Reference transition between receiver navigation modes for guided planning

Abstract

And an electronic data processor (530), the reference frame converter (513) configured to transform or convert a second position in the PPP reference frame to a transformed second position in the general reference frame. The electronic data processor (530) is configured to assign identifiers to the first location observations and the second location observations, wherein the identifiers indicate whether the observations are associated with a guide path or a boundary of a field or work area.

Description

Related applications

[0001] This application claims priority to U.S. non-provisional application No. 18 / 363,274, filed on August 1, 2023, which claims priority to and the benefit of U.S. provisional application No. 63 / 480,851, filed on January 20, 2023, and U.S. provisional application No. 63 / 504,214, filed on May 25, 2023, which are hereby incorporated by reference into this document. Technical Field

[0002] The present disclosure relates to a reference transition between receiver navigation modes for guidance planning. Background Art

[0003] In some existing technologies, mobile Global Navigation Satellite System (GNSS) receivers can operate in different modes. For example, in Real-Time Kinematic (RTK) mode, a mobile GNSS receiver requires correction data from a local reference GNSS receiver base station via a wireless channel. In Precise Point Positioning (PPP) mode, or another differential correction mode, a mobile GNSS receiver can relay correction data from a network of stationary reference GNSS receivers distributed around the world to one or more central data processing hubs. If a mobile GNSS receiver operating in PPP mode attempts to reuse guidance lines or boundaries collected in RTK mode, or vice versa, the guidance lines are not interchangeable or compatible. For example, RTK positions observed in RTK mode do not necessarily align with PPP positions observed in PPP mode; positions are susceptible to changes in the datum in which the observed positions are recorded. Therefore, data conversion between receiver navigation modes is required for guidance planning. Summary of the Invention

[0004] According to one embodiment, a method for supporting consistent alignment over time of position data collected during operation in a field or work site supports reliable and consistent operation of a position determination receiver including a real-time kinematic (RTK) estimator and a precise point positioning (PPP) estimator. The RTK estimator is configured to determine a first position observation of the receiver according to an RTK reference system, which may be defined or referenced relative to a local RTK base station or a regional RTK reference network of one or more RTK base stations. The PPP estimator is configured to determine a second position observation of the receiver according to the PPP reference system (e.g., WGS-84), wherein the first position observation and the second position observation are generated substantially simultaneously (e.g., taken during substantially the same epoch). An electronic data processor, reference frame converter, or transformer is configured to transform or convert the second position in the PPP reference frame into a transformed second position in a universal reference frame (e.g., the International Terrestrial Reference Frame (ITRF, 20XX, where XX represents the last two digits of the year). The electronic data processor is configured to assign identifiers to the first position observation and the second position observation, wherein the identifiers indicate whether the observations are associated with a guidance path (e.g., a vehicle or implement guidance path) or a boundary of a field or work area.

[0005] According to one aspect of the present disclosure, the location determination receiver and the wireless communication device are configured to wirelessly transmit the transformed second location and the corresponding assigned identifier to a central server for storage in a data storage device. According to another aspect of the present disclosure, the location determination receiver is configured to provide the transformed second location and the corresponding assigned identifier to an electronic data processing system (e.g., an electronic data processing system onboard a vehicle) for storage in a data storage device. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1A is a pictorial block diagram of a first embodiment of a real-time kinematic (RTK) system with an augmentation system.

[0007] Figure 1B is a illustrative block diagram of one embodiment of a GNSS system with the aid of a correction or augmentation system.

[0008] Figure 1C is a schematic block diagram of a second embodiment of a GNSS system with the aid of a correction or augmentation system.

[0009] Figure 2 is a second embodiment of an illustrative block diagram of an RTK base station receiver and a rover receiver.

[0010] Figure 3is a block diagram of one embodiment of a rover receiver or a base receiver (eg, a reference receiver as part of a correction service network).

[0011] Figure 4 is better than Figure 3 A block diagram of one embodiment of a more detailed rover receiver or base station receiver.

[0012] Figure 5 A geographic map illustrating the general boundaries and corresponding names of the major tectonic plates throughout the world.

[0013] Figure 6 is a block diagram of one possible example of a datum offset between an RTK guidance line or boundary and a PPP, PPP-RTK, DGNSS, or DGNSS-RTK guidance line or boundary.

[0014] Figure 7 is a geographic map illustrating the global horizontal velocity (e.g., in centimeters per year) of tectonic plates across regions of the globe.

[0015] Figure 8A is a block diagram of one possible example of no datum offset (or a corrected or compensated consistent datum offset) between an RTK guideline or boundary and a PPP, PPP-RTK, DGNSS, or DGNSS-RTK guideline or boundary.

[0016] Figure 8B is a diagram of the tectonic rotation vectors of each major tectonic plate in three dimensions according to a schematic kinematic plate model.

[0017] Figure 9 is a block diagram of one embodiment of a system for supporting consistent alignment over time of position data collected during operations in a field or worksite.

[0018] Figure 10 is a block diagram of another embodiment of a system for supporting consistent alignment over time of position data collected during operations in a field or worksite.

[0019] Figure 11 is a flow chart of one embodiment of a method for supporting consistent alignment over time of position data collected during operation in a field or worksite, the method supporting reliable and consistent operation of a site determination receiver including a real-time kinematic (RTK) estimator and a precise point positioning (PPP) estimator.

[0020] Figure 12is a flow chart of another embodiment of a method for supporting consistent alignment over time of position data collected during operation in a field or worksite, the method supporting reliable and consistent operation of a site determination receiver including a real-time kinematic (RTK) estimator and a precise point positioning (PPP) estimator.

[0021] Figure 13 Illustrated is a flow chart of yet another embodiment of a method for supporting consistent alignment over time of position data collected during operation in a field or worksite to support reliable and consistent operation of a site determination receiver including a real-time kinematic (RTK) estimator and a precise point positioning (PPP) estimator.

[0022] Figure 14 Illustrated is a flow chart of yet another embodiment of a method for supporting consistent alignment over time of position data collected during operation in a field or worksite to support reliable and consistent operation of a site determination receiver including a real-time kinematic (RTK) estimator and a precise point positioning (PPP) estimator.

[0023] Figure 15 Flowchart of one embodiment of a method for guiding planning of a reference transition between receiver navigation modes for a receiver, such as one or more mobile GNSS receivers that initially operate in RTK mode and switch to PPP, PPP-RTK, or DGNSS-RTK mode or that later operate in PPP, PPP-RTK, or DGNSS-RTK mode.

[0024] Figure 16 A flow chart of one embodiment of a method for a mobile GNSS receiver or a rover GNSS receiver switching from PPP, PPP-RTK, or DGNSS-RTK mode to RTK mode is disclosed.

[0025] Commonly include Figure 17A and Figure 17B of Figure 17 is a flow chart of one embodiment of a method for changing (non-leveling) an RTK base station (GNSS) receiver or changing the base coordinates of an RTK base station position (eg, for the third use case).

[0026] Commonly include Figure 18A and Figure 18B of Figure 18 Illustrated is one embodiment of a method (for another use case) for transitioning between PPP, PPP-RTK, or DGNSS-RTK modes associated with different epochs or different locations, or both, over time (e.g., such as the same growing season or over multiple growing seasons). DETAILED DESCRIPTION

[0027] In any of the above referenced figures in this document, any arrows or lines connecting any blocks, components, modules, multiplexers, memories, data storage devices, accumulators, data processors, electronic components, oscillators, signal generators or other electronic or software modules may include one or more of the following items: physical paths of electrical signals, physical paths of electromagnetic signals, logical paths of data, one or more data buses, circuit board traces, transmission lines; links, calls, communications or data messages between software modules, programs, data or components; or the transmission or receipt of data messages, software instructions, modules, subroutines or components.

[0028] In one embodiment, the systems, methods, and receivers disclosed in this document may include computer-implemented systems, methods, or receivers in which one or more data processors process, store, retrieve, and otherwise manipulate data via a data bus and one or more data storage devices (e.g., accumulators or memories) as described in this document and the accompanying drawings. As used in this document, "configured to, adapted for, or arranged to" means that the data processor or receiver is programmed with the aid of appropriate software instructions, software modules, executable code, databases, and / or necessary data to perform any referenced function, mathematical operation, logical operation, calculation, determination, process, method, algorithm, subroutine, or program associated with one or more blocks illustrated in any other drawings of this disclosure. Alternatively, separately or cumulatively with the above definitions, "configured to, adapted for, or arranged to" may mean that the receiver includes one or more components described herein as software modules, equivalent electronic hardware modules, or both, to perform any referenced function, mathematical operation, calculation, determination, process, method, algorithm, subroutine, or program.

[0029] Global Navigation Satellite Systems (GNSS), including GPS, GLONASS, BEIDOU, GALILEO, QZSS, IRNSS, and SBAS, use satellites orbiting the Earth to determine the position (e.g., three-dimensional coordinates) of a GNSS receiver or its antenna on or above the Earth. Civilian GNSS receivers typically provide both pseudorange and integrated carrier phase GNSS measurements for each carrier signal of each tracked GNSS satellite. Pseudorange measurements record the apparent duration of time it takes for the associated code to travel from the satellite to the receiver. This duration is equal to the time the signal arrives at the receiver according to the receiver clock minus the time the signal leaves the satellite according to the satellite clock.

[0030] In a GNSS receiver, carrier phase measurements can be obtained by integrating the reconstructed carrier of a signal as it arrives at the receiver, or by other measurement techniques. The carrier phase measurement is a measure of the time-of-flight difference, as determined by the time the signal leaves the satellite according to the satellite clock and the time it arrives at the receiver according to the receiver clock. However, because the initial number of integer cycles of flight between the satellite and the receiver is unknown when the receiver begins tracking the signal's carrier phase, the error in the time-of-flight difference derived from the carrier phase will typically be a multiple (e.g., plus or minus an integer or its equivalent wavelength) of carrier cycles. Consequently, integer ambiguities exist in the carrier phase measurements of the carrier phase between the receiver and each satellite until resolved through various procedures.

[0031] The range, or distance, between a GNSS receiver and each of a large number of observable satellites is calculated by multiplying the time it takes for each signal to travel from the satellite to the GNSS receiver by the speed of light. These ranges are often referred to as pseudoranges because the receiver clock typically has significant time errors, which results in a common bias in the range measured relative to each satellite in the set of satellite signals received by the receiver. Using differential measurements, the common bias from the receiver clock error is resolved along with the receiver's position coordinates as part of normal navigation calculations. Various other factors can also contribute to errors or noise in the calculated ranges, including ephemeris errors, satellite clock timing errors, atmospheric effects, receiver noise, and multipath errors. Throughout this document, atmosphere refers to either the troposphere or the ionosphere, or both; similarly, atmosphere refers to either the troposphere, the ionosphere, or both. In standalone GNSS navigation, where a receiver obtains code and / or carrier phase ranging from multiple satellites without the benefit of corrections from any reference station, the receiver is very limited in the methods it can use to reduce errors or noise in ranging.

[0032] To eliminate or reduce systematic errors, differential operations are commonly used in GNSS applications. Differential GNSS operations typically involve one or more reference receivers (sometimes called base stations) located at known locations and a communication link between the user's mobile receiver and the reference receivers. The reference receiver generates correction data associated with some or all of the above errors, and the correction data is sent to the user receiver via the communication link. The mobile receiver then applies the correction data to its own carrier phase measurements or position estimate, thereby obtaining a more accurate calculated position. The correction data from the corresponding reference receiver can be in the form of corrections to the reference receiver's position determined at the reference location or in the form of corrections to specific GNSS satellite clocks and / or orbit data. Differential operations using carrier phase measurements are often referred to as real-time kinematic (RTK) positioning / navigation operations.

[0033] The fundamental concept of differential GNSS (DGNSS) is to exploit the spatial and temporal correlation of errors inherent in GNSS measurements. For short baselines or separations between a rover and a reference receiver, the rover can use correction data to eliminate or significantly mitigate most error sources in pseudorange and / or carrier phase measurements, such as GNSS orbit errors, ionospheric delay, and tropospheric delay. The amount of mitigation depends on the correlation between the error sources at the rover and reference receivers. While GNSS satellite clock timing errors (which manifest as biases in pseudorange or carrier phase measurements) are perfectly correlated between the reference and rover receivers, most other error factors are either uncorrelated or their correlation decreases as a function of the distance between the rover and reference receivers.

[0034] Many different techniques have been developed to achieve high-accuracy differential navigation using GPS carrier phase measurements. The most accurate technique is real-time kinematic (RTK), which produces a typical accuracy of about one centimeter. However, to achieve this accuracy, the mobile receiver needs to resolve the integer ambiguities in the differential carrier phase measurements. RTK is highly advantageous when the distance between the user's mobile receiver and a reference receiver (the baseline distance) is short, as integer ambiguities can be resolved not only accurately but also quickly. On the other hand, when the baseline distance exceeds tens of kilometers, it may become impossible to resolve integer ambiguities, and normal RTK accuracy cannot be achieved. Another limitation of RTK is that it requires a local radio link to be maintained between the reference receiver and the navigation receiver to provide timely correction or measurement data.

[0035] To overcome error sources within DGNSS systems in wide-area applications, various regional, wide-area, or global DGPS (sometimes referred to as Precise Point Positioning (PPP)) technologies have been developed. A typical PPP system consists of a network of multiple reference stations communicating with a computational center or hub. The computational center determines precise correction data based on the known locations of the reference stations and the carrier phase measurements they make. The calculated correction data is then transmitted to the user via a communication link such as satellite, telephone, or radio. By using multiple reference stations, PPP provides a more accurate estimate of the precise correction data.

[0036] Precise positioning refers to precise point positioning (PPP) or similar forms that provide accurate position estimates based on differential correction data or correction data such as precise clock corrections, orbit corrections, and satellite bias information. Precise point positioning (PPP) means: (1) using precise satellite orbit corrections, precise clock corrections, and satellite bias information instead of normal satellite broadcast information (ephemeris data) to determine the relative or absolute position of a mobile user satellite navigation receiver without any local reference satellite station to provide differential corrections, or (2) using precise satellite orbit corrections, precise clock corrections, and satellite bias information; normal broadcast information (ephemeris data) and differential correction data, ranging data, or carrier phase data from one or more local reference stations. Although the accuracy of the position obtained using the most advanced algorithms can be within a few centimeters, traditional precise point positioning can take long convergence times of up to tens of minutes to determine the ambiguity integer or floating ambiguity values ​​to achieve the advertised steady-state accuracy, which is often a limiting factor in its applicability. Here, the method and receiver of the present disclosure are not intended to improve the convergence time of PPP or the determination of PPP based on absolute position. However, when operating in conjunction with a PPP system, the receiver or method of the present disclosure provides an opportunity to achieve a steady-state level of accuracy in relative position before full convergence or determination of ambiguity integers or floating ambiguity values.

[0037] PPP techniques employing carrier phase differencing methods can achieve extremely high navigation accuracy. At a position determination receiver or GNSS receiver, a carrier phase measurement module can measure the carrier phase of one or more received carrier phase signals from satellites, where the measurement time or sampling interval of the carrier phase signals by the position determination receiver is referred to as an epoch throughout this document. PPP differencing techniques are typically characterized by a reliable long-distance communication link or a reliable satellite communication link. Accurate correction data can typically be delivered to the navigation receiver without significant interruption. However, some PPP techniques treat integer ambiguities as real-valued (non-integer) variables and resolve "floating ambiguities," which are typically very poorly defined until measurement data covering a time interval with significant satellite geometry changes has been obtained. Consequently, in PPP applications without ambiguity resolution, a time interval of approximately 30 to approximately 60 minutes may be required to resolve these "floating ambiguities" with sufficient accuracy to produce a reliable navigation position with an accuracy of less than (i.e., better than) a few centimeters.

[0038] The Global Navigation Satellite System (GNSS) is based on simultaneous ranging from at least four satellites with known satellite coordinates (e.g., relative to the GNSS system / constellation time). A GNSS receiver can estimate three-dimensional coordinates and receiver clock bias based on simultaneous ranging from at least four satellites with known satellite coordinates. GNSS constellations include the Global Positioning System (GPS) controlled by the United States, GLONASS controlled by Russia, GALILEO controlled by the European Union, and BEIDOU controlled by China. The accuracy of GNSS positioning can depend on the ranging accuracy measured between the satellites and the receiver, the satellite's motion and coordinate accuracy, and the geometry of the measurement results. For example, ranging measurement accuracy can be determined by satellite orbit errors, clock stability, tropospheric density, ionospheric activity levels, and the local interference and multipath environment. To provide reliable and accurate GNSS positioning solutions, GNSS technology can use precise point positioning (PPP), real-time kinematic (RTK), or both.

[0039] PPP technology involves a global or regional network of GNSS reference stations and a data processing center to determine correction data that is wirelessly provided to rovers or mobile GNSS receivers. The rovers or mobile GNSS receivers use a rover positioning algorithm to estimate the rover's position. Within the GNSS reference station network, GNSS reference stations at fixed, known locations (e.g., known three-dimensional coordinates) track GNSS satellites and provide ranging measurements between one or more satellites and each GNSS reference station. Using these ranging measurements, the data processing center determines correction data based on satellite health. For example, PPP correction data includes accurate satellite coordinates, satellite-specific bias data, and clock parameters.

[0040] At the rover GNSS receiver, based on these accurate satellite orbit and clock parameters, combined with correction data derived from the rover GNSS receiver's carrier phase and code phase measurements and ionospheric-free measurements, the rover positioning algorithm can achieve a precise position (e.g., accurate to 3 to 10 centimeters, or even better with a corresponding level of reliability). The primary limitation or drawback of PPP techniques tends to be the convergence time, which can typically take over half an hour to converge on resolving integer carrier phase ambiguities for a set of satellites within the GNSS receiver's field of view or reception range. To accelerate initialization and further improve positioning accuracy, PPP Ambiguity Resolution (PPP-AR) techniques have been developed. In addition to satellite orbit and clock parameters (e.g., in the correction data), PPP-AR provides other auxiliary parameters (such as satellite bias information) to assist the rover algorithm in resolving integer carrier phase ambiguities. With PPP-AR techniques, initialization time can be improved (e.g., to less than 20 minutes) and accuracy can approach a few centimeters (e.g., on the order of 2.54 centimeters or inches).

[0041] RTK refers to a real-time kinematic system that uses carrier phase measurements and navigation data (e.g., on civilian-available L1, L2, or L5 signals, such as L1C / A, L1C, L2C, or L5 for GPS) from a base station at a known location (e.g., fixed, known coordinates) to determine correction data or differential signals, which are broadcast or transmitted via a wireless link or radio to a rover receiver that can use the correction data. RTK can be used alone or in conjunction with PPP.

[0042] Because of potential ionospheric variations that can sometimes affect a base station receiver differently than a rover receiver, and because of potential scintillation that can sometimes affect a base station receiver differently than a rover receiver, the distance or baseline between each base station and the rover receiver can have a maximum baseline for which the correction data is reliable. RTK technology is based on the property that the orbit error, clock error, and atmospheric delay from any given satellite are the same or similar for nearby receivers, and that the transmitted ranging errors are highly correlated for nearby receivers.

[0043] An RTK pair consists of a GNSS base station receiver and a GNSS rover receiver. The base station receiver is installed at a pre-surveyed location (e.g., a fixed, known location), and the rover receiver is positioned near the base receiver (e.g., with a baseline or distance between the base and rover receivers equal to or less than 20 kilometers). Ranging errors from the base station receiver are calculated using its known coordinates and sent to the rover receiver. The rover receiver receives and applies error corrections from the base receiver to improve positioning accuracy.

[0044] RTK technology is well-suited for fast initialization and high accuracy if the rover receiver is sufficiently close to or near the base station (e.g., the baseline or distance between the base and rover receivers is less than 50 kilometers). However, as the distance between the base and rover receivers becomes longer, the error correlation between the base and rover receivers becomes weaker; therefore, RTK positioning accuracy will generally become unreliable when the baseline is longer than approximately 50 kilometers. Long-baseline RTK configurations can be susceptible to ionospheric variations, with long-baseline RTK typically being applicable for baseline distances of fifty (50) kilometers or more between the rover GNSS receiver and the base receiver.

[0045] Furthermore, long-baseline RTK is susceptible to ionospheric scintillation. During scintillation, the ionospheric delay between the base and rover receivers becomes less correlated, resulting in poor RTK performance. Network RTK technology has been developed to expand the RTK operating range. However, network RTK technology requires more base receivers, while rover receivers only work well within a network.

[0046] Figure 1A A representative GNSS system 100 is illustrated that includes a plurality of GNSS satellites 101. Each GNSS satellite 101 transmits a satellite signal 102 (e.g., an L1 signal and / or an L2 signal for GPS) to a GNSS base receiver 105 (e.g., a base receiver) and a GNSS rover receiver 106. Signals 102 may include navigation data, such as ephemeris data, satellite almanac data, position data, orbit data, and clock data for the corresponding GNSS satellite 101 transmitting the satellite signal 102.

[0047] GNSS satellite 101 may broadcast signal 102 on multiple frequencies. For example, if GNSS satellite 101 is from the GPS system, it may broadcast signal 102 on more than one frequency, including the L1, L2, and L5 frequencies used in the GPS system. In one embodiment, GNSS system 100 may be from any of GPS, GLONASS, GALILEO, BEIDOU, and other GNSS systems / constellations. In another embodiment, GNSS system 100 may include more than one GNSS constellation.

[0048] Augmentation system 110 broadcasts signals 113 to GNSS base receiver 105 and GNSS rover receiver 106. Signals 113 may include, but are not limited to, any of the following: orbit correction data and clock correction data for corresponding GNSS satellites 101, phase bias information for corresponding GNSS satellites 101, and atmospheric (e.g., delay / advance) data for signal 102. In one embodiment, augmentation system 110 may broadcast assistance information 113 from augmentation satellites 111. In another embodiment, augmentation system 110 may broadcast assistance information 113 from computer server 112 via the Internet. In one embodiment, augmentation system 110 may be a public augmentation system, such as satellite-based augmentation systems, including the Wide Area Augmentation System (WAAS) from the United States, the European Geostationary Navigation Overlay Service (EGNOS) from Europe, the MTSAT Satellite-Based Augmentation Navigation System (MSAS) from Japan, the GPS-Assisted GEO Augmentation Navigation System (GAGAN) from India, the Differential Correction and Monitoring System (SDCM) from Russia, and other emerging SBAS systems. In another embodiment, augmentation system 110 may be a dedicated augmentation system.

[0049] GNSS base receiver 105 is installed at a pre-surveyed location. It tracks signals from GNSS system 100 and augmentation system 110, and generates RTK corrections 121 for GNSS satellites 101 based on pre-surveyed coordinates and augmentation corrections 113. Generated RTK corrections 121 are sent to GNSS rover receiver 106 via an RTK correction data stream. In one embodiment, RTK corrections 121 include only the range error for each measurement from GNSS satellite 101. In another embodiment, RTK corrections 121 include the range error for each measurement from GNSS satellite 101 and the atmospheric delay calculated in base receiver 105. In another embodiment, RTK corrections 121 include the range error, atmospheric delay, and ambiguity information calculated in base receiver 105. In another embodiment, raw measurements are sent to the rover, rather than the range errors in RTK corrections 121. In one embodiment, RTK corrections are calculated without augmentation information 113. In another embodiment, RTK corrections are calculated with the aid of augmentation information 113.

[0050] In one embodiment, the tropospheric delay is in the form of a zenith delay, with a mapping function for each measurement. The zenith delay is the tropospheric delay experienced by a satellite signal propagating in the zenith direction, which is the point vertically above a rover or base station receiver; the zenith delay can be characterized by a hydrostatic zenith delay component and a non-hydrostatic zenith delay component. In an alternative embodiment, the tropospheric delay is estimated using the elevation and azimuth angles between the satellite and the receiver in a dual model. The elevation angle refers to the angle between the geometric path from the receiver to the satellite and the horizon (e.g., or a curve along the Earth's surface). The azimuth angle is the direction of the satellite relative to the rover or base station receiver in the Earth's horizontal plane, which can sometimes be measured in degrees clockwise from north.

[0051] In another embodiment, the atmospheric delay is in the form of a tilted atmospheric delay for each measurement, where the tilted atmospheric delay represents the total propagation delay in the GNSS signal between the satellite and the receiver antenna of the base or rover receiver. The tilted atmospheric delay can have a hydrostatic tilt delay component (e.g., originating from dry atmospheric elements) and a non-hydrostatic tilt delay component (e.g., originating from moist elements or water vapor). The tilted atmospheric delay can be used in conjunction with a mapping function to estimate zenithal atmospheric or tropospheric delay. Furthermore, the tilted ionospheric delay can define an ionospheric delay component that affects phase code and carrier phase measurements and is generally proportional to the tilted total electron count (TEC) divided by the square of the measurement frequency (e.g., the carrier frequency of the satellite signal for carrier phase measurements of at least the first-order ionospheric delay component and possibly the carrier frequency plus or minus the peak frequency of the phase code encoding signal). In some embodiments, the tilted total electron count is estimated based on the vertical total electron count available for the propagation path of interest, in conjunction with an appropriate mapping function. In one embodiment, RTK corrections are sent in a common data format, such as the Radio Technical Commission for Maritime Services (RTCM). In another embodiment, RTK corrections are sent in a suitable data format.

[0052] The GNSS rover receiver 106 tracks the signal 102 from the GNSS system 100 and the assistance information 113 from the augmentation system 110, and receives RTK corrections 121 from the base receiver 105. In one embodiment, the GNSS rover receiver 106 applies a dual (e.g., two-level) RTK algorithm to all the information it receives to achieve high position accuracy without baseline length limits (e.g., such as long baseline RTK exceeding 50 kilometers) and without atmospheric activity limits (e.g., the total electron count in the ionosphere exceeds a certain threshold).

[0053] For example, the GNSS rover receiver 106 can be configured to use the following RTK techniques individually or cumulatively. Under a first technique, augmentation information 113 is applied within an RTK algorithm, such as a dual (e.g., two-level) RTK algorithm. Under a second technique, RTK corrections 121 are generated in the base receiver 105 and wirelessly transmitted from the RTK base station to the GNSS rover receiver via a wireless link.

[0054] Under a third technique, RTK corrections 121 are generated in the rover receiver 106 using the (raw) GNSS measurements and coordinates of the base receiver 105 , which are wirelessly transmitted from the RTK base station to the GNSS rover receiver 106 via a wireless link.

[0055] Under a fourth technique, the GNSS rover receiver 106 does not use the augmentation information 113 in its RTK algorithm.

[0056] exist Figure 1B In the invention, the mobile receiver 12 and the reference receiver 30 each include a position determination receiver or satellite receiver, such as a Global Navigation Satellite System (GNSS) receiver. The mobile receiver 12 and each reference receiver 30 are capable of making carrier phase measurements that are subject to ambiguities, such as integer ambiguities, in each period of a received satellite signal. The receiver (12, 30) determines or resolves the ambiguities in the carrier phase measurements of the corresponding received satellite signals to accurately estimate the precise position or coordinates of the receiver. Although the code phase or pseudorange measurements of the receiver (12, 30) are not associated with the integer ambiguities in the period of the received satellite, the code phase measurements do not provide the centimeter-level position accuracy required for some applications (e.g., vehicle navigation).

[0057] As used throughout this document, ambiguities are generally specific to the context of a particular equation associated with one or more receivers' observations of carrier phase signals from one or more satellites. Thus, it is possible to have widelane (WL) ambiguities, narrowlane (NL) ambiguities, homodyne (ZD) ambiguities, single-difference (SD) ambiguities, double-difference (DD) ambiguities, real-time kinematic (RTK) ambiguities, and refraction-corrected (RC) ambiguities associated with phase measurements from one or more receivers or one or more satellites. In this document, any reference to an ambiguity may refer to a single ambiguity or to multiple ambiguities.

[0058] If a satellite navigation receiver (12, 30) can receive at least two frequencies, such as L1 and L2 frequencies, the difference between the L1 and L2 carrier phase measurements can be combined to form a widelane (WL) measurement (e.g., having a wavelength of approximately 86.25 cm for the Global Positioning System (GPS), and the sum of the L1 and L2 carrier phase measurements can be combined to form a narrowlane (NL) measurement (e.g., having a wavelength of approximately 10.7 cm). The widelane measurement facilitates fast and efficient resolution of widelane integer ambiguities, while the narrowlane measurement facilitates precise and accurate resolution of narrowlane ambiguities with minimal phase noise. Refraction ambiguities compensate for atmospheric delay biases such as ionospheric delay bias.

[0059] Single-difference measurements (e.g., of carrier phase or code phase) are typically made with respect to one satellite, a reference receiver 30, and a mobile receiver 12 (e.g., a rover). In contrast, double-difference measurements are typically made with respect to two satellites, a reference receiver 30, and a mobile receiver 12, or by subtracting two single-difference measurements. However, some double-difference measurements can be made using two single-difference measurements from the same receiver at two different times and associated with a pair of satellites.

[0060] exist Figure 1B In [1], the system includes a constellation of satellites or satellite transmitters 10, including at least those satellites within the field of view or reception range of one or more reference receivers 30 (e.g., reference GNSS receivers). In practice, reference receivers 30 (e.g., GNSS reference stations) are globally distributed at locations with good satellite geometry and visibility of a set of satellites or satellite transmitters 10. Each reference receiver 30 has a measurement module that measures observables, such as the carrier phase of one or more satellite signals received from each satellite. Reference receivers 30 may also measure pseudoranges or code phases of pseudorandom noise codes encoded on one or more of the carrier signals. Reference receivers 30 receive and transmit measurements, ephemeris data, other observables, and any information derived from deliverables to an electronic data processing center 18 (e.g., a hub). In one embodiment, each reference receiver 30 transmits (e.g., via a communication link, a communication network, a wireless channel, a communication channel, a communication line, a transmission line, or otherwise) a set of carrier phase measurements of received satellite signals and associated satellite identifiers and ephemeris data to an electronic data processing center 18 (e.g., a reference data processing hub).

[0061] The data processing center 18 or its correction data estimator 34 determines correction data in real time based on measurements, ephemeris data, other observables, and any derived information received from one or more reference receivers 30. In one embodiment, the data processing center 18 includes an electronic data processor 20 coupled to a data bus 22, a data storage device 24, and one or more data ports 26. The data processor 20, the data storage device 24, and the one or more data ports 26 can communicate with each other via the data bus 22.

[0062] The software instructions and data stored in the data storage device 24 can be executed by the data processor 20 to implement any block, component, or module (e.g., electronic module, software module, or both) described in this disclosure. The data processor 20 may include a microcontroller, a microprocessor, a programmable logic array, an application-specific integrated circuit (ASIC), a digital signal processor, or another device for processing data, manipulating, accessing, retrieving, and storing data. The data storage device 24 may include electronic components, non-volatile electronic memory, optical storage devices, magnetic storage devices, or another device for storing digital or analog data on a tangible storage medium (such as an optical disk, magnetic disk, or electronic memory). Each data port 26 may include a buffer memory, a transceiver, or both for interfacing with other network elements (such as a reference receiver 30 or a landsat uplink station 28).

[0063] In one embodiment, the data processing center 18 or data processor 20 or correction data estimator 34 receives the phase measurements and the corresponding satellite identifiers, reference receiver identifiers (or corresponding coordinates) from the reference receiver 30 and processes the phase measurements to estimate the clock bias or corresponding clock solution for each satellite or, more precisely, each satellite signal for incorporation into the correction data 16. Figure 1B , the clock solution, clock bias, or correction data 16 is provided to a terrestrial uplink station 28 or another communication link. For example, the terrestrial uplink station 28 communicates or transmits the clock solution, clock bias, or correction data 16 to a communication satellite 35 (e.g., a repeater).

[0064] In turn, the communication satellite 35 transmits correction data 16 to a correction wireless device 14 (e.g., a satellite receiver or L-band satellite receiver). The correction wireless device 14 is coupled to a mobile receiver 12 (e.g., a mobile GNSS receiver) or rover. The mobile receiver 12 also receives satellite signals from one or more GNSS satellites and measures the carrier phase (and code phase) of the received satellite signals. Combined with the phase measurements, the precise clock solution or clock bias in the correction data 16 can be used to estimate the precise position, attitude, or velocity (e.g., a solution) of the mobile receiver 12. For example, the mobile receiver 12 can employ precise point positioning (PPP) estimation using precise clock and orbit solutions for the received satellite signals.

[0065] Apart from Figure 1C The system replaces the communication satellite 35 and the terrestrial uplink station 28 with a communication device 127 (e.g., a server), a communication network 139 (e.g., the Internet or a communication link), and a wireless communication system 135. Figure 1C System 211 is similar to Figure 1B In one embodiment, the wireless communication system 135 may include a cellular communication system, a trunked system, a WiFi communication system, or another communication system. For example, a cellular communication system may include a cell site or base station that communicates with a base station controller, a router, or another mobile telephone switching office (MTSO), where the MTSO interfaces with a communication network 139 such as the Internet.

[0066] The communication network 139 may include a microwave link, a fiber optic link, a public switched telephone network (PSTN), the Internet, or another electronic communication network. In one embodiment, the communication device 127 includes a server that formats, organizes, or transmits the correction data in data packets (e.g., data packets compatible with TCP / IP Transmission Control Protocol / Internet Protocol) for transmission via the communication network 139. The communication network 139 communicates with a correction wireless device 114 (e.g., a cellular transceiver) that is associated with or coupled to the mobile receiver 12.

[0067] In this document, Figure 1B or Figure 1C In the precise positioning mode, the mobile receiver 12 can achieve centimeter-level accuracy positioning by using real-time global differential correction data 16. The correction data 16 is Figure 1B Satellite communications in the Figure 1C Wireless communication systems (eg, cellular wireless systems) are available and effective worldwide. Figure 1BThe global differential correction in the precise positioning mode illustrated in the example of eliminates the need for local reference stations and radio communications that would otherwise be used to establish a short baseline (e.g., less than about 20 kilometers to about 30 kilometers) between the reference receiver 30 and the mobile receiver 12 for precise position accuracy.

[0068] and Figure 1B and Figure 1C In comparison, Figure 2 The rover receiver 12 is shown operating in a real-time kinematic mode, with correction data (eg, local RTK correction data) provided from a real-time kinematic (RTK) base station 430 . Figure 1B 、 Figure 1C and Figure 2 Like reference numerals in the drawings indicate like elements.

[0069] In RTK mode, accuracy requires that the same set of satellites be visible to both the rover receiver 12 and the reference receiver 30. Furthermore, to target accuracy on the order of decimeters or centimeters, the baseline or separation distance between the rover receiver 12 and the reference receiver 30 (or RTK base station 430) is limited to a short baseline (e.g., less than about 20 kilometers to about 30 kilometers).

[0070] In contrast, an extended RTK mode (RTKX mode) refers to any operating mode of the mobile receiver 12 after the RTK correction signal at the mobile receiver 12 (e.g., between the devices 128, 214) is lost, interrupted, or corrupted, as indicated by the correction wireless device 214 (e.g., a wireless communication device) or the navigation position estimator or RTK X module. The extended RTK mode may include any of the following modes: a converged precise positioning mode (e.g., a PPP mode), a relative positioning mode, and / or floating ambiguity resolution in a precise positioning mode, etc.

[0071] Here, in Figure 2 In the embodiment, the RTK base station 430 includes a reference receiver 30 (e.g., a GNNS navigation receiver) and a wireless communication device 428 (e.g., a wireless transceiver or transmitter). The RTK base station 430 or reference receiver 30 determines RTK correction data, such as an offset vector (e.g., a base offset vector) or difference between the observed position of the reference station based on the measured carrier phase of satellite signals and the known position or coordinates of the reference receiver 30. The RTK base station 430 or wireless communication device 428 forwards or transmits the RTK correction data in real time to the mobile receiver 12 via the correction wireless device 214 to support accurate position determination and navigation at the mobile receiver.

[0072] Wireless communication device 428 (eg, a wireless communication device) may communicate directly or via a wireless communication system (eg, a repeater) with correction wireless device 214. Correction wireless device 214 may include a transceiver or wireless receiver.

[0073] In one embodiment according to one possible configuration, the RTK base station 430 or local reference receiver 30 determines a precise point position estimate based on received satellite signals and precise correction signals. Furthermore, the RTK base station 430 or reference receiver 30 can determine an offset vector between the determined precise point position estimate and a known reference position (e.g., the fixed coordinates of the RTK base station). The offset vector determined by the base station or reference receiver is referred to as a base offset vector or RTK offset bias. The offset vector can be transmitted in real time from the RTK base station 430 to the rover 12 via the wireless communication device 428 and the correction wireless device 214. Therefore, in some configurations, the rover 12 does not need to determine the offset vector, as the RTK base station 430 or reference receiver 12 does.

[0074] The advantage of the above configuration is high-quality offsets due to the known reference position of the reference receiver 12, but it requires an accurate correction signal (e.g., PPP correction data) at the reference receiver 12. In other configurations disclosed in this document, the mobile receiver 12 simultaneously determines an RTK solution and a precise position solution and calculates an offset vector (e.g., a mobile offset vector) between the RTK solution and the precise position solution. The offset vector determined by the mobile receiver or rover is referred to as a mobile offset vector, a rover offset vector, or a learned offset vector.

[0075] Despite Figure 2 One RTK base station 430 is shown, but in alternative embodiments, multiple RTK base stations may be used, or even a network of RTK base stations and data processing centers serving a geographic area.

[0076] According to one embodiment, Figure 3 A system or receiver (12 or 30) (e.g., a satellite navigation receiver) is disclosed that is capable of receiving a received signal comprising one or more carrier signals transmitted by satellites (e.g., a first carrier (L1), a second carrier (L2), and a third carrier (L5) of a global positioning system (GPS)). The received signal is transmitted from a satellite transmitter 10 of one or more satellites, such as navigation satellites or Galileo-compatible navigation satellites, GLONASS (Global Navigation Satellite System), or GPS satellites. The satellites have known orbital positions in relation to time, which can be used to estimate the relative position of a receiver antenna 17 and each of the three or more satellites based on the propagation time of one or more received signals between the three or more satellites and the receiver antenna 17.

[0077] As used in this document, "CD" shall refer to a code, and "CR" shall refer to a carrier wave of a received signal or a digital representation of one or more samples of the received signal. Codes include modulation codes that modulate a carrier wave (e.g., a pseudorandom noise code modulated with information).

[0078] According to one embodiment, Figure 3 A receiver (12 or 30) is shown including a receiver front end module 310 coupled to an electronic data processing system 129. The receiver (12 or 30) receives received signals including one or more carrier signals from a set of satellite transmitters 10. The receiver (12 or 30) may include a position determination receiver for: (a) determining the position of the receiver antenna 17; (b) a ranging determination receiver for determining the range or distance between the receiver antenna 17 and a satellite (e.g., satellite antenna 17); or (c) determining the range between the receiver antenna 17 and one or more satellites; or (d) determining the position, velocity, acceleration, and / or attitude (e.g., pitch, roll, yaw) of the antenna 17.

[0079] Real-time dynamic base station 430 (in Figure 2 The (RTK) reference receiver 30 can wirelessly provide or transmit RTK correction data to the correction wireless device 214. The correction data can include position data, phase data, position offset, or phase offset. In one embodiment, the real-time kinematic base station 130 includes a reference receiver 30 that is identical or similar to the rover receiver 12, except that the (RTK) reference receiver 30 is located at a known reference position. Therefore, the RTK reference receiver 30 can have the same blocks and modules as the rover receiver 12.

[0080] In one embodiment, Figure 3 In the embodiment, a receiver front-end module 310 and a radio frequency (RF) front-end 312 receive one or more received satellite signals (e.g., from one or more GNSS satellite constellations) at antenna 17. In one embodiment, the RF front-end 312 includes an amplifier, a down-conversion mixer, and a local oscillator. For example, the amplifier comprises a radio frequency (RF) or microwave amplifier (e.g., a low-noise amplifier) ​​coupled to antenna 17 for receiving received signals transmitted from one or more satellites. The amplifier provides the amplified signal to the down-conversion mixer as a first input. The local oscillator provides a signal to the down-conversion mixer as a second input. The down-conversion mixer shifts or reduces the signal spectrum of the received signal from the RF frequency to an intermediate frequency (IF) or baseband frequency. The down-conversion system may include one or more mixing, amplification, and filtering stages.

[0081] The output of RF front end 312 is coupled to analog-to-digital converter 314 (ADC). ADC 314 converts the analog intermediate frequency signal or analog baseband signal into a digital signal. The digital signal comprises one or more digital samples available at a sampling rate. Each sample has a finite number of quantization levels, and each sample can be processed by electronic data processing system 129.

[0082] In one embodiment, the electronic data processing system 129 includes a digital receiver portion. The electronic data processing system 129 may include an electronic data processor 159, a data storage device 155 (e.g., electronic memory), and a data bus 157 for communication between the electronic data processor 159 and the data storage device 155, wherein software instructions and data are stored in the data storage device and executed by the data processor 159 to implement Figure 3 Any block, component, or module (eg, electronic module, software module, or both) illustrated in .

[0083] The digital signal output by the ADC 314 is fed into the baseband processing module 118. In one embodiment, the baseband processing module 118 includes a carrier erasure module, a local carrier signal generator, a code erasure module, a local code generator, a correlator, and a data demodulator to appropriately process the baseband signal.

[0084] A data demodulator (e.g., an identifier) ​​provides satellite navigation data (e.g., in a publicly accessible location) for estimating the distance (e.g., the distance between the satellite and the antenna 17) or the position (e.g., in two or three-dimensional coordinates) of the phase center of the antenna 17. The satellite navigation data or other signal information may include one or more of the following information modulated into the baseband waveform of the received signal: date, satellite navigation system time, satellite status, orbit data, ephemeris data, almanac, satellite position, and satellite identifier. The data demodulator may use phase shift keying, phase demodulation, pulse width demodulation, amplitude demodulation, quadrature amplitude demodulation, or other demodulation techniques consistent with the modulation of the modulator at the satellite transmitter. Additionally, in certain embodiments, the measurement module 161, the baseband processing module 118, or the electronic data processor 159 may further include an atmospheric modeling module 405 (e.g., an ionospheric modeling module) that supports one or more ionospheric or atmospheric models for estimating ionospheric errors and correction data for one or more carrier phase measurements and / or code phase measurements corresponding to a GNSS signal or one or more GNSS satellite channels (e.g., L1, L2, and L5).

[0085] In one embodiment, the measurement module 161 includes a carrier phase measurement module 151 and a code phase measurement module 153. The code phase measurement module 153 measures the code phase of one or more received signals, or more precisely, the phase of the pseudo-random noise code encoded on one or more received signals. The code phase is unambiguous in the number of cycles at the wavelength of the code signal. The carrier phase measurement module 151 measures the carrier phase of one or more received signals. The measured carrier phase is ambiguous for an integer number of cycles at the receiver (12 or 30). Therefore, as Figure 4 As illustrated in , the navigation position estimator 57 may include an ambiguity resolution module 407 unless the measurement module 161 is configured to support an ambiguity resolution module.

[0086] The navigation position estimator 57 determines a position estimate for the receiver antenna 17 based on the measured carrier phase, the estimated ranging and demodulated data from the measurement generation module 39. For example, the navigation position estimator 57 or positioning engine may use the ranges to four or more satellites to determine the position, velocity or acceleration of the receiver's antenna 17 in two or three dimensions.

[0087] In one embodiment, the navigation position estimator 57 estimates the propagation time of a satellite signal from a satellite to the receiver antenna 17 and converts the propagation time into a distance or range measurement proportional to the speed of light. In the digital receiver portion, the receiver (12 or 30) or its data processing system 129 may include hardware and software instructions. For example, in one illustrative embodiment, the hardware includes a data processor 159 that communicates with a data storage device 155 storing software instructions via one or more data buses 157.

[0088] In the data processing system 129, the data processor 159 may include one or more of the following: an electronic data processor, a microprocessor, a microcontroller, an application specific integrated circuit (ASIC), a digital signal processor (DSP), a programmable logic device, an arithmetic logic unit, or another electronic data processing device. The data storage device 155 may include an electronic memory, a register, a shift register, a volatile electronic memory, a non-volatile random access memory, a magnetic storage device, an optical storage device, or any other device for storing data. The data processor 159 may be coupled to the data storage device 155 via one or more data buses that support communication between the data processor 159 and the data storage device 155.

[0089] Typically, the electronic data processing system 129 includes electronic data processors, digital logic circuits, multiplexers, multipliers, digital filters, integrators, delay circuits, oscillators, signal generators, pseudo-noise (PN) code sequence generators, registers, shift registers, logic gates, or other hardware. The electronic data processing system 129 can support the storage, retrieval, and execution of software instructions stored in data storage devices.

[0090] In one embodiment, the navigation position estimator 57 estimates the position of the receiver antenna 17 based on the measured carrier phase and correction data received via a correction wireless device (14, 114, 214) (e.g., a satellite receiver such as an L-band satellite receiver). In one embodiment, the navigation position estimator 57 includes one or more of the following: a real-time kinematic position estimator 122 and a precise position estimator 120 (e.g., a PPP estimator) and a Figure 4 Consistent ambiguity resolution module 407.

[0091] Figure 4 is a block diagram of another embodiment of a receiver for switching between a real-time kinematic mode and a precise positioning mode; Figure 4 Compare Figure 3 The navigation position estimator 57 is shown in more detail. Figure 3 and Figure 4 Like reference numerals in the drawings indicate like elements, modules or features.

[0092] like Figure 4 As illustrated in FIG, the navigation position estimator 57 includes a real-time kinematic (RTK) estimator 122, a precise position estimator 120 (e.g., a PPP estimator), and an ambiguity resolution module 407, which may support any of the following: Figure 5 Step S207 in A, Figure 6 Step S301 and Figure 7 The precise position estimator 120 and the RTK estimator 122 may output any of the following output data: a position estimate (alone or together with a corresponding variance estimate), a velocity estimate, a motion estimate, or a heading estimate. In one embodiment, the precise position estimator 120 and the RTK estimator 122 provide the output data to the RTK extension module 409.

[0093] Repeatability is the ability of a GNSS receiver or GNSS guidance system to reliably return a user, vehicle, or implement to the same point in the field, within a certain accuracy, every time. This is crucial for precision agriculture applications such as auto-steering, auto-guidance, navigation, autonomous guidance, and boundary mapping.

[0094] A plate is a portion of Earth's surface or crust. Plate tectonics is the process by which one or more plates move relative to the Earth's mantle. Sixteen major plates are recognized worldwide and tend to move at different speeds. For example, the North American (NA) plate moves at about 2 cm / year, while the Australian plate moves at about 8 cm / year.

[0095] Figure 5 The diagram shows the major tectonic plates with their names and boundaries. The major tectonic plates are the following: Africa 505, Antarctica 513, Arabia 507, Australia 510, Caribbean 512, Cocos 511, Eurasia 506, India 508, Juan de Fuca 514, Nazca 503, North America 501, Pacific 502, Philippines 509, Rivera, Scotia 515, and South America 504.

[0096] GNSS receivers can estimate GNSS position for navigation in either differential or absolute mode. Differential modes include DGPS (Differential GPS) and RTK (Real-Time Kinematic). Traditionally, DGPS implies the use of code pseudorange measurements, while RTK carrier phase measurements determine the quality of positioning and navigation. Absolute modes include SPP (Standard Point Positioning) and PPP (Precise Point Positioning). Compared to SPP, PPP relies on phase measurements and satellite orbit and clock corrections broadcast from geostationary satellites or the internet.

[0097] For RTK or mRTK applications, the RTK rover coordinates are relatively accurately derived from the RTK reference station of the RTK network or the local RTK base station. As the RTK base station coordinates change due to the movement of tectonic plates over time, the RTK rover coordinates will also change.

[0098] In the context of plate tectonics for RTK or mRTK, good repeatability of position, attitude, and motion estimates for differential mode is more easily achieved due to the fact that typically the (RTK) base station moves together with the rover on the same tectonic plate (e.g., for a baseline with a typical distance between the rover receiver and the base station receiver, such as 25 km or less). However, for absolute mode, repeatable position, attitude, and motion estimates are improved because the rover's coordinates are referenced to a global reference frame, rather than to a real base station with known fixed coordinates (e.g., in two or three dimensions).

[0099] PPP mode can provide intra-seasonal repeatability of position with an accuracy of up to plus or minus 1.2 inches (or approximately 3.048 centimeters) pass-to-pass, depending on the availability of correction signals via wireless communication devices or satellite receivers. In one embodiment, PPP mode relies on correction signals from precise satellites and precise orbit corrections incorporated into one or more GNSS constellations, which can be used to provide globally valid correction signals. A rover or mobile receiver processes the correction signals to estimate a position or solution based on carrier phase estimates of GNSS signals received from one or more constellations.

[0100] In some applications and throughout this document, wide-area differential GNSS correction modes (DGNSS), such as the Differential Global Positioning System (DGPS), can be used as an alternative to PPP mode, although DGPS tends to provide less accurate or precise position estimates and less repeatable position estimates than certain PPP configurations. GNSS receivers operating in differential DGNSS mode require correction signals. In some configurations, for example, DGNSS mode can provide inter-line accuracy of approximately plus or minus 6 inches (e.g., 15.24 centimeters), which requires reliable reception of the correction signals by a satellite receiver or wireless communication device. To potentially enhance intra-seasonal repeatability, differential GNSS mode is often combined with some form of RTK (such as local or regional RTK or mRTK), which can be obtained from a service provider operating a local or regional RTK network of RTK base stations. The combination of DGNSS and RTK can be described as DGNSS-RTK, while the combination of PPP and RTK can be referred to as PPP-RTK. In some applications and throughout this document, DGNSS-RTK(mode) may be used as an alternative to PPP-RTK(mode), although DGPS-RTK(mode) tends to provide less accurate or precise position estimates and sometimes less repeatable position estimates than some PPP-RTK(mode) configurations.

[0101] In practice, if the GNSS receiver 512 estimates the coordinates of a position on the ground in different operating modes, the observed coordinates may be different between the RTK mode 609 and the Precise Point Positioning (PPP) mode, PPP-RTK mode, DGNSS mode, or DGNSS-RTK mode (e.g., SF mode 611), e.g. Figure 6 For example, the observed RTK coordinates 601 (e.g., virtual RTK x, y coordinates of latitude and longitude excluding altitude z) in the RTK (RTK and / or MRTK) reference frame may not correspond to the PPP reference frame (e.g., StarFireTM SF3 correction signal or StarFire TM Observed PPP coordinates 603 (e.g., virtual PPP x, y coordinates excluding latitude and longitude z) in the RTK-RTK correction signal are aligned (e.g., on the ground) unless the reference frame is aligned by one or more offsets (e.g., position offset vectors, position offsets, or equivalent carrier phase offsets that can vary over time). In addition, the reference offset between RTK mode 609 and PPP or PPP-RTK mode (e.g., 611) can cause virtual RTK guidance components 605 (e.g., RTK guidance lines or boundaries) to shift relative to virtual PPP or RTK guidance components 607 (e.g., PPP or RTK guidance lines or boundaries). In virtual coordinate system 613, each guidance line or boundary (605, 607) is defined by one or more points (e.g., waypoints or endpoints) separated by an offset reference or offset vector. Points on an RTK guidance line (e.g., 605) and a PPP or PPP-RTK guidance line (e.g., 607) that represent the same real-world coordinates are actually separated by the offset reference or offset vector.

[0102] In RTK mode, a base station GNSS receiver may output RTK coordinates or correction data in an RTCM-3-compatible data format, while in PPP mode or other precise differential correction modes, one or more reference stations may output proprietary data formats or standard formats such as RTCM SSR, IGS SSR, and / or CSSR data formats. Therefore, for a later mission in a field, an operator may not be able to rely on guidance lines from an earlier mission in the same field (e.g., during the current or previous growing season) if the GNSS receiver was operated in different modes during the earlier and later missions. Due to position errors, differences, or offsets between GGNSS receivers operating in different modes, guidance lines and boundaries created with a vehicle equipped with an RTK system generally cannot be used interchangeably with a vehicle equipped with a PPP (e.g., a SF system), and vice versa. While operators can maintain a record of a receiver's operating mode, the receiver's operating mode may change unexpectedly or automatically for recovery, reliability, or redundancy purposes. When the RTK / mRTK base station coordinates are upgraded / changed, or when the RTK base station is switched to a different RTK base site (without proper leveling, installation, or commissioning), it tends to introduce offsets in the RTK rover coordinates. This means that the offsets are also changed. It should be noted that when the PPP data format is upgraded between ITRF formats (e.g., from the ITRF 2008 data format to the ITRF 2014 data format or from ITRF 2014 to ITRF 2020), small offsets (e.g., a few millimeters) may be introduced into the upgraded dataset (such as AB guide lines, contour guide lines, or boundaries of a field or work area). The International Terrestrial Reference System (ITRF) is a geocentric reference system with an origin defined at the center of mass of the entire Earth, including the oceans and atmosphere, where the reference system has defined the orientation of the Earth's axis with reference to a specific reference time (e.g., epoch or unit of measurement). ITRF coordinates are obtained by combining individual Earth reference frame solutions calculated by the International Earth Rotation and Reference Systems Service (IERS) centres using observations or measurements from space-based geodetic techniques such as the Global Positioning System (GPS), Very Long Baseline Interferometry (VLBI), Satellite Laser Ranging (SLR), Lunar Laser Ranging (LLR) and Doppler Orbiting and Radiolocation Integrated with Satellites (DORIS). As of the date of this document, the ITRF reference frame and the ITRF transformation parameters between any two ITRF reference frames are indexed to a common reference epoch, which is currently "2015.0". They all use a network of stations located at sites covering the entire Earth. The ITRF can include measurements of the position of a reference station (e.g., a GPS reference station) and the velocity of the station, which can be used to derive the velocity vector of the tectonic plate associated with the reference station.Most importantly, when the reference epoch is changed during operation of a GNSS receiver in PPP mode for previous and later measurements or in hybrid PPP / RTK mode for previous and later measurements, significant datum offsets (e.g., offset vectors, alone or together with rotations of the offset vectors) may be introduced due to plate tectonic movement.

[0103] Figure 7 The graph shows the magnitude of the annual movement due to plate tectonics. The annual horizontal movement due to tectonic plates can be grouped into low annual tectonic plate movement (e.g., 0 to 3 cm / year velocity), medium annual tectonic plate movement (e.g., 3 to 6 cm / year velocity), and high annual tectonic plate movement (e.g., 5 to 9 cm / year velocity).

[0104] Some limited areas along the west coast of the United States, Central America, Bolivia, and Peru have moderate annual tectonic plate motions or moderate horizontal velocities. However, North America and South America generally have low annual tectonic plate motions. India, China (Tibet region), Pakistan, Iran, eastern Saudi Arabia, and Oman tend to have moderate annual tectonic plate motions. Some parts of Europe, Asia, and Africa tend to have low annual tectonic plate motions or low to moderate annual tectonic plate motions, while other parts of Europe, Asia, and Africa have moderate annual tectonic plate motions. At least some parts of Australia, Indonesia, and Papua New Guinea tend to have high annual tectonic plate motions.

[0105] In the present disclosure, an innovative technique referred to as datum switching allows one or more GNSS receivers to: (a) store dual outputs (e.g., simultaneously) as an RTK mode data stream and a PPP mode data stream (e.g., or alternatively, such as DGNSS or DGNSS / RTK) in a data storage device (e.g., a buffer memory, an electronic memory device, or a data transceiver) to support real-time (e.g., instantaneous or immediately on-demand) datum switching information between receiver navigation modes; (b) provide or output dual outputs (e.g., simultaneously) (e.g., at one or more data ports) as: (1) an RTK mode data stream and (2) a datum offset vector or a datum offset vector stream (which is associated with or paired with the RTK data stream) to support real-time (e.g., instantaneous or immediately on-demand) datum switching information between receiver navigation modes; and (c) publish the datum offset vectors as (1) an RTK mode data stream and one or more corresponding datum offset vectors. shift vector and / or (2) dual output (e.g., simultaneously published) of an RTK mode data stream and a PPP mode data stream (e.g., obtained by converting the RTK mode data stream into a PPP mode data stream based on the reference offset vector) to support real-time (e.g., instantaneous or immediate on-demand) reference conversion information between receiver navigation modes; and / or (d) wirelessly transmitted or wirelessly communicated via a communication network to a central server 518 or cloud data storage as an RTK mode data stream, a PPP mode data stream, or a dual-mode stream to support real-time (e.g., instantaneous or immediate on-demand) reference conversion information between receiver navigation modes; and / or (e) a position determination receiver (e.g., a GNSS receiver 512) configured to transmit or provide the transformed second position and the corresponding assigned identifier to an electronic data processing system 535 (e.g., an onboard electronic data processing system of a vehicle) for storage in a data storage device 525. For example, the transformed second position and corresponding assigned identifier typically represent any storable data related to the guidance or navigation of the vehicle (e.g., for storage in the data storage device 525), such as any of: a boundary line of a field or work site; one or more guide lines, points, or geographic coordinates on the boundary line of the field or work site; and one or more points or geographic coordinates of the guide lines; alone or together with metadata for later reference by the vehicle's electronic data processing system 535.

[0106] The reference conversion information can be published over a controller area network (CAN) data bus, an Ethernet data bus, or another vehicle data bus (e.g., for communication via the vehicle's electronic data processing system 535 or retrieved from an electronic data storage device 525), or retrieved wirelessly from a central server 518 or the cloud for precision guidance, mapping, and file applications to implement interoperability when the receiver navigation mode or reference is changed, as shown in FIG8 . In one example, a reference offset vector can be based on the vector difference between an RTK solution and a PPP mode solution, the PPP mode solution being associated with an RTK mode data stream or a continuous data stream of an RTK solution for the same epoch and corresponding reference offset vectors for a series of consecutive epochs. An epoch is a measurement unit of a GNSS receiver in which one or more carrier phase measurements are observed in received satellite signals from a group of GNSS satellites (e.g., at least four satellites from the same constellation of GNSS satellites).

[0107] In one embodiment, an RTK base station may be associated with a wireless communication device (e.g., a transmitter or transceiver) that determines, outputs, transmits, or broadcasts a correction signal to a rover GNSS receiver (e.g., a rover GNSS receiver operating in RTK mode, PPP-RTK mode, or DGNSS-RTK mode) in a standard format such as an RTCM data message (e.g., an RTCMSC-104 data message) or another standard or proprietary data format for correction messages, wherein the correction signal may incorporate a reference offset vector reference offset disclosed in this document (e.g., a reference offset vector reference offset) in a reserved or dedicated data block, reserved word, or reserved frame of the data message. In an alternative embodiment, the RTK base station may transmit a separate reference offset vector (e.g., Regardless of whether the rover GNSS receiver generates the data offset vector or the base GNSS receiver generates the reference offset vector, the electronic data processing system may store the RTK position along with the corresponding reference offset vector for the reference frame (eg, ITRF 2014) in the data storage device.

[0108] Figure 8AA virtual coordinate system 613 is illustrated in which there is no reference offset in the RTK position 701 (e.g., RTK geographic coordinates on the ground) and the SF position 703, such as a precise single point position (e.g., PPP with PPP geographic coordinates on the ground) or any position estimated in PPP, PPP-RTK, DGNSS, and DGNSS-RTK modes of a position determination receiver (e.g., GNSS receiver 512). Here, in FIG8 , there is no reference offset or a small consistent reference offset between the RTK mode 709 and the SF mode 711, where the SF mode 711 refers to one or more of the following: PPP, PPP-RTK, DGNSS, and DGNSS-RTK modes of a position determination receiver (e.g., GNSS receiver 512). Both the RTK position and the SF position 703 are intercepted by, coextensive with, or located on the RTK component and the SF component (705), wherein the RTK component is an RTK guide line or an RTK boundary of a work area or field, or both, and wherein the SF component is an SF guide line or an SF boundary of a work area or field, or both. Global Plate Motion Model

[0109] The world's tectonic plates have continued to move at a relatively stable rate, even over millions of years. This property enables modeling of these movements using evidence from geology, geophysics, and geodesy.

[0110] Figure 8B A table providing Cartesian rotation vectors for a set of illustrative major tectonic plates is illustrated. Specifically, the table discloses the Cartesian rotation vector for each plate using the NNR-NUVEL1A kinematic plate model (IERS TN21, Myr means millions of years).

[0111] Based on the rotation rate, the The linear velocity vector due to plate tectonics Calculated as: , (1) Among them, the rotation rate , which can be obtained from Figure 8B Therefore, the displacement of the point is: , (2) in is a given site or position, is the position at the starting epoch t0, and t is the current epoch of a given reference frame, such as ITRF 2014 or ITRF 2020, is the linear velocity vector.

[0112] Additional details regarding the above calculations are explained in U.S. Patent No. 10,481,275 B2, entitled “LONG TERMREPEATABILITY OF DETERMINED POSITION IN GNSS NAVIGATION SYSTEM,” and U.S. Patent No. 10,802,159 B2, entitled “LONG TERMREPEATABILITY OF DETERMINED POSITION IN GNSS NAVIGATION SYSTEM,” which are hereby incorporated by reference herein. Baseline offset learning

[0113] In GNSS receivers with PPP mode or RTK-PPP mode (e.g. StarFire TM GNSS receivers), you can refer to the solution with ITRF 2014 and epoch 1 January 2018 (or later the ITRF reference frame or another suitable reference frame) to determine the exact PPP or PPP-RTK solution for any given time t , and use Equation 2 to solve the above precise PPP or PPP-RTK solution Used as the golden rule for XYZ coordinates. Navigation patterns can be subtracted from solutions associated with a real reference frame or a baseline reference frame. An accurate solution of , such as an RTK solution, mRTK solution, PPP-RTK solution, or PPP solution with a different ITRF reference (such as ITRF 2020) or a different epoch time, to learn the reference offset in real time as in Equation 3 It should be noted that the above algorithm can be applied in real time to a static receiver (like an RTK base) or a kinematic receiver. The offset information can be smoothed over time to improve accuracy and consistency. = , (3) in, is the reference offset vector for a given navigation mode (such as RTK, mRTK, Precise Point Positioning (PPP) mode or PPP-RTK or DGNSS-RTK) at epoch t0, referenced to a reference frame (e.g., ITRF 2014); is the RTK solution vector (eg, the RTK position relative to the RTK base station or rover) in RTK mode (eg, the RTK mode is not time-dependent); alternatively, is at epoch t0 or with the solution The PPP solution vector or PPP-RTK solution vector at any later epoch where the corresponding epoch of the reference offset vector is aligned with the corresponding epoch of the reference offset vector; is the PPP solution vector (e.g., the PPP position relative to an RTK base or rover) at the reference epoch t0, at the epoch t0, or at any later epoch in precise point positioning mode.

[0114] In an alternative embodiment, in the above equation, This may include a DGNSS solution vector (eg, a DGNSS position or DGNSS-RTK position relative to an RTK base or rover) referenced to epoch t0, at epoch t0, or at any later epoch in precise point positioning mode.

[0115] As used throughout this document and equations, subscript SF and superscript SF are functions of epoch / time, and SF means any of: PPP, PPP-RTK, or DGNSS-RTK (or in alternative embodiments, DGNSS that meets certain target specifications for accuracy and repeatability of the estimated solution or estimated position). Datum Conversion

[0116] Therefore, an accurate navigation solution or a precise single point position solution (e.g., a PPP solution) should always be paired with its reference information (e.g., the corresponding reference offset vector for each epoch of the corresponding RTK solution or the corresponding PPP solution). The navigation mode 1 of the GNSS receiver may refer to one or more of the following parameters: (1) RTK or mRTK navigation mode (e.g., the RTK or mRTK navigation mode is not time-dependent), (2) the navigation mode is not time-dependent at the t0 epoch or at the time of the solution. PPP mode, precise navigation mode, or PPP-RTK mode, or DGNSS-RTK at any later epoch to which the corresponding epoch and the datum offset vector are aligned, (3) a specific GNSS receiver with GNSS constellation channels, hardware specifications, software limitations, and / or other technical limitations, (4) the corresponding level (accuracy) of correction services available to the GNSS receiver, (5) the access level, processing frame, or reference frame to which the end user subscribes to one or more GNSS satellite constellations (such as GPS, GLONASS, and GALILEO, or others), and (6) the applicable reference frame (e.g., ITRF) and epoch. Their datum offsets can be calculated using Equation 4. information: = (4) in is the reference offset vector to the reference epoch t0 in navigation mode 1 (e.g., the time PPP reference offset vector between two PPP solutions or between a PPP solution and an RTK solution), is the RTK solution vector (e.g., the RTK position relative to the RTK base station or rover) in RTK mode (e.g., RTK mode is not time-dependent); alternatively, Is at epoch t0 or with the solution The PPP solution vector or PPP-RTK solution vector or DGNSS-RTK solution vector at any later epoch where the corresponding epoch of the reference offset vector is aligned with the corresponding epoch of the reference offset vector; is the PPP solution vector (e.g., the PPP position relative to an RTK base or rover) at the reference epoch t0, at the epoch t0, or at any later epoch in precise point positioning mode.

[0117] In an alternative embodiment, in the above equation, is the reference epoch t0, the PPP-RTK solution vector at the t0 epoch or any later epoch, or the DGNSS-RTK solution.

[0118] In some embodiments, Time-varying PPP solution vectors can be included that may change due to movement of tectonic plates over time (e.g., rotation and vector displacement). Representing the RTK solution vector, it can be static over time, to the extent that the RTK base station receiver remains fixed to the tectonic plate and only moves with the tectonic plate over time.

[0119] The navigation mode 2 of a GNSS receiver may refer to one or more of the following parameters: (1) RTK or mRTK navigation mode (e.g., the RTK or mRTK navigation mode is not time-dependent), (2) the navigation mode at epoch t0 or at the time of the solution. PPP mode, precise navigation mode, or PPP-RTK mode, or DGNSS-RTK mode at any later epoch at which the corresponding epoch and the reference offset vector are aligned, (3) a specific GNSS receiver with GNSS constellation channels, hardware specifications, software limitations, and / or other technical limitations, (4) the corresponding level (accuracy) of correction services available to the GNSS receiver, (5) the access level, processing frame, or reference frame of one or more GNSS satellite constellations (such as GPS, GLONASS, and GALILEO, or others) to which the end user subscribes, and (6) the applicable reference frame (e.g., ITRF) and epoch. When the user changes navigation mode 2, Equation 5 should be used to solve Collect their base offsets information: = (5) in is the reference offset vector (e.g., the time PPP reference offset vector between two PPP solutions or between an RTK solution and a PPP solution) referenced to epoch t0 at epoch t in navigation mode 2, where epoch t is any epoch equal to or after epoch t0; is the RTK solution vector (e.g., the RTK position relative to the RTK base station or rover) in RTK mode (e.g., RTK mode is not time-dependent).

[0120] Alternatively, in the above equation, Is at epoch t0 or with the solution The PPP solution vector or PPP-RTK solution vector or DGNSS-RTK solution vector at any later epoch where the corresponding epoch of the reference offset vector is aligned with the corresponding epoch of the reference offset vector; is the PPP solution vector (e.g., the PPP position relative to the RTK base or rover) at the reference epoch t0, at the epoch t0, or at any later epoch in precise point positioning mode. is the reference epoch t0, the PPP-RTK solution vector at the t0 epoch or any later epoch, or the DGNSS-RTK solution.

[0121] If a reference change is detected between navigation mode 1 and navigation mode 2 by comparison with a reference frame (e.g., ITRF 2014), the GNSS receiver or a data processing system in communication with the GNSS receiver is triggered or configured to perform a reference conversion. For example, if the stored or collected data offset vectors are substantially equal for the same epoch of the corresponding RTK data stream or the corresponding PPP data stream, then the stored or collected data offset vectors cancel and the position solution is aligned with the same reference frame, which means that the data streams of the PPP position solution or the RTK position solution at the earlier set of epochs and the later set of epochs are substantially aligned or within a suitable tolerance of repeatability (e.g., within a season).

[0122] For example, a GNSS receiver or a data processing system in communication with a GNSS receiver is configured to apply or execute Equation 6. The converted solution Incorporating one or more reference offset vectors (e.g., 、 ); Therefore, the converted solution It is well suited to work with or support initial guidance lines or initial boundary maps without guidance line drift or jumps in the estimated position, attitude (e.g., roll, pitch, yaw, or heading) or motion data output by the GNSS receiver. is the navigation solution vector (e.g., PPP or RTK position relative to the RTK base or rover) which is obtained by subtracting the second mode offset vector And add the first mode offset vector Adjustment: (6)

[0123] Generally, four usage scenarios or use cases of GNSS receivers are considered for data conversion where long term repeatability (LTR) is applicable by applying a reference offset vector. The scenarios include one or more of the following: (a) RTK to PPP-RTK or PPP (e.g., StarFire TM PPP mode or Starfire TM PPP-RTK mode); (b) PPP-RTK or PPP switching to RTK; (c) RTK changing base station position or coordinates; and (d) SF-RTK changing base or reference epoch time, respectively. Use Case 1: RTK Rover Switching to PPP, PPP-RTK, or DGNSS-RTK

[0124] In one example, the RTK solution of a proprietary RTK rover receiver is used to create guide lines, boundary maps, or both, either alone or in conjunction with a proprietary RTK base station receiver or a third-party RTK base station receiver. The baseline offset can be calculated using Equation 7: information: = (7) in is the reference offset vector between (a) the RTK solution and (b) the PPP solution, PPP-RTK solution, or DGNSS-RTK solution, where the RTK solution includes any of the following: TM A first solution or a proprietary solution determined by a GNSS rover receiver or a GNSS base station receiver; wherein a second solution (such as a PPP solution, PPP-RTK or DGNSS-RTK solution) is determined by a proprietary GNSS receiver (e.g., StarFire TM GNSS rover receiver or GNSS base station receiver); is a first solution, such as RTK mode or mRTK mode (e.g., for a given RTK base station, or rover, with fixed coordinates or a specified set of coordinates); Is a proprietary PPP or PPP-RTK solution (e.g., StarFire TM-RTK solution), or a DGNSS-RTK solution determined by a proprietary GNSS receiver operating in PPP, PPP-RTK mode, or DGNSS-RTK mode (e.g., with long-term repeatability characteristics when referenced, for example, to ITRF 2014, epoch t0 (January 1, 2018)).

[0125] In one embodiment, the proprietary base station RTK GNSS receiver may optionally estimate a first solution and an associated reference offset vector for each successive epoch, which are incorporated into a correction signal transmitted to the rover RTK GNSS receiver via a wireless communication link. However, in an alternative embodiment, the proprietary base station RTK GNSS receiver is replaced by a third-party manufactured GNSS receiver, such that the rover GNSS receiver is required to estimate a first solution and an associated reference offset vector for each successive epoch, and the third-party manufactured GNSS receiver provides correction signals in a standard format (e.g., RTCM) to the rover RTK GNSS receiver via a wireless communication link.

[0126] The term mRTK refers to mobile real-time kinematic positioning, in which a rover or mobile receiver receives correction data (e.g., differential carrier phase-based correction data) from a fixed reference receiver via a packet-switched network like the Internet, in conjunction with a wireless communication network (e.g., cellular, Group Special Mobile (GSM), Time Division Multiple Access (TDMA), Code Division Multiple Access (CDMA) networks). Throughout this document, the solution includes the estimated position, attitude, or motion of a GNSS receiver or its antenna.

[0127] If the base station position and its coordinate values ​​do not change, the base offset can be smoothed To improve reliability and accuracy over time. The reference offset can be calculated at, in, or by a base GNSS receiver or a rover GNSS receiver. User-entered, self-surveyed, or imported coordinates can replace the current, proprietary RTK solution in the RTK base station to calculate the reference offset. Because the signal quality from the base GNSS receiver may be better and the coordinates of the base GNSS receiver are fixed, the quality of the reference offset for an RTK base GNSS receiver tends to be or can be better than the reference offset calculated from an RTK rover GNSS receiver. In some configurations, a proprietary RTK base station (e.g., as opposed to an RTK base station manufactured by a third party) is configured to transmit or broadcast such a reference offset vector (or a series of reference offset vectors for each epoch corresponding to the corresponding RTK solution for the same epoch or the PPP solution for the same epoch) along with RTK correction data (e.g., RTCM correction messages in a correction signal) from the RTK base station to the rover receiver. However, RTK corrections from mobile RTK or third-party manufactured base stations (e.g., which do not have compatible technical standards or interoperability), the base offset may only be available for calculation from a mobile GNSS receiver or rover receiver.

[0128] In certain embodiments, if or when a guideline and / or boundary map is created, the GNSS receiver or an electronic data processing system in communication with the GNSS receiver is configured to collect a reference offset vector or information (e.g., as illustrated in Equation 4 and / or Equation 5) to be stored with the guideline and boundary map. If the GNSS receiver changes the navigation mode from (a) RTK mode (e.g., from a proprietary RTK mode, StarFire TM RTK mode) to (b) PPP mode, PPP-RTK navigation mode or DGNSS-RTK mode, a reference offset vector is usually required for accurate positioning. In proprietary PPP, PPP-RTK mode (e.g., StarFire TM RTK mode) or DGNSS-RTK mode, the proprietary GNSS receiver or associated electronic data processing system is configured to apply a previously collected reference offset (vector) (e.g., during previous operation of the proprietary GNSS receiver in RTK mode) to convert an RTK solution or RTK-like solution using Equation 8. The converted solution is well suited to work properly with legacy guideline or boundary maps (e.g., which were collected in RTK mode) without guideline shifts or jumps in the estimated position, attitude, or motion data output by the GNSS receiver. It should be noted that for , the base offset should be zero, This can include any of the following: PPP solution (vector), PPP-RTK solution (vector), or DGNSS-RTK solution (vector). Equation 8 is as follows: (8) in, is the reference offset vector between the RTK solution and the PPP solution, PPP-RTK solution, or DGNSS solution at epoch t0; is the first RTK vector solution (e.g., a proprietary RTK solution determined by a proprietary GNSS receiver, or StarFire in RTK mode). TM GNSS receiver); It is a PPP solution, PPP-RTK solution or DGNSS solution determined by a proprietary GNSS receiver.

[0129] You can refer to the RTK base station GNSS receiver or the rover GNSS receiver to determine The transition between RTK modes (e.g., universal RTK mode or proprietary RTK mode) to proprietary PPP mode, PPP-RTK mode, or DGNSS-RTK mode can be done seamlessly. Here, the illustrative procedures and steps for a first use case RTK rover are shown for switching from a first mode or RTK mode (e.g., universal RTK mode or proprietary RTK mode) to a second mode, such as PPP mode, PPP-RTK mode (e.g., StarFire RTK mode determined by a proprietary RTK GNSS receiver). TM PPP mode or PPP-RTK mode) or DGNSS-RTK mode.

[0130] In one embodiment, the electronic data processing system 535 may include a user interface, such as an electronic display, a touch screen display, a keypad, a keyboard, switches, a pointing device (e.g., an electronic mouse), or other input / output devices; furthermore, the electronic data processing system 535 may be capable of communicating with the central server 518 or cloud services via the wireless communication network 135, which in turn is coupled to the packet-switched network 139 or the Internet. The electronic data processing system 535, including the user interface and the central server 518 or cloud services, may be referred to as a (display / operation center system or D / OSC).

[0131] Figure 15A flow chart of one embodiment of a method for datum conversion between receiver navigation modes for guidance planning is disclosed, such as one or more GNSS receivers 512 that initially operate in RTK mode and switch to PPP, PPP-RTK, or DGNSS-RTK mode or later operate in PPP, PPP-RTK, or DGNSS-RTK mode. For example, an end user may replace or upgrade a (first) GNSS receiver that operates in RTK or mobile RTK (mRTK) mode with a new (second) GNSS receiver that operates in PPP, PPP-RTK, or DGNSS-RTK mode for the same field or work site (e.g., even at a later measurement time or epoch of the GNSS receiver). The new or second GNSS receiver is able to use or leverage the guidance lines and boundaries collected by the first GNSS receiver in RTK mode or mRTK mode and stored in a suitable data storage device 525, even if the second receiver later operates in PPP, PPP-RTK, or DGNSS-RTK mode. The method is described in detail in the accompanying drawings. Figure 15 It starts in step S102.

[0132] In step S102, at an earlier time or a first time, a rover or mobile position determination receiver (e.g., a universal GNSS receiver or a first GNSS receiver) is configured to collect one or more of the following in a first mode: (a) an initial boundary of a field (or work area); (b) one or more initial guide lines (e.g., AB guide lines); and (c) reference contour guide lines or other guide lines for point-to-point movement of a work vehicle or field coverage by a work vehicle for storage in an electronic file or other data structure. The first mode refers to a real-time kinematic (RTK) mode, such as a universal RTK mode, a proprietary RTK mode, or a mobile RTK mode, in which one or more local reference position determination receivers (e.g., an RTK base station) provide correction signals (e.g., differential correction signals) to the rover or mobile position determination receiver in the field or work area.

[0133] In this document, a guideline shall include one or more of the following: a linear segment, a curved segment, a contour, a spiral, a waypoint, or other point from which a guideline is derived, or other geometric representation of a path for a work vehicle, its implement, or both. Typically, a longitudinal centerline, centerpoint, or reference point of a vehicle or its implement is aligned (e.g., by an automated steering system (such as an electro-hydraulic steering system or an electrically driven steering system) responsive to a guidance system, path planning, and a position determination receiver) to travel directly over the planned path or path-planned guideline of the vehicle, which can be tracked using coordinates provided by a position determination receiver (such as a GNSS receiver). For example, an initial guideline or guidelines can be used as a reference for an initial path or path for a work vehicle or its implement and for path planning to cover an area of ​​a field or work site, with the path plan having additional or subsequent paths or paths of the work vehicle following parallel guidelines offset by an amount proportional to the implement width of the implement or the vehicle width of the work vehicle.

[0134] In step S104, the initial file or other initial electronic data structure collected in the first mode (e.g., RTK mode) is uploaded, stored, imported, or typed into an electronic data processing system (e.g., 535), which is connected to or in communication with a mobile station or mobile position determination receiver (e.g., a GNSS receiver 512 that can operate in RTK mode, proprietary RTK mode, or mRTK mode). For example, a rover or mobile site determination receiver (e.g., GNSS receiver 512): (a) determines and provides RTK-related data for initial guide lines, initial boundaries, and other features, which is placed or stored in an initial file or initial data structure; and (b) a data processing system (e.g., 535) coupled to the GNSS receiver (e.g., 512) records or stores the provided RTK data for initial guide lines, initial boundaries, and other features (such as, the initial file or initial data structure) in a data storage device 525 of the data processing system 535 or in a data storage device 525 at a central server 518 or on the cloud (e.g., via wireless communication to the Internet or another available communication network).

[0135] In step S106, the rover or mobile site determination receiver, alone or in conjunction with an electronic data processing system (e.g., 535, D / OC, Display / Ops Center system), transforms or converts the initial file or initial data structure into a converted file or converted data structure of converted boundaries or converted guide lines according to a universal reference system; wherein the universal reference system refers to the International Terrestrial Reference Frame (ITRF) or a comparable standard reference system with a corresponding date and a corresponding epoch. Step S106 can be performed according to various techniques that can be applied individually or cumulatively as follows.

[0136] Under a first technique, a location determination receiver (e.g., a GNSS receiver 512), a reference frame offset module 534, or a reference frame converter / transformer 513 is configured to transform, convert, or process an initial boundary, one or more initial guide lines (of an initial document or initial data structure), or both, created in a first mode (e.g., an RTK mode, such as a universal or proprietary RTK mode) by applying datum transformation information to a common reference frame associated with a PPP mode, a PPP-RTK mode, a DGNSS mode, or a DGNSS-RTK mode (e.g., or in an alternative embodiment, a DGNSS mode that may meet certain target specifications for estimated position accuracy and estimated position repeatability).

[0137] Under a second technique for performing step S106, the GNSS receiver 512, the reference frame offset module 534, or the reference frame converter / transformer 513 is configured to determine and provide reference transformation information (e.g., one or more reference offset vectors, such as, one reference offset vector for each epoch associated with a corresponding RTK data solution (e.g., position in two or three dimensions, at the same epoch) relative to or with reference to RTK data recorded in an RTK mode (e.g., universal RTK mode, proprietary RTK mode, or mobile RTK mode (mRTK))) about a reference frame and its corresponding date and corresponding epoch (e.g., PPP reference ITRF 2014 and epoch January 1, 2018).

[0138] Under the third technique for performing step S106, in one embodiment, a data processing system (e.g., 535) coupled to the GNSS receiver 512 records or stores: (a) datum transformation information provided in a local data storage device 525, or a remote data storage device at a central server 518, or in the cloud, or in a distributed manner across multiple data storage devices (for initial guide lines, initial boundaries, and other features, or together with or in combination with the initial guide lines, initial boundaries, and other features), and / or (b) the transformed guide lines, transformed boundaries, or transformed other features in a universal reference frame.

[0139] Under a fourth technique, the position determination receiver 512 or the data processor 535 is configured to determine a first reference offset based on a difference between a first position in a first mode (e.g., RTK mode) and a corresponding universal position for or in a universal reference system. For example, in step S106, based on one or more reference offset vectors, the electronic data processor 50 or the data processing system 535 (e.g., D / OCS) is configured to convert an initial boundary and one or more initial guide lines created in an RTK mode (e.g., universal or proprietary RTK mode) and reference conversion information into a PPP, PPP-RTK, DGNSS, or DGNSS-RTK reference, such as a converted boundary and one or more converted guide lines compatible with the GNSS receiver 512 operating in the PPP mode, PPP-RTK mode, DGNSS mode, and DGNSS-RTK mode.

[0140] The position determination receiver 512 or the electronic data processing system 535 determines the converted boundaries and the converted guide lines in a converted document or other electronic data structure. In addition, the electronic data processing system 535 can transmit or store the converted document (e.g., in the data storage device 525) for later reference by the electronic data processing system for later operations in the same field, work area, or geographic area as indicated by the GNSS receiver.

[0141] In an alternative configuration, the reference offset vector includes an additional RTK receiver reference offset vector between a third-party manufactured GNSS receiver (e.g., 512) in an RTK mode (e.g., universal RTK mode) and a proprietary GNSS receiver (e.g., 512) in an RTK mode (e.g., proprietary RTK mode), where the reference offset vector is licensed or provided by a subscription service from the third-party manufacturer (or licensor) or as part of a standard format for a data correction service.

[0142] In step S108, for the field or work area, the electronic data processor 530, data processing system 535 or D / OCS plans one or more paths for the next work vehicle (e.g., a machine) equipped with a rover or mobile site determination receiver (e.g., GNSS receiver 512 or a proprietary GNSS receiver) based on the converted document or multiple converted documents thereof, the converted boundaries and other possible parameters (such as machine width, implement width, wheelbase, minimum turning radius, wheel or track configuration and row width spacing of plant rows, technical specifications (individually and collectively, "machine parameters and / or implement parameters")). For example, the electronic data processor 530, the electronic data processing system 535, or a path planner (associated with the electronic data processing system 535 or the vehicle electronics) may reference any of: (a) converted boundaries (e.g., in a converted file or converted data structure); (b) converted guide lines (e.g., in a converted file or converted data structure); and / or (c) datum conversion information (e.g., one or more datum offset vectors associated with corresponding epochs) to convert initial guide lines and other guide lines (e.g., segments or sections) of the path from RTK datum / data, which is compatible with the RTK mode of the mobile position determination receiver (e.g., GNSS receiver 512), which is compatible with PPP, PPP-RTK, or DGNSS-RTK datum / data (e.g., which is referenced to a universal reference frame), which is compatible with a second mode (such as PPP, PPP-RTK, DGNSS, or DGNSS-RTK mode of the position determination receiver (e.g., GNSS receiver 512)).

[0143] The data processing system 535 can store the planned path (e.g., the converted path plan in the data storage device 525 or elsewhere) for future reference or retrieval, such as by a next work vehicle via a wireless communication network and the Internet network 139 that communicates to the cloud or central server 518. The next work vehicle includes the first work vehicle or the second work vehicle, wherein the first work vehicle collected the initial boundaries of the field or work area or one or more initial guidance lines at an earlier time or at the first time in step S102. Additionally, the second work vehicle includes the first work vehicle or another work vehicle that is configured to receive, access, and apply the planned path of step S108 to guide the second work vehicle.

[0144] In optional step S110, the data processing system 535 or D / OCS is configured to detect the next machine or work vehicle (e.g., a second work vehicle) operating in the same field or work area with the aid of a new navigation reference (e.g., transitioning or switching between a first mode (RTK mode) and a second mode (PPP mode or PPP-RTK mode) of a rover or mobile site determination receiver (such as, for example, a GNSS receiver 512 or a replacement, substitute or proxy thereof)) or in a new reference frame (e.g., ITRF 2014 or ITRF 2020 or any later ITRF version). For example, at a later time after the earlier time, the data processing system 535 or D / OCS is configured to detect the next machine operating in the same work area or field at the later time by comparing one or more then-current navigation solutions (e.g., for the currently observed data stream for the location of the guideline) with a known reference frame (e.g., ITRF 2014) (for the stored reference data stream for the same location of the guideline from the data storage device 525) according to the equations discussed in this disclosure. Additionally, either alone or in conjunction with the above comparison, if the stored or collected data offset vectors are for the same epoch (e.g., year and epoch) for the currently observed PPP data stream and the reference PPP data stream referenced to the reference frame (e.g., ITRF 2014), are substantially equal, then the stored or previously collected data offset vector from the earlier time cancels out the then-observed data offset vector for the later time; therefore, the position solutions are aligned with the same reference frame, which means that the data streams of the PPP position solution or RTK position solution (e.g., for the same guideline, such as an AB linear segment or a curved guideline) at the earlier set of (seasonal) epochs and the later set of (seasonal) epochs are substantially aligned (e.g., by known data offset vectors, such as or within a suitable tolerance of repeatability (e.g., within a season or between an earlier time and a later time that may even exceed a season or growing season). Thus, if the next machine is configured with the same or a substantially similar GNSS receiver (e.g., a replacement GNSS receiver of the same or a different model of receiver manufacturer, a substitute GNSS receiver, a proxy GNSS receiver, or perhaps configured with a different brand of receiver manufacturer, configured with the same or a substantially similar correction service), the electronic data processing system 535 can detect a transition between different navigation modes, such as a transition between an RTK mode and a PPP mode or a PPP-RTK mode, wherein the detection checks the recorded RTK data and associated reference offset vector for the same field or work area (for each corresponding epoch of the RTK data and associated reference offset vector, possibly over a series of epochs).

[0145] In some embodiments, detection of a new navigation reference may require normalization or consideration or manual debugging / installation of entries for: (a) any changes (e.g., auxiliary changes) in or to the GNSS receiver specifications (e.g., differences in hardware, antennas, software processing versions, user-definable receiver settings, receiver brands, correction services, compatible data standards, or other configurations); or (b) any different machine parameters (e.g., minimum turning radius constraints for the vehicle or its implement, vehicle width constraints and / or implement width constraints on path planning or tracking previous guidance lines or keeping the vehicle or implement confined within previous field boundaries), where the vehicle's initial guidance lines require further adjustment rather than simply applying a reference offset vector for possible tracking or proper tracking and field coverage as per the path plan.

[0146] In optional step S110, as the detection process accumulates, the electronic data processor can optionally further detect whether the conversion from RTK to PPP, PPP-RTK or DGNSS-RTK has been completed for all guide lines and boundaries required for complete path planning, and any further guide lines and boundaries required to the PPP, PPP-RTK or DGNSS-RTK reference system have been completed.

[0147] In step S112, to the extent applicable on the next machine, and upon detection by the electronic data processing system 535 or the datum reference manager 532 of a new or different datum, a new or different reference frame, and new or different machine parameters and / or implement parameters, the D / OCS: (a) automatically adjusts or shifts the converted boundary or converted guideline from the universal reference frame having a first corresponding date and corresponding epoch (e.g., ITRF 2008 or ITRF 2014 or the universal reference frame of step S106) to a revised universal reference frame having a second corresponding date and epoch (e.g., ITRF 2020), and (b) automatically adjusts or shifts the converted boundary or converted guideline in the universal reference frame based on a data offset vector between the universal reference frame and the RTK reference frame of a rover or mobile site determination receiver operating in the first mode at a later time following the earlier time. Here, for item b above at a later time following an earlier time, the guide lines, curves, and boundaries from the later time RTK solution (e.g., a universal RTK solution or a proprietary RTK solution) may not be aligned with the earlier time RTK solution; therefore, in the second mode, an additional datum offset between the earlier time RTK datum and the later time RTK datum is incorporated into the universal reference frame. The second mode refers to a PPP solution, a PPP-RTK solution, a DGNSS solution, or a DGNSS-RTK solution based on the application of one or more datum offsets set forth in the accompanying equations. In addition, in the second mode, the data processing system 535 is configured to retrieve or access the converted document or multiple converted documents thereof, the converted boundary, or the converted path plan, which is typically expressed in the universal reference frame, for any modifications to the datum offset and for guidance of the next machine or work vehicle.

[0148] In step S114, the data processing system 535 or D / OCS enables a machine or work vehicle equipped with a rover or mobile position determination receiver (e.g., proprietary GNSS receiver 512) operating in a second mode (e.g., proprietary PPP mode, PPP-RTK mode, DGNSS mode, or DGNSS-RTK mode) to accurately navigate through the field by reference to any of: (a) converted field boundaries, converted guide lines, and converted path plan; and / or (b) a data offset vector between a universal reference frame and an RTK reference frame, or one or more other applicable data offsets applied to the initial field boundaries, initial guide lines, and initial path plan. Furthermore, in some embodiments, converted field boundaries, converted guidance lines, and converted path plans for navigation in PPP mode, PPP-RTK mode, or DGNSS-RTK mode are based on available raw RTK data (e.g., generic RTK data or proprietary RTK data), wherein one or more applicable data offsets are applied to the initial field boundaries, initial guidance lines, and any initial path plans for the vehicle based on the initial field boundaries, initial guidance lines, and any initial path. Use Case 2: SF-RTK Rover Switching to RTK

[0149] In one example, a proprietary Precise Point Position (PPP) solution or PPP-RTK solution (e.g., StarFire) provided by a proprietary GNSS receiver operating in a proprietary PPP mode, PPP-RTK mode, DGNSS mode, or DGNSS-RTK mode (e.g., in the second mode) is used. TM PPP-RTK solution) to create preliminary guide lines or a preliminary boundary map. For example, in PPP-RTK mode, the GNSS receiver may switch between PPP mode and RTK mode based on one or more of the following: (a) availability, (b) reliability, and (c) target accuracy of the PPP mode and / or RTK mode, as well as other switching factors. In PPP-RTK mode or in PPP mode, the RTK estimator 122 and the PPP estimator 120 may sometimes be run in parallel and simultaneously by a rover or mobile receiver.

[0150] The reference offset can be calculated as follows in Equation 9: information: = , (9) in is the datum offset vector between a pair of proprietary PPP solutions or a pair of PPP-RTK solutions during the same epoch. Here, the same default proprietary datum (e.g., StarFire TMPPP Benchmark or StarFire TM PPP-RTK reference) and a default epoch time (t0) are used for solutions estimated by GNSS receivers on different frequency bands (e.g., L1 and L2), or for solutions estimated simultaneously by a rover GNSS receiver and a reference GNSS receiver.

[0151] Because proprietary offset benchmarks (e.g., StarFire TM The PPP datum or PPP-RTK datum) and epoch time remain the same or substantially the same, so the above datum offset will be constant at zero. If the user or work vehicle controller changes the navigation mode, for example, switching to a generic RTK solution, a generic RTK solution and the new datum offset calculated using Equation 8 should be collected. Equation 10 can be used to convert the generic RTK back to a PPP or PPP-RTK type solution (e.g., StarFire TM PPP benchmark or PPP-RTK solution). According to the following equation 10, the converted universal RTK solution should be compared with the SF-RTK PP or PPP-RTK class solution (e.g., StarFire TM An offset reference to an old preliminary guiding line or preliminary boundary map based on a PPP reference or PPP-RTK solution works well without line shifts or jumps in the estimated position, attitude or motion data of the GNSS receiver: = (10)

[0152] Figure 16 A flow chart of one embodiment of a method of a rover GNSS receiver (eg, 512 ) switching from PPP, PPP-RTK, or DGNSS-RTK mode to RTK mode is disclosed (eg, for the second use case). Figure 16 The method starts in step S202.

[0153] In step S202, at an earlier time or a first time, the rover or mobile position determination receiver 512 (e.g., a general GNSS receiver) is configured to collect one or more of the following in a second mode: an initial boundary of a field (or work area) and / or one or more initial guide lines of the field or work area (e.g., for storage in an initial file, initial data structure, electronic file, or other data structure). In addition, the second mode (e.g., SF-RTK) includes a PPP mode, a PPP-RTK mode, or a DGNSS-RTK mode (or, in an alternative embodiment, a DGNSS mode that meets target specifications for accuracy of position estimates and repeatability of position estimates).

[0154] As used herein, a guideline shall include one or more of the following: a linear segment, a curved segment, a contour, a spiral, a waypoint, or other point from which the guideline is derived, or other geometric representation of the path of a work vehicle, its implement, or both. For example, as used herein, a guideline may include an AB guideline (e.g., from point A to point B defined by two-dimensional or three-dimensional coordinates), or a reference contour guideline, or other guideline used for point-to-point movement of a work vehicle or field coverage by a work vehicle.

[0155] Typically, a longitudinal centerline, centerpoint, or reference point of a vehicle or its implement is aligned (e.g., by an automated steering system (such as an electro-hydraulic steering system or an electrically driven steering system) responsive to a guidance system, path planning, and a position determination receiver (e.g., GNSS receiver 512)) to travel directly over the planned path or guidelines of the path plan for the vehicle, which may be tracked by coordinates provided by the position determination receiver (e.g., GNSS receiver 512). For example, an initial guideline or guidelines may be used as a reference for an initial passage or path of a work vehicle or its implement, as well as a reference for a path plan to cover an area of ​​a field or work site with additional or subsequent passages or paths of the work vehicle following parallel guidelines that are offset by an amount proportional to the implement width of the implement or the vehicle width of the work vehicle.

[0156] In step S204, the initial file, initial data structure, or other electronic data structure collected in the second mode and consistent with the universal reference frame (e.g., ITRF defined by corresponding dates and corresponding epochs) is uploaded, stored, imported, or entered into a data storage device 525 of an electronic data processing system 535 connected to or in communication with the GNSS receiver 512, or a data storage device 545 associated with the central server 518, or in the cloud, or in any combination of the aforementioned data storage resources. The second mode may include any of the following: PPP mode, PPP-RTK mode, or DGNSS-RTK mode (or, in an alternative embodiment, a DGNSS mode that meets target specifications for accuracy of position estimates and repeatability of position estimates). For example, in step S204: (a) a mobile position determination receiver (such as, a (proprietary) GNSS receiver 512) determines and provides PPP data, PPP-RTK data or DGNSS-RTK data for initial guide lines, initial boundaries and other features in a common reference frame (e.g., PPP, PPP-RTK or DGNSS-RTK solutions of position, attitude or motion); (b) a data processing system 535 coupled to the GNSS receiver 512 records or stores the provided PPP data, PPP-RTK data or DGNSS-RTK data for the initial guide lines, initial boundaries and other features in a common reference frame in a local data store 525 (e.g., via an electronic data processing system 535), on a data store 545 at a central server 518 or in the cloud; (c) the GNSS receiver 512 determines and provides accompanying datum transformation information (e.g., one or more datum offset vectors, or an offset datum stream of datum offset vectors in real time), such as one datum offset vector for each epoch from the common reference frame to the RTK reference frame.

[0157] In one embodiment, each datum offset datum or data offset vector is associated with a corresponding PPP data, PPP-RTK data, or DGNSS-RTK data solution in a common reference frame having a corresponding date and epoch relative to or referenced to the recorded data in an RTK reference frame. The GNSS receiver 512 includes: (1) a PPP estimator 120 configured to determine PPP data in a first mode, such as a PPP mode, a PPP-RTK mode, or a DGNSS-RTK mode; and (2) an RTK estimator 122 configured to determine GNSS-RTK data in a second mode, such as an RTK mode or a mobile RTK (mRTK) mode; and (2) the PPP estimator 120 and the RTK estimator 122 operating simultaneously in the first mode and the second mode relative to a reference frame (e.g., PPP, PPP-RTK, DGNSS-RTK datum ITRF 2014 and epoch January 1, 2018). The data processing system 535 coupled to the GNSS receiver 512 records or stores the provided datum transformation information for the initial guide lines, initial boundaries, and other features, or the provided datum transformation information along with the initial guide lines, initial boundaries, and other features in a local data store, in the cloud, or at a central server 518.

[0158] In step S206, based on the uploaded and stored initial file or initial data structure, the electronic data processing system 535 (e.g., D / OCS) is configured to transform or convert the initial boundary and / or one or more initial guide lines created in the second mode (e.g., PPP mode, PPP-RTK mode, or DGNSS-RTK mode) into RTK data, such as a transformed boundary and one or more transformed guide lines compatible with a proprietary GNSS receiver operating in the first mode (e.g., RTK mode consistent with an RTK reference frame or mobile RTK mode). For example, the datum offset or data offset vector may be stored as the conversion information recorded or stored in step S204.

[0159] For example, in step S206, the electronic data processing system 535 determines the converted boundaries and the converted guide lines in the converted file or other electronic data structure according to the real-time kinematic (RTK) reference system. Furthermore, the electronic data processing system 535 may transmit or store the converted file (e.g., in the data storage device 525) for later reference by the electronic data processing system 535 for later operations in the same field, work area, or geographic region as indicated by the GNSS receiver 512.

[0160] In an alternative configuration (e.g., in step S206), the reference offset vector includes an additional RTK receiver reference offset vector between a third-party manufactured GNSS receiver (e.g., manufactured by a second manufacturer) in an RTK mode (e.g., universal RTK mode) and a proprietary (e.g., manufactured by a first manufacturer) GNSS receiver in an RTK mode (e.g., proprietary RTK mode), where the reference offset vector is licensed or provided by a subscription service from the third-party manufacturer (or a licensee) or as part of a standard format for a data correction service (e.g., for a hybrid network of GNSS receivers manufactured by different manufacturers).

[0161] In step S208, central server 518 or data processing system 535 (individually or collectively, a data operations center system (D / OCS)) plans one or more paths for a next work vehicle (e.g., a machine) equipped with GNSS receiver 512 based on the converted file or converted data structure according to the RTK reference system. Throughout this document, the next work vehicle may include the first work vehicle or the same work vehicle that collected the initial boundaries of the field or work area or the one or more initial guidance lines (e.g., in step S202). Alternatively, the next work vehicle may be a second vehicle different from the first work vehicle that collected the initial boundaries of the field or work area or the one or more initial guidance lines (e.g., in step S202).

[0162] In one embodiment, path planning may take into account or be dependent upon the transformed boundaries of the field or work area and other possible parameters, such as machine width, implement width, wheelbase, minimum turning radius, wheel or track configuration, and row width spacing of plant rows, technical specifications (individually and collectively, "machine parameters and / or implement parameters"). For example, the electronic data processor 530, the electronic data processing system 535, or the path planner (e.g., a software module within the data storage device 525) may reference datum transformation information (e.g., one or more datum offset vectors) to transform the initial guideline and other guidelines (e.g., segments or sections) of the path from PPP, PPP-RTK, or DGNSS-RTK datum / data (e.g., in a universal reference frame) to RTK datum / data (e.g., in an RTK reference frame) compatible with the RTK mode of the GNSS receiver 512. The data processing system 535 can store the planned path (e.g., the converted path plan) for future reference or retrieval, such as by the next work vehicle via the wireless communication device 517 operating on the wireless communication system 135; where the wireless communication system 135 is configured to transmit the planned path or other data messages to and from the cloud or central server 518 via the communication network 139 (e.g., the Internet network).

[0163] In optional step S209, the D / OCS is configured to detect the next machine or work vehicle operating in the same field or work area using a new navigation reference (e.g., transitioning or switching between the second mode (PPP mode or PPP-RTK mode) and the first mode (RTK mode)) or in a new reference frame (e.g., ITRF version) by comparing the navigation solution with a known reference frame (e.g., ITRF 2014 or ITRF 2020 or any later ITRF version) according to the equations discussed in this disclosure. For example, if for the same epoch of the observed PPP data stream and the reference PPP data stream referenced to the reference frame (e.g., ITRF 2014), the stored or collected data offset vector are substantially equal, then the stored or collected data offset vectors cancel and the position solutions are aligned to the same reference frame, which means that the data streams of PPP position solutions or RTK position solutions at an earlier set of (seasonal) epochs and a later set of (seasonal) epochs are substantially aligned (e.g., by known data offset vectors such as, or within a suitable tolerance for repeatability (e.g., within a season). Thus, if the next machine is configured with the same or substantially similar GNSS receiver 512 (e.g., with the same or substantially similar correction service), the electronic data processing system 535 or datum reference manager 532 can detect a transition between different navigation modes, such as a transition between: (a) PPP mode or PPP-RTK mode or DGNSS-RTK mode and (b) RTK mode (e.g., RTK or mRTK mode), wherein the detection reviews recorded PPP, PPP-RTK, or DGNSS-RTK data and associated data / datum offset vectors for the same field or work area (possibly over a series of epochs for each corresponding epoch of RTK data and associated datum offset vector).

[0164] In some embodiments, detection of a new navigation reference may require standardization or consideration or manual debugging / installation of items for: (a) any changes (e.g., auxiliary changes) in or to the GNSS receiver specifications (e.g., differences in hardware, antennas, software processing versions, user-definable receiver settings, receiver brands, correction services, compatible data standards, or other configurations); or (b) any different machine parameters between the first vehicle and the next vehicle (e.g., minimum turning radius constraints for the vehicle or its implement, vehicle width constraints and / or implement width constraints on path planning or tracking previous guidance lines or keeping the vehicle or implement confined within previous field boundaries), where the vehicle's initial guidance lines require further adjustment rather than simply applying a reference offset vector for possible tracking or proper tracking and field coverage as per the path plan.

[0165] In step S209, cumulatively with the detection process or separately, the electronic data processor may optionally detect whether the conversion from PPP, PPP-RTK or DGNSS-RTK to RTK has been completed for all guide lines and boundaries required for complete path planning, and any further versions of the RTK reference system required.

[0166] In step S210, to the extent applicable and detectable by the electronic data processing system 535 or input into a user interface of the electronic data processing system 535: (a) on the next machine (e.g., for new or different machine parameters and / or for implement parameters); and / or (b) for a GNSS receiver 512 having different hardware, software, or operating in an offset RTK reference frame (e.g., a moving RTK reference frame) having a new or different datum relative to an RTK reference frame derived or transformed from a universal reference frame or a new or different reference frame; the D / OCS or electronic data processing system 535 is configured to automatically adjust or shift any of the following: (a) based on the new or different machine parameters (e.g., For example, (a) a planned path for a next work vehicle that differs from the first work vehicle of step S202 in terms of vehicle width offset, vehicle turning radius offset, implement turning radius offset, vehicle offset equation, implement offset equation, or other parameters (e.g., a work vehicle width or implement width of a next work vehicle that is different from the first work vehicle of step S202); (b) guide lines, curves based on new or different machine parameters (e.g., a work vehicle width or implement width of a next work vehicle that is different from the first work vehicle of step S202); and (c) a planned path, guide lines, guide curves, and boundaries of a work area or field within an RTK reference system (such as an RTK reference system derived or transformed from a universal reference system or a mobile RTK reference system) based on a reference offset (e.g., an RTK to RTK reference system offset or offset vector).

[0167] The data processing system 535 or its data processor 530 can perform step S210 according to various examples, which can be applied individually or cumulatively. In a first example, the data processing system 535, the data processor 530, or the datum reference manager 532 is configured to base the datum offset between the PPP, PPP-RTK, or DGNSS-RTK solution and the RTK (e.g., RTK or mRTK) solution on the application of one or more datum offsets set forth in the accompanying equations.

[0168] In a second example, the data processing system 535, the data processor 530, or the datum reference manager 532 is configured to retrieve or access the converted document, or its converted document, converted boundary, or converted path plan for the next machine or work vehicle. For example, the electronic data processing system 535 or the central server 518 adjusts or shifts the converted boundary or converted guideline based on: (a) a first data offset vector between the universal reference frame and the RTK reference frame; and (b) a second data offset vector between the first RTK reference frame derived or transformed from the universal reference frame and a second RTK reference frame (e.g., a mobile RTK reference frame) or an offset RTK reference frame (e.g., associated with different receiver hardware, different software, different RTK base station configuration, different RTK reference GNSS receiver hardware, and different formats or configurations of RTK correction data).

[0169] In step S212, the D / OCS or data processing system 535 enables the machine or work vehicle equipped with the (proprietary) GNSS receiver 512 to operate in a first mode, such as an RTK mode (e.g., RTK or mRTK), to accurately navigate through the field or work area by reference to any of the following: converted field boundaries, converted guide lines, and converted path planning (e.g., converted planned path) with the aid of a data offset vector (or multiple data offset vectors, if applicable). In addition, the converted field boundaries, converted guide lines, and converted path planning used for navigation in the RTK mode are based on available raw, PPP, PPP-RTK, or DGNSS-RTK data, with one or more applicable data offset vectors applied to the initial field boundaries, initial guide lines, and any initial path planning of the vehicle based on the initial field boundaries, initial guide lines, and any initial path. Use Case 3: RTK base receiver is turned on or off (not leveled) or the base coordinates are changed

[0170] Use RTK solution to create guide lines and boundary maps. The base offset can be calculated in Equation 11 information: = (11) in are SF-RTK coordinates with long-term repeatability characteristics, for example with reference to ITRF 2014, epoch t0 (January 1, 2018); The current RTK or mRTK fixed solution coordinates for a given base station location with a specified set of coordinates XZY.

[0171] When the RTK base station position is changed without leveling or the base coordinates are changed for some reason, the new RTK reference should be calculated using Equation 12: = (12)

[0172] A new RTK benchmark is collected or stored in one or more data storage devices. The new RTK solution with a different benchmark should apply the difference in the benchmark offsets collected before and after to transform the new RTK solution using Equation 13. In Equation 13, the transformed solution should work well with the old RTK guide lines or boundary map without line shifts or jumps: (13)

[0173] It should be mentioned that such a transition can be performed seamlessly. Figure 17 Flowchart of one embodiment of a method for RTK base station receiver changes (without leveling) or base coordinate changes (eg, for the third use case) of RTK base station position or coordinates. Figure 17 The method starts in step S302.

[0174] In step S302, at a first time, the GNSS receiver 512 establishes, creates, or collects an initial boundary of a field or work area, or an initial guideline of the field or work area (or both the initial boundary and the initial guideline) as RTK data (e.g., RTK solution or RTK position data for each epoch) in a first base mode (e.g., a first real-time kinematic (RTK) mode). For example, at a first time, the GNSS receiver 512 establishes, creates, or collects an initial boundary of a field or work area and an initial guideline as RTK data (e.g., RTK solution or RTK position data for each epoch) in a first base mode (e.g., a first RTK mode) to be stored as a first file or a first data structure in a first RTK reference system, wherein the first RTK reference system is associated with: (1) a corresponding RTK reference station or a corresponding RTK base station (GNSS receiver) at a first location (e.g., at a first known coordinate in two or three dimensions), or a set of corresponding RTK reference stations at a first set of corresponding first locations (e.g., known coordinates in two or three dimensions). Each RTK reference station may be stationary or fixed for a period of time, such as one or more growing seasons.

[0175] In step S304, the data processing system 535 uploads or stores the first file or first data structure in the first RTK reference frame in the electronic data storage device 525. For example, the first file or first data structure collected in the first basic mode (e.g., RTK mode) is uploaded, stored, imported, or entered into the electronic data processing system (e.g., 535) that is coupled to or in communication with a rover or mobile position determination receiver (e.g., a GNSS receiver 512 that can operate in RTK mode, proprietary RTK mode, or mobile RTK (mRTK) mode).

[0176] In addition, the rover or mobile site determination receiver (e.g., GNSS receiver 512): (a) determines and provides RTK-related data for initial guide lines, initial boundaries, and other features (in step S302), which is placed or stored in a first file or first data structure (in step S304); and (b) in step S304, a data processing system (e.g., 535) coupled to the GNSS receiver (e.g., 512) records or stores the provided RTK data for initial guide lines, initial boundaries, and other features (such as the first file or first data structure) in a data storage device 525 of the data processing system 535 or in a data storage device 545 at a central server 518 or on the cloud (e.g., via wireless communication to the Internet or another available communication network).

[0177] In step S306, the GNSS receiver 512 (e.g., the reference frame converter / transformer 513 or the reference frame offset module 534), alone or in combination with the data processing system 535, is configured to transform or convert the first file or first data structure into a transformed file or transformed data structure of transformed boundaries or transformed guide lines or both according to a universal reference frame (e.g., an ITRF reference frame) (e.g., a first universal reference frame having a corresponding first date and at a first epoch with a corresponding first position or a set of first positions of an RTK reference receiver or an RTK base station receiver).

[0178] For example, along with RTK data created in the first primary RTK mode, the GNSS receiver 512 provides datum transformation information (e.g., a datum offset vector) referenced to a first common reference frame, such as the ITRF reference frame associated with a corresponding first date and a corresponding first epoch (e.g., the PPP datum ITRF 2014 or the DGNSS datum ITRF 2014 and the epoch January 1, 2018). Thus, the mobile position determination receiver or GNSS receiver 512 can simultaneously output one or more of the following data streams: (a) a solved RTK data stream, such as estimated position, attitude and / or motion data for each consecutive series of epochs in a first RTK reference frame; (b) a solved PPP data stream, PPP-RTK data stream or DGNSS-RTK data stream, such as estimated position, attitude or motion data for each consecutive series of epochs; and (c) wherein the RTK data stream, PPP data stream, PPP-RTK data stream and / or DGNSS-RTK data stream can be referenced or indexed to a first common reference frame (e.g., ITRF) for corresponding dates and corresponding epochs; and (d) one or more of the RTK data stream, PPP data stream, PPP-RTK data stream and / or DGNSS-RTK data stream is referenced or indexed to an associated reference offset vector, such as a known reference frame or common reference frame (e.g., ITRF 2014) for the same temporally aligned series of epochs.

[0179] In one embodiment of step S306, the D / OCS or data processing system 535 records or stores the collected initial boundaries and initial guide lines created in the first RTK mode and the datum transformation information in a common reference system (such as the first common reference system) to the PPP, PPP-RTK, or DGNSS-RTK datum in a data storage device (e.g., in 525, 545; at a remote central server 518, at a local electronic data processing system 535, or in the cloud). In one embodiment, the D / OCS may have to wait for the transformation parameters to be published or collected.

[0180] In step S307, the reference frame converter 513, the reference frame offset module 534, or the GNSS receiver 512, or the data processing system 535 is configured to determine a first reference offset based on a difference between a first position in a first RTK reference frame and a corresponding common position in a universal reference frame (e.g., ITRF or the first universal reference frame) or a corresponding common position in a universal reference frame (e.g., ITRF or the first universal reference frame). In some embodiments, the first universal reference frame (e.g., ITRF) has a corresponding first date and is at a first epoch having a corresponding first position or a first set of positions.

[0181] The first universal reference frame can support operation of the GNSS receiver 512 in PPP mode, PPP-RTK mode, or DGNSS-RTK mode. For example, the reference frame converter 513, the reference frame offset module 534, or the GNSS receiver 512 converts, translates, or derives the first universal reference frame relative to carrier phase measurements observed in a first RTK reference frame (e.g., via an RTK reference receiver or an RTK reference base station receiver having a corresponding first position (e.g., two-dimensional or three-dimensional coordinates)). In another embodiment, the reference frame converter 513, the reference frame offset module 534, or the GNSS receiver 512 converts, translates, or derives the first universal reference frame relative to a set of RTK reference base stations having a first set of first positions, wherein the set of RTK reference base stations are typically fixed or stationary and can be adjusted if the base stations are moved or if the software, hardware, or antennas of the RTK reference base stations are changed.

[0182] In step S308, the D / OCS, the data processing system 535, or the central server 518 is configured to plan one or more paths or path plans for the next work vehicle in the field or work area based on the converted document or the converted data structure according to the first RTK reference system or the universal reference system (e.g., the first universal reference system), wherein the next work vehicle includes the first work vehicle in step S302 or a second work vehicle different from the work vehicle that crossed the field or work area or its boundary in step S302.

[0183] In optional step S310, the D / OCS or data processing system 535 is configured to detect a next operating vehicle operating in a new datum or reference frame, such as a change in RTK base station position, a change in base coordinates, or a change in antenna or a displacement of the antenna position of a GNSSRTK base receiver from a corresponding first position (e.g., the first RTK base coordinates of RTK (1)) or a set of first positions. For example, during a first set of epochs (e.g., associated with the first RTK base coordinates of RTK (1)), if for the same epoch of the observed PPP data stream and the reference PPP data stream referenced to the reference frame (e.g., ITRF 2014), the stored or collected data offset vector are substantially equal, then the stored or collected data offset vectors cancel and the position solutions are aligned to the same reference frame, which means that the data streams of PPP position solutions or RTK position solutions at an earlier set of (seasonal) epochs and a later set of (seasonal) epochs are substantially aligned (e.g., by known data offset vectors such as, or within a suitable tolerance for repeatability (e.g., within a season).

[0184] However, during a second set of epochs following the first set of epochs (e.g., if the second set of epochs is associated with a second RTK base coordinate for RTK(2), the previous reference offset vector is no longer substantially equal to the later base offset vector In other words, by a constant or fixed offset, Indicates a potential or actual shift or change in previous coordinates of the GNSS RTK base receiver from a first location to a second location.

[0185] In step S311A, at a second time, a position determination receiver (GNSS receiver 512) associated with the next work vehicle is configured to navigate, track, or observe one or more planned paths (e.g., from step S108) in a first secondary mode in a second RTK reference frame associated with an RTK reference station at the second location, wherein the first secondary mode includes a second real-time kinematic (RTK) mode associated with a second time occurring after the first time. For example, the first RTK reference frame corresponds to a first position observed by the position determination receiver at a corresponding first time (e.g., a first epoch or a first series of epochs), and the second RTK reference frame corresponds to a second position observed by the position determination receiver at a corresponding second time (e.g., a second epoch or a second series of epochs), wherein the first time and the second time may be within the same growing season or an earlier growing season and a later growing season, respectively.

[0186] In some embodiments, due to changes in the RTK base station, its software, its hardware, its antenna, or its location, or changes in the RTK mobile receiver or rover, its software, its hardware, its antenna, or its mounting location on the same or a different vehicle, there may be a second reference offset that occurs between an observed first position and an observed second position at a different measurement time.

[0187] In step S311B, the electronic data processor 530, the reference frame offset module 534, and the reference frame converter or transformer 513 are configured to determine a second datum offset based on a difference between the second position (of the corresponding RTK base receiver) and the universal reference frame or a corresponding universal position in the universal reference frame, such ITRF reference frame having a corresponding date, a corresponding year, and a corresponding epoch.

[0188] In step S312, the D / OCS, the reference frame converter / transformer 513, the reference frame offset module 534, the data processing system 535 or the datum reference manager 532 generates an offset vector based on the first data offset vector. and the second data offset vector The position observed by the GNSS receiver 512 relative to the second RTK reference frame along one or more planned paths is automatically adjusted or shifted to be consistent with the first RTK reference frame or the universal reference frame (e.g., the first universal reference frame). For example, the data processing system 535 or the datum reference manager 532 may calculate the datum offset vector or To adjust or shift the initial guide lines and initial boundaries, the corresponding converted guide lines and converted boundaries are consistent with the new RTK datum, where .

[0189] In step S314, the D / OCS enables a work vehicle having a position determination receiver (e.g., GNSS RTK receiver 512) operating in a second RTK mode in a second RTK reference system to accurately navigate through the field based on the original RTK lines (in the first RTK reference system) with appropriate reference offset vectors applied to initial field boundaries, initial guide lines, and one or more planned paths or path plans. For example, the reference offsets or appropriate reference offset vectors of the second RTK mode in the second RTK reference system or its equivalent second universal reference system are directly applied to the transformed guide lines, transformed boundaries, and / or transformed path plans of the first RTK mode or its equivalent first universal reference system. Use Case 4: PPP-RTK LTR Datum and / or Reference Epoch Change

[0190] Create guide lines, boundary maps using PPP, PPP-RTK or DGNSS-RTK solutions (using t1 epochs). The datum offset can be calculated directly in Equation 14. information: = (14) It is assumed that different PPP, PPP-RTK or DGNSS-RTK references and / or epoch times t1 are used.

[0191] As used throughout this document and equations, subscript SF and superscript SF are functions of epoch / time, and SF means any of: PPP, PPP-RTK, or DGNSS-RTK (or in alternative embodiments, DGNSS that meets certain target specifications for accuracy and repeatability of the estimated solution or estimated position).

[0192] If a GNSS receiver changes the PPP, PPP-RTK, or DGNSS-RTK reference datum or reference epoch, for example, switching from SF ITRF 2014 (t1 epoch January 1, 2018) to ITRF 2020 (t2 epoch January 1, 2028), the new reference offset calculated using Equation 15 should be collected and stored in a data storage device (such as cloud data storage or local data storage in the onboard data storage device of the work vehicle's electronic data processing system). Equation 15 is as follows: = (15) The new PPP, PPP-RTK, or DGNSS-RTK solution with the new datum (which is referenced to the new reference frame of SF(2)) and epoch t2 can be converted back to the original solution (which is referenced to the original reference frame of SF(1)) using Equation 16. The converted SF-RTK solution is well suited for operation with old guide lines or boundary maps recorded in the SF(1) reference frame referenced to the ITRF 2014, without any line shifts or jumps in the estimated solution of the GNSS receiver. (16)

[0193] Figure 18 Illustrated is one embodiment of a method for transitioning between PPP, PPP-RTK, or DGNSS-RTK modes associated with different epochs or different locations, or both, over time (e.g., such as the same growing season or over multiple growing seasons) (another use case).

[0194] In step S402, for a corresponding field or work area, the GNSS receiver 512 collects, establishes, or creates an initial boundary or initial guide line or both in PPP, PPP-RTK, or DGNSS-RTK mode at a first time (e.g., having a first epoch t1 or having a first series of consecutive first epochs), wherein the initial boundary or initial guide line or both are designed to be , in or indexed to a first universal reference frame, associated with a corresponding first position of the GNSS receiver 512, and may be stored or formatted as a first file or a first data structure. The GNSS receiver 512, the PPP estimator 120, or the reference frame offset module 534 may perform step S402 according to one or more techniques that may be applied individually or cumulatively.

[0195] Under the first technique, at a first time or a first epoch, the GNSS receiver 512 establishes, creates, or collects an initial boundary of a field or work area or an initial guide line of the field or work area (or both the initial boundary and the initial guide line) as PPP, PPP-RTK, or DGNSS-RTK data in a second base mode (e.g., PPP, PPP-RTK, or DGNSS-RTK data mode) in a first universal reference system (e.g., ITRF, ITRF 2014, or any subsequent version of ITRF) having a corresponding first date and at the first epoch.

[0196] Under the second technique, at a first time or a first epoch, the GNSS receiver 512 establishes, creates, or collects, in a second base mode (e.g., PPP, PPP-RTK, or DGNSS-RTK data mode), initial boundaries of a field or work area or initial guide lines of the field or work area in a first universal reference system (e.g., ITRF, ITRF 2014, or a subsequent version of ITRF) having a corresponding first date and a corresponding first position (of a mobile or rover position determination receiver, such as the GNSS receiver 512) at the first epoch for storage as a first file or a first data structure, wherein the base mode includes a PPP mode, a PPP-RTK mode, or a DGNSS-RTK mode.

[0197] Under a third technique, at a first time or first epoch, the GNSS receiver 512 establishes, creates, or collects an initial boundary of a field or work area or an initial guide line of the field or work area in a first universal reference system (e.g., ITRF, ITRF 2014, or a subsequent version of ITRF) having a corresponding first date and a corresponding first position (of a mobile or rover position determination receiver, such as the GNSS receiver 512) at the first time (e.g., first epoch) in a second base mode (e.g., PPP, PPP-RTK, or DGNSS-RTK data mode) for storage as a first file or first data structure, wherein the first position (or a first set of first positions, such as two-dimensional or three-dimensional geographic coordinates) intercepts, is coextensive with, or is located on the initial boundary or initial guide line (e.g., an initial guide line segment or curved segment).

[0198] In step S403 , the D / OCS or data processing system 535 is configured to upload or store a first document or a first data structure in the electronic data storage device 525 in a first universal reference frame (eg, ITRF, ITRF 2014, or a subsequent version of ITRF).

[0199] In step S404, the D / OCS, the reference frame converter / transformer 513, the reference frame offset module 534, the data processing system 535, or the datum reference manager 532 are configured to convert or transform the first document or the first data structure into a converted document or the converted data structure according to the second universal reference frame having a corresponding second date and at a second epoch having a corresponding second position. For example, the reference frame converter / transformer 513 or the reference frame offset module 534, the data processing system 535, or the datum reference manager 532 are configured to mark a boundary / line created in the first universal reference frame at a first time (e.g., a first epoch or a first continuous series of epochs) in a second base mode (e.g., SF, PPP, PPP-RTK, or DGNSS-RTK mode) as a converted boundary / line in the second universal reference frame at a second time (e.g., a second epoch or a second continuous series of epochs after the first time). In some illustrative examples of step S404, a second location (or a set of second locations, such as two-dimensional or three-dimensional geographic coordinates) is offset from intercepting, coextensive with, or located on an initial boundary or initial guide line (e.g., an initial guide line segment or a curved segment) by an offset vector (e.g., for each epoch).

[0200] In step S406, the reference frame converter / transformer 513, the reference frame offset module 534, the D / OC or the data processing system 535 determines or records reference offset information (e.g., one or more reference offset vectors) for the PPP, PPP-RTK or DGNSS-RTK mode at a first time (e.g., a first epoch or a first series of first epochs), a second time (e.g., a second epoch or a second series of second epochs), or both, the reference offset information being referenced to one or more of: (a) a known reference frame or a universal reference frame (e.g., ITRF 2014) having a corresponding date and epoch; (b) a first universal reference frame for the corresponding date and epoch; and (c) a second universal reference frame for the corresponding date and epoch. The method of step S406 can be performed according to various techniques, which can be performed individually or cumulatively.

[0201] Under the first technique, in step S406, the D / OCS or data processing system 535, the reference frame converter / transformer 513, the reference frame offset module 534 or the reference reference manager 532 are configured to determine an aggregated reference offset vector based on a first reference offset vector and a second reference offset vector, where the first reference offset vector is between the corresponding first position and the first reference position.

[0202] Under the second technique, in step S406, the D / OCS or data processing system 535, the reference frame converter / transformer 513, the reference frame offset module 534, or the datum reference manager 532 is configured to determine an aggregated datum offset vector based on a first datum offset vector and a second datum offset vector, wherein the first datum offset vector is between the respective first position and the first reference position, and wherein the first reference position is at a respective first time (e.g., the first epoch or the first series of first epochs) in a first common reference frame (e.g., ITRF) having a corresponding date and a corresponding epoch, and wherein the first reference position is at a respective first reference time (e.g., the first reference epoch or the first series of first reference epochs) in a common common reference frame (e.g., ITRF) having a corresponding date and a corresponding epoch.

[0203] Under the third technique, in step S406, the D / OCS or data processing system 535, the reference frame converter / transformer 513, the reference frame offset module 534 or the datum reference manager 532 is configured to determine an aggregated datum offset vector based on the first datum offset vector and the second datum offset vector, wherein the second datum is between the respective second position and the second reference position at a second time (e.g., a second epoch or a series of second epochs) in a second common reference frame (e.g., ITRF) having a corresponding date and a corresponding epoch, and wherein the second reference position is at a second reference time (e.g., a second reference epoch or a series of second reference epochs) in the common common reference frame (e.g., ITRF) having a corresponding date and a corresponding epoch.

[0204] Under the fourth technique, in step S406, the GNSS receiver 512 (on the work vehicle or its implement), the D / OCS, the data processing system 535, the reference frame converter / transformer 513, the reference frame offset module 534, or the datum reference manager 532 is configured to determine or provide datum conversion information from a PPP, PPP-RTK, or DGNSS-RTK datum (e.g., for epoch t1) to a first universal reference frame having a corresponding date and a corresponding epoch, to a common universal reference frame (e.g., ITRF) having a corresponding date and a corresponding epoch, or both.

[0205] Under the fifth technique, in step S406, the GNSS receiver 512 (on the work vehicle or its implement), the D / OCS, the data processing system 535, the reference frame converter / transformer 513, the reference frame offset module 534, or the datum reference manager 532 is configured to determine or provide datum conversion information from a PPP, PPP-RTK, or DGNSS-RTK datum (e.g., for epoch t2) to a first universal reference frame having a corresponding date and a corresponding epoch, to a common universal reference frame (e.g., ITRF) having a corresponding date and a corresponding epoch, or both.

[0206] Under the sixth technique, in step S406, the data processing system 535 or D / OS may require the operator to wait until complete baseline transformation information is available, or until transformation parameter estimation is completed before traversing the field or work site or guiding the work vehicle to traverse the field or work site according to any path plan or planned path.

[0207] In step S408, the D / OCS, data processing system 535, and datum reference manager 532 are configured to plan one or more routes for a next work vehicle in the field or work area based on the converted document or converted data structure at a first epoch according to a first universal reference system or at a second epoch according to a second universal reference system. The next work vehicle includes the first work vehicle or the second work vehicle. Furthermore, in step S402, the first work vehicle has a position determination receiver (GNSS receiver 512) configured to collect or establish initial boundaries, initial guidance lines, or both, in PPP, PPP-RTK, or DGNSS-RTK mode at a first time (e.g., at a first epoch t1 or a first series of consecutive first epochs). At the first epoch and first position of GNSS receiver 512, the first universal reference system includes a universal reference system at a corresponding date and epoch. At the second epoch and second position of GNSS receiver 512, the second universal reference system includes a second universal reference system at a corresponding date and epoch, where, for example, the second epoch is subsequent to the first epoch.

[0208] In step S410, at a second time (e.g., a second epoch), a position determination receiver (e.g., GNSS receiver 512) associated with a next work vehicle in a field or work area is configured to navigate, track, or observe one or more planned paths (e.g., of step S408) in a second secondary mode in a second universal reference system associated with the second time (e.g., a second epoch or a series of second epochs) and at a second date with a corresponding second position, wherein the secondary mode includes, for example, a PPP mode, a PPP-RTK mode, or a DGNSS-RTK mode.

[0209] In step S412, the D / OCS or data processing system 535 or the fiducial reference manager 532 automatically shifts positions, guide lines, and boundaries observed relative to the second universal reference system along one or more planned paths to be consistent with the first universal reference system based on the aggregated fiducial offset vectors (e.g., and / or the common universal reference system). For example, the D / OCS or data processing system 535 or the fiducial reference manager 532 automatically shifts positions, guide lines, and boundaries observed relative to the second universal reference system along one or more planned paths to be consistent with the first universal reference system by applying two fiducial offset vectors. to adjust or shift positions, guide lines, and boundaries from a second common reference frame of the GNSS receiver 512 (e.g., from a new PPP, PPP-RTK, or DGNSS-RTK datum and epoch t2 (e.g., collectively referred to as SF(2)) to a first reference frame of the GNSS receiver (e.g., an old PPP, PPP-RTK, or DGNSS-RTK datum and epoch t1 (e.g., collectively referred to as SF(1))). In one embodiment, the datum offset vector may be related to a common common reference frame (e.g., ITRF) that is associated with a corresponding common epoch and a corresponding common date.

[0210] In step S414, with the aid of the position determination receiving (e.g., GNSS receiver 512) SF machine operating in the second secondary mode, the D / OCS enables the next work vehicle to navigate through the field or work area with the aid of the applicable aggregated reference offset vector (or underlying data offset vector) applied to the initial field boundary, initial guidance lines, and one or more planned paths. For example, accurately navigating through a field or work area based on the original or initial guide lines, boundaries, and positions (in the SF(1) reference system at the first time (e.g., the first epoch or a series of second epochs t1) or the first universal reference system of the corresponding date and corresponding epochs) by applying the above reference offset vector, or by converting the initial guide lines, boundaries, and positions into converted guide lines via the above reference offset vector in a new reference and epoch (in the SF(2) reference system at the second time (e.g., the second epoch or a series of second epochs t2) or the second universal reference system of the corresponding date and corresponding epochs) in combination with the old PPP, PPP-RTK, or DGNSS-RTK reference and the first time (e.g., epoch t1; the old PPP, PPP-RTK, or DGNSS reference and the corresponding first time are collectively referred to as SF(1)).

[0211] Usually, in Figure 18 In the method, if the reference information is available, the precise navigation solution paired with the reference information can be freely switched back and forth between them, repeatedly or again and again.

[0212] Figure 9 is a block diagram of one embodiment of a system for supporting consistent alignment over time of position data collected during operations in a field or worksite.

[0213] exist Figure 9In the embodiment of the present invention, a location determination receiver 512 (such as a GNSS receiver) comprises a mobile or reference receiver. The mobile or rover receiver may be mounted in or on a vehicle that performs work tasks in a field or work site over time (such as over one or more growing seasons of crops). Location determination receiver 512 is coupled to or in communication with a data processing system 535 (such as a vehicle-mounted computer with an integrated display). For example, location determination receiver 512 may have a data port that communicates (directly or indirectly) with a corresponding data port of data processing system 535 via a transmission line, twisted pair cable, coaxial cable, fiber optic cable, vehicle data bus (e.g., controller area network), Ethernet, or via a wireless communication link. Electronic data processing system 535 is directly or indirectly coupled to wireless communication device 517. Wireless communication device 517, in turn, communicates with wireless communication system 135 via electromagnetic signals. The wireless communication system 135 may communicate with the central server 518 (and vice versa) via a communication network 139 , such as the Internet, a wireless mesh network, a packet-switched network, or a fiber optic network.

[0214] exist Figure 9 , the position determination receiver 512 includes the RTK estimator 122 and the PPP estimator 120. In one configuration, the RTK estimator 122 simultaneously provides position data, a guidance path, or a boundary (e.g., an RTK data stream) in an RTK reference frame 514 (e.g., the RTK reference frame 514 can be defined or referenced relative to a local RTK base station or a regional RTK reference network of one or more RTK base stations): (a) to the electronic data processing system 535 and (b) to the reference frame converter or transformer 513.

[0215] At the same time, the PPP estimator 120 provides position data, a guidance path, or a boundary (e.g., a PPP data stream) in a PPP reference frame (e.g., a PPP ITRF reference frame) to a filter 515 to average or smooth the position estimate. In addition, in one embodiment, the filter 515 can delay the PPP data stream, the RTK reference data stream, or both to align the data streams in time or to correlate the data streams in time. The reference frame converter / transformer 513 and the filter 515 can be individually or collectively referred to as a navigation filtering system 509. As used throughout this document, a guidance path or boundary can include curved or straight segments, or waypoints, points, or geographic coordinates that define curved or straight segments.

[0216] Electronic data processing system 535 includes an electronic data processor 530, a data storage device 525, and one or more data ports 533 coupled to a data bus 528. Data processor 530 may include a microcontroller, a microprocessor, a programmable logic array, an application-specific integrated circuit (ASIC), a digital signal processor, or another device for processing, manipulating, accessing, retrieving, and storing data. Data storage device 525 may include electronic components, non-volatile electronic memory, optical storage devices, magnetic storage devices, or another device for storing digital or analog data on a tangible storage medium (such as an optical disk, magnetic disk, or electronic memory). Each data port 533 may include a buffer memory, a transceiver, or both for interfacing with other network elements, such as wireless communication device 517 or a ground satellite station (e.g., an uplink / downlink station).

[0217] In one embodiment, the data storage device 525 stores software instructions executable by the electronic data processor 530, such as a datum reference manager 532. For example, the datum reference manager 532 can organize or manage the storage and retrieval of guidance paths and boundaries associated with one or more corresponding fields and work sites (e.g., on an onboard or local data storage device 525 of the electronic data processing system 535, at a data storage device 545 associated with the central server 518, or both), alone or in conjunction with date or time stamps associated with the guidance paths and boundaries, a description of the reference system, or related specifications or capabilities of the position determination receiver 512 and one or more operating modes. Furthermore, the mode capability can indicate whether the position determination receiver 512 is configured to operate in one or more of the following modes: RTK, mobile real-time kinematic (m-RTK), PPP, PPP-RTK, differential GNSS (DGNSS), or DGNSS-RTK. In some configurations, the datum reference manager 532 may organize or manage storage and retrieval on an onboard or local data storage device 525 of the electronic data processing system 535 , at a data storage device 545 associated with the central server 518 , or both.

[0218] Central server 518 includes an electronic data processor 530, a data storage device 545, a user interface 531, and one or more data ports 529 coupled to data bus 528. Data processor 530 may include a microcontroller, a microprocessor, a programmable logic array, an application-specific integrated circuit (ASIC), a digital signal processor, or another device for processing, manipulating, accessing, retrieving, and storing data. Data storage device 545 may include electronic components, non-volatile electronic memory, optical storage devices, magnetic storage devices, or another device for storing digital or analog data on a tangible storage medium (such as an optical disk, magnetic disk, or electronic memory). Each data port 529 may include a buffer memory, a transceiver, or both for interfacing with other network elements, such as wireless communication device 517 or a ground satellite station (e.g., an uplink / downlink station). Lower interface 531 may include any of the following devices for inputting or outputting data from central server 518: a keypad, a keyboard, one or more switches, a pointing device (e.g., an electronic mouse), an electronic display, and a touchscreen display.

[0219] exist Figure 9 In the embodiment of the present invention, the data storage device 525 of the central server 518 can store the guide lines, coordinates, locations and boundaries as or in one or more of the following databases, files (e.g., inverted files), records or other data structures: common reference frame boundary data 520, common reference frame guide data 522, user profile data 524 and data permission manager 526, wherein the data permission manager 526 is configured to support and manage appropriate data isolation, data security, authentication, password and login identifier management by end users for storage, retrieval and data management of multiple end users who subscribe to the service for data management of the common reference frame boundary data 520, common reference frame guide data 522 and user profile data 524.

[0220] Figure 10 is a block diagram of another embodiment of a system for supporting consistent alignment over time of position data collected during operations in a field or worksite. Figure 10 A system similar to Figure 9 The system, however Figure 10 The system replaces the reference frame converter or transformer 513 with a reference frame offset module 534. Figure 9 and Figure 10 Like reference numerals in the drawings indicate like features or like elements.

[0221] exist Figure 10In

[15] , the RTK estimator 122 and the PPP estimator 120 provide an RTK data stream and a PPP data stream, respectively, to the reference frame offset module. The reference frame offset module simultaneously receives the RTK data stream and the PPP data stream of one or more observed positions from the position determination receiver 512 and outputs a reference PPP data stream having the one or more observed positions according to a common reference frame 516 (e.g., the PPP ITRF). The reference offset module may output a reference PPP data stream or a reference PPP-RTK data stream that represents an average (e.g., mean) or weighted average between the RTK component (of the input RTK data stream) and the PPP component (of the input PPP data stream). Additionally, the PPP estimator 120 may provide the bypass PPP data stream, PPP-RTK data stream, DGNSS data stream, or DGNSS-RTK data stream directly to a filter 515 (e.g., an integrator), and the bypass PPP data stream, PPP-RTK data stream, DGNSS data stream, or DGNSS-RTK data stream may then be combined, averaged, or processed (e.g., smoothed in time) with the reference PPP or reference PPP-RTK data stream.

[0222] According to one embodiment, Figure 11 As illustrated in , a method for supporting consistent alignment of position data collected during operation in a field or worksite over time supports reliable and consistent operation of a position determination receiver 512 including a real-time kinematic (RTK) estimator and a precise point positioning (PPP) estimator. Figure 11 The method starts in step S801.

[0223] In step S801, the RTK estimator 122 is configured to determine a first position observation of the receiver 512 according to an RTK reference frame 514 (e.g., the RTK reference frame 514 may be defined or referenced relative to a local RTK base station or a regional RTK reference network of one or more RTK base stations). The RTK estimator 122 may support storage and data processing of raw measurements of pseudorange signals and carrier phase signals of one or more satellites of a GNSS satellite constellation (such as GPS, GLONASS, Galileo, and BeiDou). RTCM provides a data format for communicating differential GPS data or correction data from an RTK base station to the rover receiver 512.

[0224] In step S802, the PPP estimator 120 is configured to determine a second position observation of the receiver 512 according to a PPP reference system (e.g., WGS-84), wherein the first position observation and the second position observation are generated substantially simultaneously (e.g., generated during substantially the same epoch). WGS-84 defines an ellipsoidal model of the Earth used as a reference system for GPS, which may be related to the International Terrestrial Reference System (ITRF).

[0225] In step S803, the electronic data processor 530, reference frame converter or transformer 513 is configured to transform or convert the second position in the PPP reference frame to a transformed second position in a universal reference frame 516 (e.g., ITRF 20XX), which is indexed to a corresponding date (e.g., year) and a corresponding epoch for the date (e.g., year).

[0226] In step S804 , the electronic data processor 530 is configured to assign identifiers to the first and second position observations, wherein the identifiers indicate whether the observations are associated with a guidance path (eg, a vehicle or implement guidance path) or a boundary of a field or work area.

[0227] In step S805 , wireless communication device 517 is configured to wirelessly transmit the transformed second position and corresponding assigned identifier from location determination receiver 512 to central server 518 for storage in data storage device 545 .

[0228] Figure 12 The method is similar to Figure 11 The method is just Figure 12 The method may comprise one or more additional steps. Figure 11 and Figure 12 Like reference numbers in the drawings indicate like steps, features, or elements.

[0229] In step S806 , in one embodiment, the electronic data processing system 535 , the location determination receiver 512 , or both are configured to retrieve the transformed second location from the data storage device 545 associated with the central server 518 .

[0230] In step S808 , during the same season (eg, the same growing season for crops) or a later season, the precise point positioning estimator or location determination receiver 512 is configured to determine a third position observation for the receiver 512 .

[0231] In step S810, the location determination receiver 512, reference frame converter, reference frame offset module or transformer 513 is configured to transform or convert the third position in the PPP reference frame to a transformed third position in a universal reference frame 516 (e.g., an ITRF reference frame defined by a particular reference date (year) and a reference epoch).

[0232] In an alternative embodiment, the position determination receiver 512, the reference frame converter, the reference frame offset module or the converter 513 is configured to transform or convert the first position in the RTK reference frame 514 (e.g., an RTK reference frame referenced to a local RTK base station or a network of one or more RTK base stations) into a transformed first position in a universal reference frame 516 (e.g., ITRF 20XX) defined by a particular reference date (year) and a reference epoch. In addition, the position determination receiver 512 or the filter 515 is configured to filter or combine the transformed first position and the transformed second position into a smoothed or averaged universal position in the universal reference frame 516.

[0233] In step S812, the vehicle is aligned or guided according to one or more techniques that can be applied individually or cumulatively. Under a first technique, the position determination receiver 512, the data processing system 535, or both are configured to align or guide the vehicle at a third position observation (e.g., or a series of position observations in two or three-dimensional coordinates, such as along a guide line) so as to track or intercept the transformed second position with minimal error.

[0234] Under a second technique for performing step S812, the position determination receiver 512, the data processing system 535, or both are configured to align or guide the vehicle at a third position observation (e.g., or a series of position observations in two-dimensional or three-dimensional coordinates, such as along or within the boundary of a field, work area, or work site) so as to track or intercept the transformed second position with minimal error. Furthermore, the vehicle's guidance system and the position determination receiver 512 can be coupled to the vehicle data bus 528 to communicate or exchange position data, which can be used to adjust a steering actuator or electro-hydraulic controller associated with the vehicle's steering system to direct or guide the vehicle along a path (e.g., a planned path, a guideline, a guideline segment, or a waypoint defined by geographic coordinates in two or three dimensions).

[0235] According to one embodiment, Figure 13 Illustrated is a flow chart of one embodiment of a method for supporting consistent alignment over time of position data collected during operation in a field or worksite to support reliable and consistent operation of a site determination receiver 512 including a real-time kinematic (RTK) estimator and a precise point positioning (PPP) estimator. Figure 13 The method starts in step S814.

[0236] In step S814, the RTK estimator 122 is configured to determine a first position observation and a second position observation for the receiver 512 according to the RTK reference frame 514 (e.g., with reference to a local RTK base station or a network of one or more RTK base stations). The RTK estimator 122 of the position determination receiver 512 may support storage and data processing of raw measurements of pseudorange signals and carrier phase signals of one or more satellites of a GNSS satellite constellation (such as GPS, GLONASS, Galileo, and BeiDou).

[0237] In step S815, the position determination receiver 512, the transformer 513, the reference frame offset module or the reference frame converter is configured to transform or convert the first position and the second position in the RTK reference frame 514 into a transformed first position and a transformed second position in a universal reference frame 516 (e.g., ITRF 20XX) having a corresponding reference year (or date) and a corresponding corresponding epoch (e.g., within the reference year).

[0238] In step S816, in one embodiment, the electronic data processing system 535 or the electronic data processor 530 is configured to assign identifiers to the first position observation, the second position observation, the transformed first position observation, and the transformed second position observation. The first position observation and the second position observation were generated during substantially the same epoch or during a series of consecutive epochs. Furthermore, the identifier indicates whether the observation is associated with a guidance path (e.g., a vehicle or implement guidance path) or is associated with a boundary of a field or work area.

[0239] In step S818, the wireless communication device 517 is configured to wirelessly transmit the transformed first location, the transformed second location, and the corresponding assigned identifiers to the central server 518 for storage, for example, in the data storage device 545 of the central server 518. However, in an alternative embodiment, the electronic data processing system 535 onboard the vehicle is configured to provide or store the transformed first location, the transformed second location, and the corresponding assigned identifiers for storage in the data storage device 525, which can be later retrieved during one or more later operations or missions of the vehicle equipped with the electronic data processing system 535.

[0240] Figure 14 The method is similar to Figure 13 The method is just Figure 14 The method may comprise one or more additional steps. Figure 13 and Figure 14Like reference numbers in the drawings indicate like steps, features, or elements.

[0241] exist Figure 14 In step S819, at or on the vehicle, the electronic data processing system 535 or electronic data processor 530 is configured to retrieve the transformed first location and the transformed second location from the data storage device 545 associated with the central server 518. For example, the electronic data processor 530 may trigger the retrieval of the transformed first location and the transformed second location based on the location determination receiver 512 indicating that the vehicle has entered or is located within the boundaries of the field or work area in which the first location and the second location were collected (e.g., during a period in the same season or a previous season).

[0242] In step S820, in response to the retrieval of the first and second positions or the presence of a vehicle in the field or work area during the same season or a later season, the location determination receiver 512 is configured to determine (e.g., via a precise point positioning estimator) a third position observation of the location determination receiver 512.

[0243] In step S821, the electronic data processor 530, reference frame converter, transformer 513, or reference frame offset module is configured to transform or convert the third position in the PPP reference frame to a transformed third position in a universal reference frame 516, such as the ITRF reference frame indexed to a corresponding reference year and a corresponding reference epoch (e.g., a unit of measured time).

[0244] In step S822, the vehicle is aligned or guided according to one or more examples that can be applied individually or cumulatively. In a first example of performing step S822, the position determination receiver 512, the data processing system 535, or both are configured to align or guide the vehicle at a third position observation (e.g., or a series of position observations in two-dimensional or three-dimensional coordinates, such as along a guide line) so as to track or intercept the transformed first position and the transformed second position with minimal error.

[0245] In a second example of performing step S822, the position determination receiver 512, the data processing system 535, or both are configured to align or guide the vehicle at a third position observation (e.g., or a series of position observations in two-dimensional or three-dimensional coordinates, such as along or within the boundary of a field, work area, or work site) so as to track or intercept the transformed first position and the transformed second position with minimal error. In addition, the vehicle's guidance system and the position determination receiver 512 can be coupled to the vehicle data bus 528 to communicate or exchange position data, which can be used to adjust a steering actuator or electro-hydraulic controller associated with the vehicle's steering system to direct or guide the vehicle along a path (e.g., a planned path, a guideline, a guideline segment, or a waypoint defined by geographic coordinates in two or three dimensions).

[0246] Although the present disclosure has been illustrated and described in detail in the drawings and the foregoing description, such illustration and description are to be regarded as illustrative rather than restrictive in nature, and it is to be understood that illustrative embodiments have been shown and described, and that protection is desired for all changes and modifications that fall within the spirit of the present disclosure. It will be noted that alternative embodiments of the present disclosure may not include all of the features described, but still benefit from at least some of the advantages of such features. Those skilled in the art can readily design their own embodiments that incorporate one or more of the features of the present disclosure and fall within the spirit and scope of the present invention as defined by the appended claims.

Claims

1. A method for supporting consistent alignment over time of position data collected during operations in a field or worksite, the method comprising the steps of: determining a first position observation of the receiver according to a real-time kinematic (RTK) reference frame by a real-time kinematic (RTK) estimator; determining a second position observation of the receiver based on a Precise Point Positioning (PPP) reference frame using a PPP estimator, wherein the first position observation and the second position observation are generated substantially simultaneously; transforming or converting the second position in the PPP reference frame into a transformed second position in the universal reference frame by a reference frame converter; assigning an identifier to the first position observation and the second position observation, the identifier indicating whether the observation is associated with a boundary or a guide path associated with a field or work area; and The transformed second location and corresponding assigned identifier are wirelessly transmitted to a central server for storage in a data storage device.

2. The method according to claim 1, further comprising: retrieving the transformed second position from the data storage device associated with the central server; and determining, during the same season or a later season, a third position observation of the receiver by a precise point positioning estimator; transforming or converting the third position in the PPP reference frame into a transformed third position in the universal reference frame by a reference frame converter; The vehicle is aligned or guided at the third position observation so as to track or intercept the transformed second position with minimal error.

3. The method according to claim 1, further comprising: retrieving the transformed second position from the data storage device associated with the central server; and determining, during the same season or a later season, a third position observation of the receiver by a precise point positioning estimator; transforming or converting the third position in the PPP reference frame into a transformed third position in the universal reference frame by a reference frame converter; A vehicle is aligned or directed at the third position observation to track a boundary of a field or work area defined by the transformed second position.

4. The method according to claim 1, wherein The first position observation and the second position observation are generated during substantially the same epoch.

5. The method according to claim 1, further comprising: transforming or converting the first position in the RTK reference frame into a transformed first position in a universal reference frame by a reference frame converter; and The transformed first position and the transformed second position are filtered or combined into a smoothed common position or an average common position in the common reference frame.

6. A method for supporting consistent alignment over time of position data collected during operations in a field or worksite, the method comprising the steps of: determining, by a real-time kinematic (RTK) estimator, a first position observation and a second position observation of the receiver based on the RTK reference frame; transforming or converting the first position and the second position in the RTK reference system into a transformed first position and a transformed second position in a universal reference system by a reference system converter; assigning an identifier to the first position observation, the second position observation, the transformed first position observation, and the transformed second position observation, the identifier indicating whether the observation is associated with a boundary of a field or work area or a guide path; The transformed first location, the transformed second location, and the corresponding assigned identifiers are wirelessly transmitted to a central server for storage in a data storage device.

7. The method according to claim 6, further comprising: retrieving the transformed first position and the transformed second position from the data storage device associated with the central server; and determining, during the same season or a later season, a third position observation of the receiver by a precise point positioning estimator; transforming or converting the third position in the PPP reference frame into a transformed third position in the universal reference frame by a reference frame converter; The vehicle is aligned or guided at the third position observation to track or intercept the transformed first position and the transformed second position with minimal error.

8. The method according to claim 6, further comprising: retrieving the transformed first position and the transformed second position from the data storage device associated with the central server; and determining, during the same season or a later season, a third position observation of the receiver by a precise point positioning estimator; transforming or converting the third position in the PPP reference frame into a transformed third position in the universal reference frame by a reference frame converter; A vehicle is aligned or directed at the third position observation to track a boundary of a field or work area defined by the transformed first position and the transformed second position.

9. The method according to claim 6, wherein: The first position observation and the second position observation are generated during substantially the same epoch.

10. A method for supporting consistent alignment over time of position data collected during operations in a field or worksite, the method comprising the steps of: At an earlier time, one or more initial guide lines or initial boundaries of a field or work area are collected by a position determination receiver associated with a first work vehicle in a first mode for storage as an initial file or initial data structure in an RTK reference frame, wherein the first mode includes a real-time kinematic (RTK) mode; Uploading or storing the initial file or initial data structure in an electronic data storage device in the RTK reference frame; transforming or converting the initial document or the initial data structure into a transformed document or a transformed data structure with transformed boundaries or transformed guide lines according to a universal reference system; According to the universal reference system, planning one or more paths for a next work vehicle in the field or the work area based on the converted document or the converted data structure, wherein the next work vehicle includes the first work vehicle or the second work vehicle; adjusting or shifting the transformed boundary or the transformed guideline based on a data offset vector between the universal reference frame and the RTK reference frame; and With the aid of a position determination receiver operating in a second mode, the work vehicle is enabled to navigate through the field or the work area with the aid of data offset vectors or applicable data offsets applied to initial field boundaries, the initial guidance lines, and initial path planning, wherein the second mode includes precise point positioning (PPP) mode, precise point positioning real-time kinematic (PPP-RTK) mode, or differential global navigation satellite system-real-time kinematic (DGNSS-RTK) mode.

11. The method according to claim 10, wherein: Uploading or storing the initial document or initial data structure includes storing the initial document or the initial data structure in an electronic data storage device of an electronic data processing system onboard the vehicle.

12. The method according to claim 10, wherein: The transformed boundary or the transformed guide line is derived from the initial boundary and the initial guide line according to the following equation: = in is the reference offset vector between the RTK solution and the PPP solution, PPP-RTK solution, or DGNSS-RTK solution. is a solution determined by said position determination receiver configured to operate in RTK mode or mobile real-time kinematic (mRTK) mode; is a PPP solution, a PPP-RTK solution or a DGNSS-RTK solution determined by said position determination receiver configured to operate in PPP, PPP-RTK mode or DGNSS-RTK mode.

13. The method according to claim 12, wherein: The reference offset vector is for the same growing season or a later growing season between the earlier time and the later time.

14. The method according to claim 12, further comprising: At a later time, the next work vehicle located in the field or the work area is detected by comparing one or more observation solutions or observed positions with a reference estimated solution or reference estimated position in a known universal reference frame, wherein the corresponding data offset vectors of the observation solutions or observed positions are offset from the corresponding data offset vectors of the reference estimated solution or reference estimated position.

15. The method according to claim 10, wherein The universal reference frame comprises the International Terrestrial Reference Frame (ITRF) which is associated with a particular epoch of date and time.

16. The method of claim 10, wherein: In the PPP-RTK mode, switching is performed between the PPP mode and the RTK mode based on availability, reliability, and target accuracy of one or more epochs of the PPP mode and the RTK mode for the position determination receiver.

17. A method for supporting consistent alignment over time of position data collected during operations in a field or worksite, the method comprising the steps of: At an earlier time, one or more initial guide lines or initial boundaries of a field or work area are collected by a position determination receiver associated with the work vehicle in a second mode for storage as an initial file or initial data structure in a common reference system, wherein the second mode includes a Precise Point Positioning (PPP) mode, a Precise Point Positioning-Real Time Kinematic (PPP-RTK) mode, or a Dual Global Navigation Satellite System-Real Time Kinematic (DGNSS-RTK) mode; uploading or storing said initial document or initial data structure in said common reference system in an electronic data storage device; transforming or converting the initial file or initial data structure into a transformed file or transformed data structure of transformed boundaries or transformed guide lines according to a real-time kinematic (RTK) reference system; planning one or more paths for a next work vehicle in the field or the work area based on the converted document or the converted data structure according to the RTK reference system; adjusting or shifting the transformed boundary or the transformed guideline based on a data offset vector between the universal reference system and the RTK reference system; With the aid of a position determination receiver operating in a first mode, the work vehicle is enabled to navigate through the field or the work area with the aid of the data offset vectors or applicable data offsets applied to initial field boundaries, the initial guidance lines and initial path planning, wherein the first mode includes an RTK mode.

18. The method according to claim 17, wherein Uploading or storing the initial document or initial data structure includes storing the initial document or the initial data structure in an electronic data storage device of an electronic data processing system onboard the vehicle.

19. The method according to claim 17, wherein The transformed boundary or the transformed guide line is derived from the initial boundary and the initial guide line according to the following equation: in is a solution determined by said position determination receiver configured to operate in RTK mode or mobile real-time kinematic (mRTK) mode; It is the reference offset vector between the RTK solution and the PPP solution, PPP-RTK solution, or DGNSS-RTK solution; is a proprietary PPP or PPP-RTK solution, or a DGNSS-RTK solution determined by said position determination receiver configured to operate in PPP, PPP-RTK mode, or DGNSS-RTK mode.

20. The method of claim 19, further comprising: At a later time, the next work vehicle located in the field or the work area is detected by comparing one or more observation solutions or observed positions with a reference estimated solution or reference estimated position in a known universal reference frame, wherein the corresponding data offset vectors of the observation solutions or observed positions are offset from the corresponding data offset vectors of the reference estimated solution or reference estimated position.

21. The method according to claim 17, wherein The reference offset vector is for the same growing season or a later growing season between the earlier time and the later time.

22. The method according to claim 17, wherein The universal reference frame comprises the International Terrestrial Reference Frame (ITRF) which is associated with a particular epoch of date and time.

23. The method of claim 17, wherein: In the PPP-RTK mode, switching is performed between the PPP mode and the RTK mode based on availability, reliability, and target accuracy of one or more epochs of the PPP mode and the RTK mode for the position determination receiver.

24. A method for supporting consistent alignment over time of position data collected during operations in a field or work site, the method comprising the steps of: collecting, at a first time, by a position determination receiver associated with a first work vehicle in a first base mode, one or more initial guide lines or initial boundaries of a field or work area for storage as a first file or first data structure in a first RTK reference system associated with an RTK reference station at a first location, wherein the first base mode comprises a first real-time kinematic (RTK) mode; uploading or storing the first file or the first data structure in an electronic data storage device in the first RTK reference frame; transforming or converting the first document or the first data structure into a transformed document or a transformed data structure with transformed boundaries or transformed guide lines according to a universal reference system; determining a first reference offset based on a difference between the first position and a corresponding universal position of the universal reference frame or a corresponding universal position in the universal reference frame; Planning one or more paths for a next work vehicle in the field or the work area based on the converted document or the converted data structure according to the first RTK reference system or the universal reference system, wherein the next work vehicle includes the first work vehicle or the second work vehicle; at a second time, navigating, tracking, or observing the one or more planned paths in a first secondary mode in a second RTK reference system associated with an RTK reference station at a second location by a position determination receiver associated with a next work vehicle in the field or the work area, wherein the first secondary mode includes a second real-time kinematic (RTK) mode; determining a second reference offset based on a difference between the second position and a corresponding universal position of the universal reference frame or a corresponding universal position in the universal reference frame; Adjusting or shifting positions observed relative to a second RTK reference system along the one or more planned paths to be consistent with the first RTK reference system or the universal reference system based on the first data offset vector and the second data offset vector; and By means of a position determination receiver operating in a second RTK mode, the work vehicle is enabled to navigate through the field or work area by means of applicable data offsets applied to initial field boundaries, the initial guide lines and the one or more planned paths.

25. The method according to claim 24, wherein The position in the first RTK mode is aligned with the position in the second RTK mode according to the following equation: ,in is the first reference offset between the first RTK reference system and the universal reference system or ITRF reference system; is the second reference offset between the second RTK reference system and the universal reference system or the ITRF reference system; is the first RTK or first mRTK fixed solution coordinate for a given base station location; It is the second RTK or first mRTK fixed solution coordinate for a given base station location.

26. The method according to claim 25, wherein The aggregated reference offset between the first RTK reference frame and the second RTK reference frame is provided according to the following equation : ,in is the first reference offset between the first RTK reference system and the universal reference system or ITRF reference system; is the second reference offset between the second RTK reference system and the universal reference system or the ITRF reference system.

27. A method for supporting consistent alignment over time of position data collected during operations in a field or worksite, the method comprising the steps of: At a first time, one or more initial guide lines or initial boundaries of a field or work area are collected by a position determination receiver associated with a first work vehicle in a base mode for storage as a first file or a first data structure in a first universal reference system having a corresponding first date and at a first epoch having a corresponding first position, wherein the base mode includes a PPP mode, a PPP-RTK mode, or a DGNSS-RTK mode; uploading or storing the first document or the first data structure in an electronic data storage device in the first universal reference frame; transforming or converting the first document or the first data structure into a transformed document or transformed data structure with transformed boundaries or transformed guide lines according to a second universal reference frame having a corresponding second date and at a second epoch having a corresponding second position; determining an aggregated reference offset vector based on a first reference offset vector and a second reference offset vector, wherein the first reference offset vector is between the respective first positions and a first reference position, wherein the first positions are at the first epoch of the first date in a first common reference frame, wherein the first reference position is at a reference epoch of a reference date in a common common reference frame, wherein the second reference offset vector is between the respective second positions and a second reference position, wherein the second positions are at the second epoch of the second date in a second common reference frame, wherein the second reference position is at the second reference epoch of the second reference date in the common common reference frame; planning one or more routes for a next work vehicle in the field or the work area based on the converted document or the converted data structure according to the first universal reference system at the first epoch or according to the second universal reference system at the second epoch, wherein the next work vehicle includes the first work vehicle or the second work vehicle; determining, at a second time, by a position associated with a next work vehicle in the field or the work area, that the receiver navigates, tracks, or observes the one or more planned paths in a secondary mode in the second universal reference system associated with the second epoch and at the second date with the corresponding field location, wherein the secondary mode comprises a PPP mode, a PPP-RTK mode, or a DGNSS-RTK mode; adjusting or shifting positions observed relative to a second universal reference frame along the one or more planned paths to be consistent with the first universal reference frame based on the aggregated fiducial offset vector; and With the position determination receiver operating in the secondary mode, the next work vehicle is enabled to navigate through the field or work area with the applicable aggregate reference offset vector applied to the initial field boundary, the initial guide lines and the one or more planned paths.

28. The method of claim 27, and further comprising: The next work vehicle located in the field or the work area is detected by comparing one or more observation solutions or observed positions with a reference estimated solution or reference estimated position in a common universal reference frame, wherein the corresponding data offset vectors of the observation solutions or observed positions are offset from the corresponding data offset vectors of the reference estimated solution or reference estimated position.

29. The method of claim 27, wherein determining the aggregate reference offset vector is determined according to the following equation: ,in is the first reference offset vector; is the second reference offset vector; the aggregated reference offset vector is defined as , is a first position in said base mode relative to said first universal reference frame at said corresponding first epoch and on said first date; is a second position in the secondary mode relative to the second universal reference frame at the corresponding second epoch and on the second date.

30. A method for supporting consistent alignment over time of position data collected during operations in a field or work site, the method comprising the steps of: determining a first position observation of the receiver according to a real-time kinematic (RTK) reference frame by a real-time kinematic (RTK) estimator; determining a second position observation of the receiver based on a Precise Point Positioning (PPP) reference frame using a PPP estimator, wherein the first position observation and the second position observation are generated substantially simultaneously; transforming or converting the second position in the PPP reference frame into a transformed second position in the universal reference frame by a reference frame converter; assigning an identifier to the first position observation and the second position observation, the identifier indicating whether the observation is associated with a boundary or a guide path associated with a field or work area; and The transformed second position and corresponding assigned identifier are provided to an electronic data processing system onboard the vehicle for storage in a data storage device.

31. The method of claim 30, further comprising: retrieving the transformed second location from the data storage device associated with the electronic data processing system; and determining, during the same season or a later season, a third position observation of the receiver by a precise point positioning estimator; transforming or converting the third position in the PPP reference frame into a transformed third position in the universal reference frame by a reference frame converter; The vehicle is aligned or guided at the third position observation so as to track or intercept the transformed second position with minimal error.

32. The method of claim 30, further comprising: retrieving the transformed second location from the data storage device associated with the electronic data processing system; and determining, during the same season or a later season, a third position observation of the receiver by a precise point positioning estimator; transforming or converting the third position in the PPP reference frame into a transformed third position in the universal reference frame by a reference frame converter; A vehicle is aligned or directed at the third position observation to track a boundary of a field or work area defined by the transformed second position.

33. The method according to claim 30, wherein The first position observation and the second position observation are generated during substantially the same epoch.

34. The method of claim 30, further comprising: transforming or converting the first position in the RTK reference frame into a transformed first position in a universal reference frame by a reference frame converter; and The transformed first position and the transformed second position are filtered or combined into a smoothed common position or an average common position in the common reference frame.

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