. The method of claim 10, wherein determining the location of the mobile device comprises: A real-time kinematic (RTK) correction is performed on the third carrier phase measurement using the correction data, the additional correction data, or both the correction data and the additional correction data.

17. The method of claim 10, wherein determining the location of the mobile device comprises: A differential global navigation satellite (DGNSS) correction is performed on the third pseudorange measurement using the correction data, the additional correction data, or both.

18. The method according to claim 1, wherein the method further comprises: receiving, using the communication interface, further additional correction data associated with two or more Doppler shift measurements, the two or more Doppler shift measurements comprising (1) a first Doppler shift measurement for the first GNSS signal received at the reference station on the first GNSS carrier frequency different from the first GNSS carrier frequency and (2) a second Doppler shift measurement for the second GNSS signal received at the reference station on the second GNSS carrier frequency; as well as measuring the third GNSS signal received at the mobile device on the third GNSS carrier frequency to generate a third Doppler shift measurement, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency, Wherein determining the positioning of the mobile device further comprises using (a) the third Doppler shift measurement of the third GNSS signal on the third GNSS carrier frequency and (b) the additional additional correction data associated with the two or more Doppler shift measurements, wherein the two or more Doppler shift measurements include the first Doppler shift measurement of the first GNSS signal on the first GNSS carrier frequency and the second Doppler shift measurement of the second GNSS signal on the second GNSS carrier frequency.

19. A method performed at a reference station or server for providing correction data for a Global Navigation Satellite System (GNSS) signal, the method comprising: measuring to obtain two or more pseudorange measurements at the reference station or receiving the two or more pseudorange measurements at the server, the two or more pseudorange measurements comprising (1) a first pseudorange measurement of a first GNSS signal transmitted from a satellite vehicle at a first GNSS carrier frequency and received at the reference station and (2) a second pseudorange measurement of a second GNSS signal transmitted from the satellite vehicle at a second GNSS carrier frequency and received at the reference station, the first GNSS carrier frequency being different from the second GNSS carrier frequency; generating, at the reference station or the server, the correction data associated with the two or more pseudorange measurements, the two or more pseudorange measurements comprising the first pseudorange measurement for the first GNSS signal on the first GNSS carrier frequency and the second pseudorange measurement for the second GNSS signal on the second GNSS carrier frequency; as well as The correction data is transmitted from the reference station or the server to a mobile device, the mobile device being configured to obtain a third pseudorange measurement of a third GNSS signal transmitted from the satellite vehicle on a third GNSS carrier frequency and received at the mobile device, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency.

20. The method of claim 19, wherein the step of measuring to obtain the two or more pseudorange measurements is performed at the reference station and the step of generating and transmitting the correction data is performed at the server.

21. The method of claim 19, wherein the steps of measuring to obtain the two or more pseudorange measurements, generating the correction data, and transmitting the correction data are performed at the reference station.

22. The method according to claim 19, wherein the method further comprises: measuring to obtain two or more carrier phase measurements at the reference station or receiving the two or more carrier phase measurements at the server, the two or more carrier phase measurements comprising (1) a first carrier phase measurement of the first GNSS signal received at the reference station on the first GNSS carrier frequency and (2) a second carrier phase measurement of the second GNSS signal received at the reference station on the second GNSS carrier frequency; generating, at the reference station or the server, additional correction data associated with the two or more carrier phase measurements, the two or more carrier phase measurements comprising the first carrier phase measurement of the first GNSS signal on the first GNSS carrier frequency and the second carrier phase measurement of the second GNSS signal on the second GNSS carrier frequency; as well as The additional correction data is transmitted from the reference station or the server to the mobile device, wherein the mobile device is configured to obtain a third carrier phase measurement of the third GNSS signal received at the mobile device on the third GNSS carrier frequency, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency.

23. The method of claim 22, wherein the step of measuring to obtain the two or more carrier phase measurements is performed at the reference station and the step of generating and transmitting the additional correction data is performed at the server.

24. The method of claim 22, wherein the steps of measuring to obtain the two or more carrier phase measurements, generating the additional correction data, and transmitting the additional correction data are performed at the reference station.

25. A mobile device for determining a position based on a global navigation satellite system (GNSS) signal, the mobile device comprising: a communication interface configured to receive correction data associated with two or more pseudorange measurements, the two or more pseudorange measurements comprising (1) a first pseudorange measurement of a first GNSS signal transmitted from a satellite vehicle at a first GNSS carrier frequency and received at a reference station and (2) a second pseudorange measurement of a second GNSS signal transmitted from the satellite vehicle at a second GNSS carrier frequency and received at the reference station, the first GNSS carrier frequency being different from the second GNSS carrier frequency; a GNSS receiver configured to measure third GNSS signals transmitted from the satellite vehicle and received at the GNSS receiver on a third GNSS carrier frequency different from the first GNSS carrier frequency and different from the second GNSS carrier frequency to generate third pseudorange measurements; Memory; and and one or more processing units communicatively coupled to the communication interface, the GNSS receiver, and the memory, the one or more processing units configured to determine the position of the mobile device using (a) the third pseudorange measurement of the third GNSS signal on the third GNSS carrier frequency and (b) the correction data associated with the two or more pseudorange measurements, the two or more pseudorange measurements including the first pseudorange measurement of the first GNSS signal on the first GNSS carrier frequency and the second pseudorange measurement of the second GNSS signal on the second GNSS carrier frequency.

26. The mobile device of claim 25, wherein the correction data comprises (1) the first pseudorange measurement and (2) the second pseudorange measurement.

27. The mobile device of claim 26, wherein the one or more processing units are further configured to: A virtual pseudorange measurement is generated for the third GNSS carrier frequency.

28. The mobile device of claim 25, wherein the correction data comprises virtual pseudorange measurements for the third GNSS carrier frequency generated at the reference station or server.

29. The mobile device of claim 25, wherein the correction data comprises or is used to generate a virtual pseudorange measurement based on a linear combination of (1) the first pseudorange measurement for the first GNSS signal at the first GNSS carrier frequency and (2) the second pseudorange measurement for the second GNSS signal at the second GNSS carrier frequency.

30. The mobile device of claim 25, wherein: The communication interface is further configured to receive additional correction data associated with two or more carrier phase measurements, the two or more carrier phase measurements comprising (1) a first carrier phase measurement of the first GNSS signal received at the reference station on the first GNSS carrier frequency different from the first GNSS carrier frequency and (2) a second carrier phase measurement of the second GNSS signal received at the reference station on the second GNSS carrier frequency, The GNSS receiver is further configured to measure the third GNSS signal received at the GNSS receiver on the third GNSS carrier frequency to generate a third carrier phase measurement, the third GNSS carrier frequency being different from the first GNSS carrier frequency and different from the second GNSS carrier frequency, and The one or more processing units are also configured to determine the positioning of the mobile device by further using (a) the third carrier phase measurement of the third GNSS signal on the third GNSS carrier frequency and (b) the additional correction data associated with the two or more carrier phase measurements, wherein the two or more carrier phase measurements include the first carrier phase measurement of the first GNSS signal on the first GNSS carrier frequency and the second carrier phase measurement of the second GNSS signal on the second GNSS carrier frequency.

31. The mobile device of claim 30, wherein the additional correction data comprises (1) the first carrier phase measurement and (2) the second carrier phase measurement.

32. The mobile device of claim 31 , wherein the one or more processing units are further configured to: A virtual carrier phase measurement is generated at the mobile device for the third GNSS carrier frequency.

33. The mobile device of claim 30, wherein the additional correction data comprises a virtual carrier phase measurement for the third GNSS carrier frequency generated at the reference station or server.

34. An apparatus for determining a location of a mobile device associated with a Global Navigation Satellite System (GNSS) signal, the apparatus comprising: means for receiving correction data based on two or more pseudorange measurements, the two or more pseudorange measurements comprising (1) a first pseudorange measurement of a first GNSS signal transmitted from a satellite vehicle at a first GNSS carrier frequency and received at a reference station and (2) a second pseudorange measurement of a second GNSS signal transmitted from the satellite vehicle at a second GNSS carrier frequency and received at the reference station, the first GNSS carrier frequency being different from the second GNSS carrier frequency; means for measuring a third GNSS signal transmitted from the satellite vehicle and received at the mobile device on a third GNSS carrier frequency different from the first GNSS carrier frequency and different from the second GNSS carrier frequency to generate a third pseudorange measurement; and means for determining the position of the mobile device using (a) the third pseudorange measurement of the third GNSS signal on the third GNSS carrier frequency and (b) the correction data associated with the two or more pseudorange measurements, the two or more pseudorange measurements comprising the first pseudorange measurement of the first GNSS signal on the first GNSS carrier frequency and the second pseudorange measurement of the second GNSS signal on the second GNSS carrier frequency.

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