System and method for meteorological modelling

Abstract

The invention relates to a system and method for meteorological modelling. The method comprises determining geographical position of the vehicle (22, 24, 26) based on the signal data, determining atmospheric delays of the navigation satellite system signals (5) between the navigation satellites (2) and the client node (300) provided to the vehicle (22, 24, 26) based on the signal data, calculating atmospheric quantities between the navigation satellite (2) and the client node (300) based on the determined atmospheric delays of the navigation satellite system signals (5) between the navigation satellites (2) and the client node (300) provided to the vehicle (22, 24, 26), and associating the determining geographical position of the vehicle (22, 24, 26) with the calculated atmospheric quantities.

Description

[0001] SYSTEM AND METHOD FOR METEOROLOGICAL MODELLING

[0002] FIELD OF THE INVENTION

[0003] The present invention relates to a system for meteorological modelling and more particularly to a system according to preamble of claim 1. The present invention relates to a method for meteorological modelling and more particularly to a method according to preamble of claim 15.

[0004] BACKGROUND OF THE INVENTION

[0005] Global navigation satellite system (GNSS) meteorology is a concept, whereby GNSS signal delays between navigation satellites and GNSS receivers are calculated and used to derive atmospheric quantities. Water vapor causes the largest variations to such signal delays in a typical case. Also, temperature and pressure variations contribute to variations in GNSS signal delay. GNSS meteorology is called GPS meteorology in case the GPS satellite navigation system is applied.

[0006] In prior art, meteorological calculations of atmospheric quantities, such as atmospheric refractivity, humidity, temperature or pressure, based on navigation satellite system signals from navigation satellites are typically carried out at GPS / GNSS ground stations or dedicated meteorological base stations or other global navigation satellite system (GNSS) reference networks of very limited scope. These GNSS receiver networks are configured to receive navigation satellite system signal raw data, e.g. code pseudoranges and carrier phase measurements. As GNSS receivers are becoming more and more affordable and ubiquitous, a lot of potential navigation satellite system raw signal data is currently heavily underutilized and typically not even stored, even though readily available as output by the majority of GNSS receivers. In a typical case, navigation output messages comprising time and location data are stored and used, while satellite system raw data comprising more detailed information about the GNSS signals is only used as intermediate data in GNSS receivers for more processed navigation output messages and immediately discarded thereafter. By storing and utilizing detailed signal data from amongst the raw data, global navigation satellite systems can be used for meteorology beyond its primary purposes of positioning and timing. Code and carrier phase measurements of signals from specific navigation satellites can be used in conjunction with external correction data to evaluate details of atmospheric refractivity and meteorological parameters such as water vapor, temperature and pressure.

[0007] One of the problems associated with the prior art is that the weather forecasting, commonly done using numerical weather prediction models, needs a great amount of meteorological data from a large number of local meteorological sensors and atmospheric weather sondes in addition to navigation satellite system signals for generating a meteorological forecast of sufficient skill. The meteorological data derived from current GNSS meteorology are insufficient for determining three-dimensional meteorological models and forecasts as well as local forecasts due to limited geographical coverage efficiently and accurately. In other words, GNSS meteorology remains one input amongst many other measurement data and its benefits are currently limited for this reason.

[0008] BRIEF DESCRIPTION OF THE INVENTION

[0009] An object of the present invention is to provide a system and method for meteorological modelling so as to solve or at least alleviate the prior art disadvantages.

[0010] The objects of the invention are achieved by a system for meteorological modelling which is characterized by what is stated in the independent claim 1. The objects of the invention are further achieved by a method for meteorological modelling which is characterized by what is stated in the independent claim 15.

[0011] The preferred embodiments of the invention are disclosed in the dependent claims.

[0012] The invention is based on the idea of providing a system for meteorological modelling, the system comprising global navigation satellite system comprising a space segment having navigation satellites a control segment having ground-based satellite stations, and a client segment having a plurality of navigation satellite signal, receiving client nodes. The client segment comprises a plurality of vehicles, and the vehicles comprise a vehicle network node comprising a vehicle communication module configured to carry out data exchange between the vehicle and a network, and a vehicle control module configured to control data exchange via the vehicle communication module and to control operation of the vehicle network node. The vehicles further comprise a navigation satellite signal receiving client node, the client node comprising a navigation satellite system module configured to receive navigation satellite system signals from the navigation satellites of the global navigation satellite and to generate signal data based on the received navigation satellite system signals. The system is further configured to determined geographical position of the vehicle based on the signal data. The vehicle network node is configured to receive signal data from the client node, and the vehicle communication module of the vehicle network node is configured to transmit signal data received from the client node in the network.

[0013] The system further comprises a meteorological modelling module configured to:

[0014] - determine the atmospheric delay of the navigation satellite signal between the navigation satellite and the client node provided to the vehicle based on the signal data,

[0015] - calculate an atmospheric quantity between the navigation satellite and the client node provided to the vehicle based on the determined atmospheric delay of the navigation satellite signal between the navigation satellite and the client node provided to the vehicle,

[0016] - associate position of the vehicle with the calculated atmospheric quantity between the navigation satellite and the client node provided to the vehicle, the position of the vehicle being determined based on the signal data, and

[0017] - determine the atmospheric quantity in a direction between the navigation satellite and determined geographical position of the vehicle.

[0018] In the present application term atmospheric delay comprises an ionospheric delay, a tropospheric delay or the ionospheric delay and the tropospheric delay.

[0019] In the context of this application the tropospheric delay comprises both the tropospheric delay and the lower stratospheric delay due to dry gases and water vapor and clouds.

[0020] The lower stratospheric delay is much smaller than the tropospheric delay.

[0021] It should be noted that the present invention is not directed to calculation of the atmospheric delay, tropospheric delay, ionospheric delay and / or the stratospheric delay itself. The delay calculations are generally known.

[0022] The present invention enables turning vehicles into moving weather stations by utilizing both the vehicle communication node and the client node. The client node and the signal data thereof enable both determining the geographical position of the vehicle and calculating atmospheric quantities in the determined geographical position of the vehicle.

[0023] The present invention further provides a great number of separate sources of weather data due to great number of separate vehicles, such as cars. Further, the present invention enables meteorological modelling also in areas where there are no weather stations, for example utilizing ships ravelling in sea.

[0024] The present invention further enables providing three-dimensional local weather forecasts and measurements by utilizing navigation satellite systems and vehicles.

[0025] In some embodiments, the client node is configured to receive navigation satellite system signals from the navigation satellites during a movement session of the vehicle, the movement session comprising travel of the vehicle from a start position to an end position.

[0026] During the movement session the vehicle is in use. Further, during the movement session the vehicle may be in continuous movement, or it may move and also temporarily stop during the travel between the start position and the end position.

[0027] In some embodiments, the client node of the vehicle is configured determine position of the vehicle based on the signal data or based on the received navigation satellite system signals. This enables the determined position to be utilized in the vehicle for any purpose, such as navigation, without need for determining the position multiple times from same signal data.

[0028] Thus, the signal data received in the vehicle network node from the client node comprises the determined geographical position of the vehicle, and the vehicle communication module of the vehicle network node is configured to transmit the signal data comprising the determined geographical position of the vehicle.

[0029] In some other embodiments, the vehicle network node of the vehicle is configured determine position of the vehicle based on the signal data. This enables centralized processing of data.

[0030] Thus, the vehicle communication module of the vehicle network node is configured to transmit the signal data comprising the determined geographical position of the vehicle.

[0031] In some further embodiments, the meteorological modelling module is configured to determine position of the vehicle based on the signal data. This enables providing the meteorological modelling module with raw signal data and all the calculations for the meteorological modelling may be carried out by the meteorological modelling module.

[0032] In some embodiment, the meteorological modelling module is configured to:

[0033] - select a measurement section in the signal data,

[0034] - determine the geographical position of the vehicle based on the selected measurement section of the signal data,

[0035] - determine atmospheric delays of the navigation satellite system signals between the navigation satellites and the client node provided to the vehicle based on the selected measurement section of the signal data, and

[0036] - calculate atmospheric quantities between the navigation satellite and the client node based on the determined atmospheric delays of the navigation satellite system signals between the navigation satellites and the client node provided to the vehicle.

[0037] Accordingly, the geographical position of the vehicle is determined and the atmospheric quantities are calculated based on the same selected measurement section of the signal data.

[0038] The meteorological modelling module is configured to select one or more measurement sections in the signal data.

[0039] The meteorological modelling module is configured to select one or more measurement sections in the signal data based on pre-determined selectin criteria.

[0040] In some embodiments of the present invention the calculating the atmospheric quantity between the navigation satellite and the client node is carried based on selection criteria.

[0041] The selection criteria comprise selection time criteria and / or selection position criteria.

[0042] The selection time criteria comprise pre-determined criteria comprising time definition defining time(s) or time interval(s) for selecting the one or more measurement section in the signal data.

[0043] The selection position criteria comprise pre-determined criteria comprising position definition defining vehicle positions or vehicle movement distances for selecting the one or more measurement section in the signal data.

[0044] In some embodiments the meteorological modelling module is configured to select two or more measurement sections in the signal data based on pre-determined time intervals, and calculate the atmospheric quantity between the navigation satellite and the client node and determine the geographical position of the vehicle based on the selected two or more measurement sections of the signal, respectively. The selection time criteria comprise the one or more pre- determined time intervals.

[0045] Accordingly, the system or the meteorological modelling module is configured to calculate time and select the one or more measurement sections in the signal data when the calculated time corresponds the pre-determined time interval.

[0046] In some other embodiments the meteorological modelling module is configured to select one or more measurement sections in the signal data based on one or more pre-determined time points, and calculate the atmospheric quantity between the navigation satellite and the client node and determine the geographical position of the vehicle based on the selected one or more measurement sections of the signal, respectively. The selection time criteria comprise the one or more pre-determined time points.

[0047] Accordingly, the system or the meteorological modelling module is configured to monitor time or clock and select the one or more measurement sections in the signal data when the monitored time or clock corresponds the predetermined time point.

[0048] In some further embodiments, the meteorological modelling module is configured to select one or more measurement sections in the signal data based on one or more pre-determined distances along the movement of the vehicle, and calculate the atmospheric quantity between the navigation satellite and the client node and determining the geographical position of the vehicle based on the selected one or more measurement sections of the signal, respectively. The selection position criteria comprise the one or more pre-determined distances.

[0049] Accordingly, the system or the meteorological modelling module is configured to determine positions of the vehicle during movement of the vehicle and calculate the movement distance of the vehicle and thus track the movement of the vehicle based on the determined positions of the vehicle. The system or the meteorological modelling select the one or more measurement sections in the signal data when the calculated the movement distance of the vehicle corresponds the pre-determined distances.

[0050] In some further embodiments, the meteorological modelling module is configured to select one or more measurement sections in the signal data based on one or more pre-determined geographical positions along the movement of the vehicle, and calculate the atmospheric quantity between the navigation satellite and the client node and determine the geographical position of the vehicle based on the selected one or more measurement sections of the signal, respectively. The selection position criteria comprise the one or more pre-determined geographical positions.

[0051] Accordingly, the system or the meteorological modelling module is configured to determine position and thus track the movement of the vehicle. The system or the meteorological modelling select the one or more measurement sections in the signal data when the determined position of the vehicle corresponds the pre-determined geographical position.

[0052] The measurement section in the signal data corresponds time duration of the navigation satellite signal received from the navigation satellite in the navigation satellite receiver.

[0053] In some embodiments the measurement section in the signal data is configured to correspond refresh rate of navigation satellite receiver. The refresh rate may be for example 1 Hz, once in a second, or 10 Hz 10 times in a second, or 0,1 Hz, once in every 10 seconds. The refresh rate may be between 0,01 Hz and 10 Hz.

[0054] In some embodiments, the measurement section in the signal data is a multiply of the refresh rate of navigation satellite receiver.

[0055] In some embodiments, the measurement section in the signal data has a time duration between 0,1s - 60s, or between Is - 10s, or between Is to 5s.

[0056] When the measurement section in the signal data has duration of multiply or a longer than the refresh rate of navigation satellite receiver or 0,1s - 60s, the determined geographical position of the vehicle is calculated as an average geographical position of the vehicle during the measurement section in the signal data and the calculated atmospheric quantity is calculated as an average atmospheric quantity during the measurement section in the signal data.

[0057] In some embodiments, the client node is an integral module of the vehicle network node, and the vehicle network node is configured to receive signal data directly from the client node.

[0058] In some other embodiments, the client node and the vehicle network node are provided as separate device units in the vehicle, and the client node is connected to the vehicle network node with a data transfer connection, and the vehicle network node is configured to receive signal data directly from the client node via the data transfer connection.

[0059] In some embodiments, the vehicle comprises power unit, and the vehicle network node and the client node are separately arranged in power supply connection with the power unit. This enables providing operating power to both the vehicle network node and the client node directly from the power unit of the vehicle.

[0060] In some other embodiments, the vehicle comprises power unit, and the vehicle network node is arranged in power supply connection with the power unit, and the client node is connected to the vehicle network node with a client power supply connection. Thus, the client node is arranged to receive power from the vehicle network node.

[0061] In some embodiments, the vehicle communication module of the vehicle network node is configured to carry out data exchange between the vehicle and the network, and the network comprises one or more of the following: an infrastructure network, one or more other vehicles provided with the vehicle communication module, an external device, and communication satellite.

[0062] Accordingly, the vehicle communication module may be provided to comprise an infrastructure network communication element for providing data exchange connection with an infrastructure network.

[0063] Further, the vehicle communication module may be provided to comprise a vehicle-to-vehicle communication element for providing data exchange connection between vehicles.

[0064] Also, the vehicle communication module may be provided to comprise a device communication element for providing data exchange connection with an external device, such as an infrastructure device, such as road warning device, smartphone or the like. The external device may also be configured to be further in data exchange connection with an infrastructure network.

[0065] In some embodiments, the infrastructure network is telecommunication network.

[0066] In some other embodiments, the infrastructure network is telecommunication network, and the external device is provided in data exchange connection with the telecommunication network.

[0067] In some other embodiments, the infrastructure network is a mobile telecommunication network comprising mobile telecommunication network base stations as the infrastructure network stations at fixed geographical locations.

[0068] In some further embodiments, the infrastructure network is a 3G, 4G, 5G, 6G or 7G or beyond telecommunication network comprising telecommunication network base stations as the infrastructure network stations at fixed geographical locations.

[0069] Telecommunication networks provide wide area coverage as well as dense network with great number of infrastructure network stations or base stations and infrastructure network nodes.

[0070] In some embodiments, the infrastructure network is an energy infrastructure network comprising energy control base stations as the infrastructure network stations at fixed geographical locations, or a road or railroad infrastructure network comprising road control base stations as the infrastructure network stations at fixed geographical locations, or a lighting infrastructure network comprising lighting control base stations as the infrastructure network stations at fixed geographical locations.

[0071] In some embodiments, the infrastructure network is a mobile client infrastructure network comprising mobile infrastructure network stations, or a vehicle infrastructure network comprising vehicles infrastructure network stations.

[0072] Mobile client infrastructure network provides variable coverage also in graphical areas having no fixed infrastructure networks.

[0073] In some embodiments, the infrastructure network is a multi-client infrastructure network comprising fixed infrastructure network stations at fixed geographical locations, and mobile infrastructure network stations.

[0074] Multi-client infrastructure network enables utilizing both fixed and mobile infrastructure stations.

[0075] In some other embodiments, the infrastructure network is a mobile telecommunication network comprising mobile telecommunication network base stations as the infrastructure network stations at fixed geographical locations.

[0076] In some further embodiments, the infrastructure network is a 3G, 4G, 5G, 6G or 7G or beyond telecommunication network comprising telecommunication network base stations.

[0077] In some embodiments, the system comprises two or more different navigation satellite systems, and the navigation satellite system module comprises a multi-system navigation satellite system receiver configured to receive navigation satellite system signals from the navigation satellites of two or more navigation satellite systems.

[0078] In some other embodiments, the system comprises two or more different navigation satellite systems, and the navigation satellite system module comprises a first navigation satellite system receiver configured to receive navigation satellite system signals from the navigation satellites of a first navigation satellite system, and a second navigation satellite system receiver configured to receive configured to receive navigation satellite system signals from the navigation satellites of a second navigation satellite system.

[0079] Utilizing two or more different navigation satellite systems enables better coverage.

[0080] The navigation satellite system module comprises at least one navigation satellite system receiver.

[0081] In some embodiments, the navigation satellite system receiver is a single frequency navigation satellite system receiver configured to receive navigation satellite system signals from navigation satellites on one frequency.

[0082] In some embodiments, the navigation satellite system receiver is a single frequency navigation satellite system receiver configured to receive navigation satellite system signals from navigation satellites on at least two different frequencies.

[0083] In some other embodiments, the navigation satellite system receiver is a dual-frequency navigation satellite system receiver configured to receive navigation satellite system signals having a first frequency and navigation satellite system signals having a second frequency.

[0084] In some further embodiments, the navigation satellite system receiver is a multi-frequency navigation satellite system receiver configured to receive navigation satellite system signals on multiple different frequencies.

[0085] In some yet further embodiments, the navigation satellite system module comprises a first frequency navigation satellite system receiver configured to receive navigation satellite system signals having a first frequency, and a second frequency navigation satellite system receiver configured to receive navigation satellite system signals having a second frequency.

[0086] Utilizing two or more frequencies from navigation satellites of a navigation satellite system enables theoretical calculation of ionospheric delay which is dependent on signal frequency.

[0087] The ionospheric delay is closely coupled with the electron count of the space plasma in the ionosphere. By determining the electron count through processing of the ionospheric delay, the ionospheric delay may be used to monitor space weather.

[0088] In some embodiments, the meteorological modelling module is configured to determine the atmospheric delay of the navigation satellite signal between the navigation satellite and the client node based on the navigation satellite signal, from a navigation satellite, having the first frequency and the navigation satellite system signal having the second frequency.

[0089] In some other embodiments, the meteorological modelling module is configured to determine atmospheric delay of the navigation satellite signal between the navigation satellite and the client node based on the navigation satellite system signals, from a navigation satellite, having different frequencies.

[0090] In some embodiments, the vehicle control module is configured to control timing, or synchronization, or timing and synchronization of the vehicle network node of the vehicle based on the signal data received from the client node.

[0091] In some other embodiments, the client node is configured to generate navigation output messages based on the received navigation satellite signals, the vehicle network node is configured to receive the navigation output messages from the client node, and the vehicle control module is configured to control timing, or synchronization, or timing and synchronization of the vehicle network node based on the generated navigation output messages.

[0092] The system is configured to utilize the navigation output messages for determining the geographical position of the vehicle.

[0093] In some embodiments, the client node is configured to generate signal characteristic output messages, and the meteorological modelling module is configured to calculate the atmospheric delay based on the signal characteristics output messages generated by the client node.

[0094] The signal characteristics comprise signal characteristics of the received navigation satellite signals and / or raw data of received navigation satellite signals.

[0095] Accordingly, the meteorological modelling module is configured to utilize signal characteristics, or raw data, or the signal characteristic output messages of the navigation satellite system signals for determining the delay.

[0096] Accordingly, the system is configured to utilize different elements of the navigation satellite system signals or different output messages or output data of the client node for determining the delay and calculating the atmospheric quantity, and for determining the geographical position of the vehicle, respectively.

[0097] The signal data comprises the signal characteristic output messages and / or navigation output messages.

[0098] In some embodiments, the meteorological modelling module is provided to the client node. The signal data received the vehicle network node comprises the calculated atmospheric quantity, and the vehicle communication module of the vehicle network node is configured to transmit the signal data comprising the atmospheric quantity in the network.

[0099] This enables providing vehicles as distributed weather stations.

[0100] In some other embodiments, the meteorological modelling module is provided to the vehicle network node, and the vehicle communication module of the vehicle network node is configured to transmit the signal data comprising the atmospheric quantity in the network.

[0101] The enables utilizing vehicle network nodes for distributed calculation of the atmospheric quantity.

[0102] In some further embodiments, the system comprises an external meteorological modelling server arranged in data exchange connection with the vehicle network nodes of the vehicles. The meteorological modelling module is provided to the external meteorological modelling server, and the external meteorological modelling server is configured to receive the signal data from the vehicle network node via the network.

[0103] This enables collecting signal data from several vehicles and carrying out efficient calculations of the atmospheric quantity. This also enables decreasing amount of transferred data.

[0104] In some further embodiments, the system is provided as distributed system in which the meteorological modelling module and operation thereof is distributed between at least two of the following: client nodes, the vehicle network nodes and an external meteorological modelling server arranged in data exchange connection with the vehicle network nodes of the vehicles.

[0105] The distributed system enables efficient data processing.

[0106] In some further embodiments, the meteorological modelling module is distributed between the vehicle network nodes or in the client nodes in such a way, that the GNSS signal delays of interest are calculated in the vehicle network nodes and / or in the client nodes and the atmospheric quantity or atmospheric quantities are derived or calculated in the meteorological modelling module provided to the external meteorological modelling server.

[0107] The ionosphere is a dispersive medium for electromagnetic radiation at the relevant frequencies. Different GNSS signal frequencies experience different signal delays according to a well-known frequency-dependent formula. Hence, if the GNSS receivers that form part of the navigation satellite system module are receiving GNSS signals at two or more frequencies, the ionospheric delay can be removed in calculations. This allows calculating GNSS signal delays for the troposphere. These delays are called tropospheric delays. Zenith Tropospheric Delay is the delay that a GNSS signal experiences from a navigation satellite that is in zenith above the GNSS receiver. Slant delays, on the other hand, refer to GNSS signal delays, where the signal path between a navigation satellite and a GNSS receiver is slant.

[0108] GNSS tomography or global navigation satellite system tomography refers to a method, where multiple slant delays are used in an algorithm to derive a three-dimensional field of an atmospheric quantity or several atmospheric quantities. Typically, such an algorithm applies mathematical inversion. The region of the atmosphere of interest (whether geographically limited or global) can for example be divided into a grid and when enough slant delays are known, the atmospheric refractivity for each grid point can be derived through a mathematical inversion method. Such methods typically employ some form of optimization. As water vapor causes the largest variations over time to the GNSS signal delay, a common method is to use meteorological surface data from measurements or modelling and assuming a standard atmosphere in terms of pressure and humidity and then using the refractivity field obtained from GNSS tomography to derive the water vapor field. This so called Tropospheric Wet Delay may also contain components from liquid and / or solid water (ice). In case of looking at the contribution of water vapor to a zenith signal delay, it is called Zenith Wet Delay. Liquid water and ice may also be solved in an algorithm by using e.g. radar, satellite or radiosonde data in conjunction with a GNSS tomography algorithm. Three- dimensional temperature and pressure distributions can also be derived if one applies some further measurement data and / or assumptions, and wind can be derived by tracking the movement of features in time seen in the derived atmospheric refractivity, water vapor, temperature and pressure fields.

[0109] In a typical application, the Zenith Tropospheric Delay is derived from multiple slant delays through a dedicated algorithm. This is due to the fact that there is typically no navigation satellite right above the GNSS receiver in zenith. Hence multiple slant delays need to be used to calculate the Zenith Tropospheric Delay, which is the delay that is calculated for a hypothetical satellite in zenith above the GNSS receiver at a given point in time.

[0110] In some embodiments, the meteorological modelling module is configured to determine Tropospheric Delay of the navigation satellite signal between the navigation satellite and the client node based on the navigation satellite signal received in the navigation satellite system module.

[0111] In some other embodiments, the meteorological modelling module is configured to determine Tropospheric Delay of the navigation satellite system signals between two or more navigation satellites and the client node based on the navigation satellite system signals received in the navigation satellite system module.

[0112] In some further embodiments, the meteorological modelling module is configured to determine Tropospheric Delay of the navigation satellite signal between the navigation satellite and the client node based on the navigation satellite signal received in the navigation satellite system module, and further Wet Delay of the navigation satellite signal between the navigation satellite and the client node based on the determined Tropospheric Delay.

[0113] In some yet further embodiments, the meteorological modelling module is configured to determine Tropospheric Delay of the navigation satellite system signals between two or more navigation satellites and the client node based on the navigation satellite system signals received in the navigation satellite system module, and further Wet Delay of the navigation satellite system signals between the two or more navigation satellites and the client node based on the determined Tropospheric Delay.

[0114] In some embodiments, the meteorological modelling module is configured to determine signal delay of the navigation satellite signal between the navigation satellite and the vehicle network node with Radio Occultation based on the navigation satellite signal received in the navigation satellite system module during movement of the navigation satellite relative to one or more client nodes. Radio Occultation may be utilized for example with vehicle network nodes at high altitude, such as airplanes. Radio Occultation may also be utilized for example with vehicle network nodes provided at high altitudes with good horizontal visibility, such as mountain areas, high constructions or coastal areas. In some embodiments the meteorological modelling module is configured to carry out global navigation satellite system tomography between two or more navigation satellites and one or more vehicle network nodes based on the navigation satellite system signals received in the one or more vehicle network nodes.

[0115] In some embodiments, the global navigation satellite system tomography comprises determining atmospheric delays between two or more navigation satellites and one or more client nodes provided to the one or more vehicles, respectively, and calculating one or more atmospheric quantities between two or more navigation satellites and one or more client nodes based on the determined atmospheric delays. In some alternative embodiments, the meteorological modelling module is configured to carry out global navigation satellite system tomography between two or more navigation satellites and the client node based on the navigation satellite system signals received in the one or more client nodes of one or more vehicles.

[0116] In some embodiments, the global navigation satellite system tomography comprises determining atmospheric delays between two or more navigation satellites and one or more client nodes, and calculating one or more atmospheric quantities between two or more navigation satellites and one or more client nodes based on the determined atmospheric delays.

[0117] In some other embodiments, the global navigation satellite system tomography comprises determining atmospheric delays between two or more navigation satellites and the client node, and calculating one or more atmospheric quantities between two or more navigation satellites and the client node based on the determined atmospheric delays.

[0118] In some embodiments, the meteorological modelling module is configured to determine a three-dimensional distribution of the one or more atmospheric quantities in the atmosphere based on the navigation satellite system signals received in the navigation satellite system modules of the one or more client nodes from two or more navigation satellites by global navigation satellite system tomography.

[0119] In some other embodiments, the meteorological modelling module is configured to determine a three-dimensional distribution of the one or more atmospheric quantities in the atmosphere based on the navigation satellite system signals received in the navigation satellite system module of the client node from two or more navigation satellites by global navigation satellite system tomography.

[0120] In some embodiments, the meteorological modelling module is configured to determine the three-dimensional distribution of the one or more atmospheric quantities in the atmosphere based on the navigation satellite system signals received in the navigation satellite system modules of the client nodes in vehicles from two or more navigation satellites by global navigation satellite system tomography.

[0121] In some embodiments, the meteorological modelling module is configured to determine three-dimensional water vapor distribution in the atmosphere based on the navigation satellite system signals received in the navigation satellite system module of the client node from two or more navigation satellites by global navigation satellite system tomography.

[0122] In some embodiments, the meteorological modelling module is configured to determine a three-dimensional atmospheric refractivity distribution in the atmosphere based on the determined slant delays of the navigation satellite system signals between the two or more navigation satellites and the client node by global navigation satellite system tomography.

[0123] In some embodiments, the system comprises one or more atmospheric sensors arranged in communication connection with the meteorological modelling module. The meteorological modelling module is configured to receive atmospheric measurement data from the one or more atmospheric sensors. The meteorological modelling module is further configured to determine the three- dimensional distribution of the one or more atmospheric quantities in the atmosphere based on the navigation satellite system signals and the atmospheric measurement data from the one or more atmospheric sensors.

[0124] In some embodiments the one or more atmospheric sensors are provided or supported to the vehicles.

[0125] In some embodiments the one or more atmospheric sensors are provided or supported as separate atmospheric sensors provided to predetermined geographical positions and arranged in data transfer connection with the network or with the vehicle communication modules of the vehicles.

[0126] The one or more atmospheric sensors comprise one or more of the following: a temperature sensor, a pressure sensor, a humidity sensor, a wind sensor, and an optical light sensor.

[0127] In some further embodiments, the meteorological modelling module is configured to determine a three-dimensional distribution of one or more of the following atmospheric quantities: atmospheric refractivity, water vapor, liquid water, ice, temperature, pressure and wind, based on the determined slant delays of the navigation satellite system signals between the two or more navigation satellites and the client node by global navigation satellite system tomography.

[0128] In some embodiments, the meteorological modelling module is configured to determine three-dimensional water vapor distribution in the atmosphere based on the determined Tropospheric Delay or Wet Delay of the navigation satellite system signals between the two or more navigation satellites and the client node by global navigation satellite system tomography.

[0129] In some embodiments, the atmospheric quantity is one or more of the following: water vapor, liquid water, atmospheric refractivity, ice, temperature, pressure, humidity and wind.

[0130] In some embodiments, the meteorological modelling module is configured to determine the atmospheric delays of the navigation satellite system signals between the navigation satellite and two or more client nodes of two or more vehicles, and calculate the atmospheric quantity between the navigation satellite and the two or more client nodes based on the determined atmospheric delays of the navigation satellite system signals between the navigation satellite and the two or more client nodes.

[0131] In some other embodiments, the meteorological modelling module is configured to determine the atmospheric delays of the navigation satellite system signals between two more navigation satellites and the client node, and calculate the atmospheric quantity between the two or more navigation satellites and the client node based on the determined atmospheric delays of the navigation satellite system signals between the two or more navigation satellites and the client node.

[0132] In some further embodiments, the meteorological modelling module is configured to determine the atmospheric delays of the navigation satellite system signals between two or more navigation satellites and two or more client nodes of two or more vehicles, and calculate the atmospheric quantity between the two or more navigation satellites and the two or more client nodes based on the determined atmospheric delays of the navigation satellite system signals between the two or more navigation satellites and the two or more client nodes.

[0133] In some embodiments, the meteorological modelling module is configured to determine the atmospheric delays of the navigation satellite system signals between one or more navigation satellites and one or more client nodes of one or more vehicles located in a predetermined geographical area, and calculate the atmospheric quantity between the one or more navigation satellites and the one or more client nodes located in the predetermined geographical area based on the determined atmospheric delays of the navigation satellite system signals between the one or more navigation satellites and the one or more client nodes. The vehicles in the predetermined geographical area are identified based on the determined geographical position of the vehicles. The system, or the meteorological modelling module, is configured to determine the predetermined geographical area or is configured to configured to determine the predetermined geographical area based on area information received in the system or in the meteorological modelling module.

[0134] In some embodiments, the atmospheric delay comprises ionospheric delay and tropospheric delay.

[0135] In some other embodiments, the atmospheric delay comprises only tropospheric delay.

[0136] In some further embodiments, the atmospheric delay comprises only ionospheric delay.

[0137] In some embodiments, the meteorological modelling module is configured to calculate theoretical ionospheric delay based on the navigation satellite system signal having the first frequency and the navigation satellite system signal having the second frequency received in the client node from the navigation satellite.

[0138] In some other embodiments, the meteorological modelling module is configured to determine overall atmospheric delay of the navigation satellite signal between the navigation satellite and the client node, calculate theoretical ionospheric delay based on the navigation satellite system signal having the first frequency and the navigation satellite system signal having the second frequency received in the client node from the navigation satellite, subtract the theoretical ionospheric delay from the overall atmospheric delay to generate an ionospheric delay free navigation satellite system signal, and determine a tropospheric delay of the navigation satellite system signal based on the ionospheric delay free navigation satellite system signal.

[0139] In some further embodiments, the meteorological modelling module is configured to determine overall atmospheric delay of the navigation satellite signal between the navigation satellite and the client node, calculate theoretical ionospheric delay based on the navigation satellite system signal having the first frequency and the navigation satellite system signal having the second frequency received in the client node from the navigation satellite, subtract the theoretical ionospheric delay from the overall atmospheric delay to generate an ionospheric delay free navigation satellite system signal, determine a tropospheric delay of the navigation satellite system signal based on the ionospheric delay free navigation satellite system signal, and determine effective ionospheric delay by subtracting the determined tropospheric delay from the overall atmospheric delay.

[0140] The vehicle is car, or an airplane, or a ship, or a train.

[0141] The system is configured to carry out the method disclosed below.

[0142] The present invention is further based on the idea of providing a method for meteorological modelling, method being carried out in connection with plurality of vehicles- The vehicle comprises a vehicle network node comprising a vehicle communication module configured to carry out data exchange between the vehicle and a network, and a vehicle control module configured to control data exchange via the vehicle communication module and to control operation of the vehicle network node. The vehicle further comprises a navigation satellite signal receiving client node, the client node comprising a navigation satellite system module configured to receive navigation satellite system signals from the navigation satellites of the global navigation satellite system and to generate signal data based on the received navigation satellite system signals.

[0143] The method comprises carrying out data exchange in the network between the vehicle network nodes of the network, receiving navigation satellite system signals from navigation satellites of the global navigation satellite system in the navigation satellite signal receiving client nodes of the vehicle, and generating signal data based on the received navigation satellite signals in the client node. The method also comprises receiving signal data in the vehicle network node from the client node, and transmitting signal data in the network with the vehicle communication module of the vehicle network node.

[0144] The method further comprises:

[0145] - determining geographical position of the vehicle based on the signal data,

[0146] - determining atmospheric delays of the navigation satellite system signals between the navigation satellites and the client node provided to the vehicle based on the signal data,

[0147] - calculating atmospheric quantities between the navigation satellite and the client node based on the determined atmospheric delays of the navigation satellite system signals between the navigation satellites and the client node provided to the vehicle,

[0148] - associating the determining geographical position of the vehicle with the calculated atmospheric quantities, and

[0149] - determining the atmospheric quantity in a direction between the navigation satellite and determined geographical position of the vehicle.

[0150] In some embodiments, the method is carried out during a movement session, the movement session comprises travelling of the vehicle from a geographical start position to a geographical end position. Accordingly, the method is carried during use of the vehicle.

[0151] The method comprises selecting one or more measurement sections in the signal data. In some embodiments the method comprises:

[0152] - selecting a measurement section in the signal data,

[0153] - determining the geographical position of the vehicle based on the selected measurement section of the signal data,

[0154] - determining atmospheric delays of the navigation satellite system signals between the navigation satellites and the client node provided to the vehicle based on the selected measurement section of the signal data, and

[0155] - calculating atmospheric quantities between the navigation satellite and the client node based on the determined atmospheric delays of the navigation satellite system signals between the navigation satellites and the client node provided to the vehicle.

[0156] In some embodiments the method comprises selecting one or more measurement sections in the signal data based on pre-determined selection criteria.

[0157] In some embodiments of the present invention the calculating the atmospheric quantity between the navigation satellite and the client node is carried based on selection criteria.

[0158] The selection criteria comprise selection time criteria and / or selection position criteria.

[0159] The selection time criteria comprise pre-determined criteria comprising time definition defining timers) or time intervales) for selecting the one or more measurement section in the signal data.

[0160] The selection position criteria comprise pre-determined criteria comprising position definition defining vehicle positions or vehicle movement distances for selecting the one or more measurement section in the signal data.

[0161] In some embodiments, the method comprises selecting two or more measurement sections in the signal data based on pre-determined time intervals, and calculating the atmospheric quantity between the navigation satellite and the client node and determining the geographical position of the vehicle based on the selected two or more measurement sections of the signal, respectively. The selection time criteria comprise the one or more pre-determined time intervals.

[0162] The pre-determined time interval may be for example Is, 10s, 30s, 1 minute, 5 minutes, 10 minutes, 30 minutes or a time interval between Is to 1 hour.

[0163] In some embodiments, the method comprises selecting one or more measurement sections in the signal data based on one or more pre-determined time points, and calculating the atmospheric quantity between the navigation satellite and the client node and determining the geographical position of the vehicle based on the selected one or more measurement sections of the signal, respectively. The selection time criteria comprise the one or more pre-determined time points.

[0164] The pre-determined time point may comprise one or more time points during an hour, during a day or during a week.

[0165] The pre-determined time intervals and time points enables calculating the atmospheric quantity, and changes thereof, in relation to predetermined times and in relation to geographical position.

[0166] In some embodiments, the method comprises selecting one or more measurement sections in the signal data based on one or more pre-determined distances along the movement of the vehicle, and calculating the atmospheric quantity between the navigation satellite and the client node and determining the geographical position of the vehicle based on the selected one or more measurement sections of the signal, respectively. The selection position criteria comprise the one or more pre-determined distances.

[0167] This enables calculating the atmospheric quantity, and changes thereof, in relation to geographical position and movement of vehicle.

[0168] In some embodiments, the method comprises selecting one or more measurement sections in the signal data based on one or more pre-determined geographical positions along the movement of the vehicle, and calculating the atmospheric quantity between the navigation satellite and the client node and determining the geographical position of the vehicle based on the selected one or more measurement sections of the signal, respectively. The selection position criteria comprise the one or more pre-determined geographical positions.

[0169] This enables calculating the atmospheric quantity, and changes thereof, in relation to predetermined geographical positions by utilizing the vehicles. The predetermined geographical positions may be changed and selected as desired.

[0170] The method further comprises determine atmospheric delays of the navigation satellite system signals between the navigation satellites and the client node provided to the vehicle based on the signal data, and calculating atmospheric quantities between the navigation satellite and the client node based on the determined atmospheric delays of the navigation satellite system signals between the navigation satellites and the client node provided to the vehicle.

[0171] The method enables utilizing the vehicles for weather monitoring in a detailed manner locally over a different or varying geographical areas. Thus, the method present invention enables providing hyperlocal weather monitoring by utilizing the vehicles. The present invention further enables monitoring changes of the atmospheric quantities in relation to time and geographical position.

[0172] The present invention further enables providing three-dimensional local weather forecasts and measurements by utilizing navigation satellite systems and the vehicles.

[0173] The above disclosed system and the embodiments of the system are configured to carry out the method and the embodiments of the method.

[0174] In some embodiments the method comprises controlling operation of the vehicle network node of the vehicle based on the signal data received from the client node.

[0175] In some other embodiments, the method comprises controlling timing, or synchronization, or timing and synchronization of the vehicle network node of the vehicle with the vehicle control module based on the signal data received from the client node.

[0176] In some embodiments, the method comprises receiving, in the client node, navigation satellite system signals from two or more navigation satellites, respectively.

[0177] In some other embodiments, the method comprises receiving, in two or more client nodes, a navigation satellite system signal from a navigation satellite, respectively.

[0178] In some further embodiments, the method comprises receiving, in two or more client nodes, navigation satellite system signals from two or more navigation satellites.

[0179] In some embodiments, the method comprises receiving, in the client node, navigation satellite system signals from the navigation satellites of two or more global navigation satellite systems.

[0180] In some embodiments, the method comprises receiving navigation satellite system signals from the navigation satellites in at least two different frequencies.

[0181] In some embodiments, the method comprises calculating the atmospheric quantities in the client node of the vehicle, the signal data received the vehicle network node from the client node comprises the calculated atmospheric quantity, and the vehicle communication module of the vehicle network node is configured to transmit in the network the signal data comprising the calculated atmospheric quantity. In some other embodiments, the method comprises calculating the atmospheric quantities in the vehicle network node of the vehicle, and the vehicle communication module of the vehicle network node is configured to transmit in the network the signal data comprising the calculated atmospheric quantity.

[0182] In some further embodiments, the method comprises receiving the signal data in an external meteorological modelling server from vehicle network node via the network, and calculating the atmospheric quantities in the external meteorological modelling server.

[0183] In some further embodiments, the method comprises calculating the atmospheric quantities in a distributed manner by utilizing at least two of the following: the client nodes, the vehicle network nodes and an external meteorological modelling server arranged in data exchange connection with the vehicle network nodes.

[0184] In some embodiments, the method comprises determining the geographical position of the vehicle in the client node of the vehicle, the signal data received in the vehicle network node from the client node comprises the determined geographical position of the vehicle, and the vehicle communication module of the vehicle network node is configured to transmit the signal data comprising the determined geographical position of the vehicle.

[0185] In some other embodiments, the method comprises determining the geographical position of the vehicle in the vehicle network node of the vehicle, and the vehicle communication module of the vehicle network node is configured to transmit the signal data comprising the determined geographical position of the vehicle.

[0186] In some further embodiments, the method comprises receiving the signal data in the external meteorological modelling server from vehicle network node via the network, and determining the geographical position of the vehicle in the external meteorological modelling server.

[0187] In some embodiments, the method comprises determining Tropospheric Delay of the navigation satellite signal between the navigation satellite and the client node based on the navigation satellite system signal received in the client node or the navigation satellite system module thereof.

[0188] In some other embodiments, the method comprises determining Tropospheric Delay of the navigation satellite system signals between two or more navigation satellites and the client node based on the navigation satellite system signals received in the client node or the navigation satellite system module thereof.

[0189] In some further embodiments, the method comprises determining Tropospheric Delay of the navigation satellite signal between the navigation satellite and the client node based on the navigation satellite signal received in client node, and further Wet Delay of the navigation satellite signal between the navigation satellite and the client node based on the determined Tropospheric Delay.

[0190] In some yet further embodiments, the method comprises determining Tropospheric Delay of the navigation satellite system signals between two or more navigation satellites and the client node based on the navigation satellite system signals received in the client node, and further Wet Delay of the navigation satellite system signals between the two or more navigation satellites and the client node based on the determined Tropospheric Delay.

[0191] In some embodiments, the method comprises determining a three- dimensional water vapor distribution in the atmosphere based on the navigation satellite system signals received in the client node from two or more navigation satellites by global navigation satellite system tomography.

[0192] In some other embodiments, the method comprises determining three- dimensional water vapor distribution in the atmosphere based on the determined Tropospheric Delay or Wet Delay of the navigation satellite system signals between the two or more navigation satellites and the client node by global navigation satellite system tomography.

[0193] In some embodiments, the method comprises determining the atmospheric delays of the navigation satellite system signals between the navigation satellite and two or more client nodes, and calculating the atmospheric quantity between the navigation satellite and the two or more client nodes based on the determined atmospheric delays of the navigation satellite system signals between the navigation satellite and the two or more client nodes.

[0194] In some other embodiments, the method comprises determining the atmospheric delays of the navigation satellite system signals between two more navigation satellites and the client node, and calculating the atmospheric quantity between the two or more navigation satellites and the client node based on the determined atmospheric delays of the navigation satellite system signals between the two or more navigation satellites and the client node.

[0195] In some further embodiments, the method comprises determining the atmospheric delays of the navigation satellite system signals between two or more navigation satellites and two or more client nodes, and calculating the atmospheric quantity between the two or more navigation satellites and the two or more client nodes based on the determined atmospheric delays of the navigation satellite system signals between the two or more navigation satellites and the two or more client nodes.

[0196] In some embodiments, the method comprises determining the atmospheric delays of the navigation satellite system signals between one or more navigation satellites and one or more client nodes of the vehicles located in a predetermined geographical area, and calculating the atmospheric quantity between the one or more navigation satellites and the one or more client nodes of the one or more vehicles located in the predetermined geographical area based on the determined atmospheric delays of the navigation satellite system signals between the one or more navigation satellites and the one or more client nodes.

[0197] In some embodiments, the method comprises carrying out global navigation satellite system tomography between two or more navigation satellites and one or more client nodes based on the navigation satellite system signals received in the one or more client nodes.

[0198] In some other embodiments, the method comprises carrying out global navigation satellite system tomography, the global navigation satellite system tomography comprising determining atmospheric delays between two or more navigation satellites and one or more client nodes, and calculating one or more atmospheric quantities between two or more navigation satellites and one or more client nodes based on the determined atmospheric delays.

[0199] In some further embodiments, the method comprises carrying determining a three-dimensional distribution of the one or more atmospheric quantities in the atmosphere based on the navigation satellite system signals received in the navigation satellite system modules of the one or more client nodes from two or more navigation satellites by global navigation satellite system tomography.

[0200] In some embodiments, the method comprises carrying out the method simultaneously in connection with two or more vehicles.

[0201] In some other embodiments, the method comprises - carrying out the method simultaneously in connection with two or more vehicles in relation to a pre-determined geographical area.

[0202] In some further embodiments, the method comprises carrying out the method simultaneously in connection with two or more vehicles in relation to two or more different pre-determined geographical areas.

[0203] In some embodiments the method is carried out with a system as disclosed above. Thus, the operation of the system is interchangeable to method and method steps thereof.

[0204] An advantage of the system and method of the invention is that moving vehicles may be turned into weather stations such that accuracy of numerical weather predictions and forecasts, as well as global weather analyses are very likely to increase. Significantly increased coverage of and availability of atmospheric data collected from GNSS receivers is achieved when vehicles ae used. The vehicles enable providing moving weather stations which enable collecting weather data during movement at different geographical positions and in relation to time. This enables collecting and calculating weather data in relation to time and position. The increased coverage, availability and versatility have significant effect on weather forecasts and climate monitoring in large areas in which numerical weather analysis have not been possible before. This significantly increased coverage and availability will enable hyperlocal weather forecasts for any region where GNSS meteorology measurement are available via the vehicles.

[0205] BRIEF DESCRIPTION OF THE DRAWINGS

[0206] The invention is described in detail by means of specific embodiments with reference to the enclosed drawings, in which

[0207] Figure 1 shows schematically a basic global navigation satellite system;

[0208] Figures 2 and 3 show schematically different embodiments of the present invention;

[0209] Figure 4 to 9 are schematic diagrams showing embodiments of a hardware configuration of a system according to the present invention;

[0210] Figure 10 is a schematic configuration of one embodiment of a software module operating a system according to the present invention;

[0211] Figure 11 shows schematically a navigation satellite system receiver, and

[0212] Figures 12 to 14 show schematically methods for determining atmospheric meteorological conditions.

[0213] DETAILED DESCRIPTION OF THE INVENTION

[0214] Systems and methods described in the context of this application comprise and utilize global navigation satellite systems (GNSS) for meteorological modelling and calculations. In the context of this application the GNSS may be known GNSS such as Global Positioning System (GPS), Russian Global Navigation Satellite System (GLONASS), the European Satellite Navigation System (Galileo), Immarsat, Chinese Navigation Satellite System (BeiDou), Indian Regional Navigation Satellite System (1RNSS), Japanese Quasi-Zenith Satellite System (QZSS), Multi-functional Satellite Augmentation System (MTSAT or MSAS) as well as Satellite Based Augmentation System (SBAS) and Regional Satellite Systems. Accordingly, the present invention may be carried out by utilizing existing and future GNSS.

[0215] Figure 1 shows schematically a general GNSS architecture. The GNSS architecture comprises three major components: a space segment, a control segment and client segment.

[0216] The client segment may also be denoted as user segment. Different navigation satellite systems may also be denoted as different navigation satellite constellations.

[0217] The space segment comprises global navigation system satellites (GNSS satellites) 2, orbiting about 20,000 km above the earth surface. Each GNSS satellite broadcasts a global navigation satellite system signal (GNSS signal) 5 that identifies it and provides its time, orbit and status.

[0218] The control segment comprises a ground-based network of master control stations 6, data uploading stations 8 and monitoring stations 4. For example, in the case of GPS, the system comprises two master control stations 6, four data uploading stations 8 and 16 monitoring stations 4, located throughout the world.

[0219] In each GNSS system, the master control station 6 adjusts orbit parameters and onboard high-precision clocks of the satellites 2 when necessary to maintain accuracy.

[0220] Monitor stations 4 are usually installed over a broad geographic area, monitor signals and status of the satellites 2, and transmit this information to the master control station 6. The master control station 6 analyses the signals then transmits orbit and time corrections to the satellites 2 through data uploading stations 8.

[0221] The client segment consists of equipment, devices and systems 10, 20, 22, 24, 26 that processes the received navigation satellite system signals 5 from the GNSS satellites 2 and utilize them to derive and apply position and time information. The equipment, devices and systems comprise smartphones and other mobile devices and handheld devices 10 comprising GNSS receivers. The equipment, devices and systems further comprise vehicles, such as airplanes 22, cars 24 and ships 26, or trains provided with GNSS receivers. The equipment, devices and systems further comprise fixed ground-based infrastructure networks 20 comprising infrastructure network nodes provided with GNSS receivers. The fixed ground-based infrastructure networks 20 comprise for example telecommunication networks, power and electricity networks, road and railroad infrastructure networks, lighting networks, district heating and cooling networks, and the like.

[0222] The present invention relates to vehicles 22, 24, 26 and utilization thereof. The vehicles 22, 24, 26 comprise a client node 300 comprising a navigation satellite system module having a navigation satellite system receiver, and a vehicle network node 100. The vehicle network node 100 further comprises a vehicle communication module configured to carry out data exchange in a network.

[0223] Figure 2 shows schematically a vehicles, as cars 24. The vehicles 24 do not have fixed geographical positions but are able to move from one position to another. The positions of the vehicles are determined based on the navigation satellite signals received in the navigation satellite system module.

[0224] The vehicle communication module of the vehicle network node is configured to carry out data exchange between the vehicle and a network. The network may be any network capable of providing data exchange connection with the vehicle communication module. The network comprises one or more of the following: an infrastructure network 7, one or more other vehicles 22, 24, 26 provided with the vehicle communication module, an external device, and a communication satellite 9.

[0225] Accordingly, the vehicle communication module may comprise an infrastructure network communication element for providing data exchange connection with an infrastructure network. The infrastructure network may be a telecommunication network or a mobile telecommunication network 7 comprising mobile base stations 20.

[0226] In some embodiments, the telecommunication network is a mobile telecommunication network comprising mobile telecommunication network base stations 20 at fixed geographical locations. The mobile telecommunication network may be a 3G, 4G, 5G, 6G or 7G telecommunication network comprising telecommunication network base stations 20 at fixed geographical locations.

[0227] The telecommunication network may also be wide area network (WAN), Metropolitan area network (MAN), Local area network (LAN) or any other fixed telecommunication network comprising interconnected fixed infrastructure network stations.

[0228] Further, the vehicle communication module may comprise a vehicle-to- vehicle communication element for providing data exchange connection 6 between vehicles 22, 24, 26.

[0229] Also, the vehicle communication module may comprise a device communication element for providing data exchange connection with an external device, such as an infrastructure device or a weather sensor device, such as road warning device, smartphone or the like. The external device may also be configured to be further in data exchange connection with an infrastructure network.

[0230] The vehicle communication module may also comprise a satellite communication element for providing data exchange connection with communication satellites 9.

[0231] The vehicles 22, 24, 26 are provided with the vehicles network nodes 100. The vehicles network node 100 is configured to receive carry out data exchange and communication in the network.

[0232] The vehicles 22, 24, 26 are further are further provided with the client nodes 300 having the navigation satellite system module comprising GNSS receiver (s). The client node 300 comprises a navigation satellite system module configured to receive navigation satellite system signals 5 from the navigation satellites 2 of the global navigation satellite and to generate signal data based on the received navigation satellite system signals 5.

[0233] The vehicle network node 100 and the client node 300 are provided as separate devices or separate device units to the vehicle 22, 24, 26, or alternative the client node 300 is an integral part of the vehicle network node 100.

[0234] Figure 2 shows an embodiment, in which the vehicles 22, 24, 26 are provided vehicle communication modules configured to provide data exchange connection with the network 7.

[0235] Figure 3 shows an embodiment, in which the vehicles 22, 24, 26 are provided vehicle communication modules configured to provide data exchange connection with a fixed telecommunication network 7 and base stations 20 thereof.

[0236] In the embodiment of figure 3, the vehicle communication modules of the vehicles are further configured to provide data exchange connection with communication satellites 9 and a vehicle-to-vehicle data exchange connection 6 between vehicles 22, 24, 26.

[0237] Figure 4 shows one embodiment of the present invention in which the vehicle 22, 24, 26 comprises power unit 40. The power unit 40 may be combustion engine with a battery or an electric motor.

[0238] The vehicle network node 100 and the client node 300 are provided one integral device unit arranged in supply connection 142 with the power unit.

[0239] Figure 5 shows one embodiment in which the vehicle network node 100 and the client node 300 are provided as separate device units. The vehicle network node 100 is arranged in power supply connection 142 with the power unit 40, and the client node 300 is connected to the vehicle network node 100 with a client power supply connection 304.

[0240] In further alternative embodiment, the vehicle network node 100 and the client node 300 are provided as separate device units and separate connected to the power unit 40. The vehicle network node 100 is arranged in power supply connection 142 with the power unit 40, and the client node 300 is arranged in client power supply connection 304 with the power unit 40.

[0241] The vehicles 22, 24, 26 are provided with the vehicle network nodes 100. The vehicle network node 100 is configured to carry out data exchange and communication vehicle and the network.

[0242] The vehicles 22, 25, 26 are further provided with the client nodes 300 comprising GNSS receiver (s). The client node 300 comprises a navigation satellite system module configured to receive navigation satellite system signals 5 from the navigation satellites of the global navigation satellite and to generate signal data based on the received navigation satellite system signals 5.

[0243] The vehicle network node 100 and the client node 300 are supported and / or provided to the vehicle 22, 24, 26 or the structure thereof, as shown in figures 4, and 5.

[0244] Figure 6 shows schematically physical structure of the vehicle network node 100 having the client node 300 provided to the vehicle network node 100. The vehicle network node 100 comprises an antenna unit 150 configured receive the navigation satellite system signals 5.

[0245] In come embodiments the antenna unit 150 is configured to send and receive data in the network also in the network. The antenna unit 150 may comprise a separate network antenna for providing the data exchange connection with the network.

[0246] The vehicle network node 100 comprises an operating unit 120. The operating unit 120 is connected to the antenna unit 150 for carrying out data exchange to and from the operating unit and for receiving navigation satellite system signals 5.

[0247] The vehicle network node 100 comprises a power supply 140 connected to the power unit 40 with the power supply connection 142. The vehicle network node 100 also comprises a battery 144 connected to the power supply 140 for backup. The battery 144 may also be omitted. The power supply 140 is connected to the operating unit 120 for providing power to the operating unit 120.

[0248] The operating unit 120 comprises a vehicle communication module

[0249] 122 configured carry out data exchange between the vehicle 22, 24, 26 and the network.

[0250] The vehicle communication module 122 comprises for example 3G, 4G, 5G, 6G, 7G or beyond core or any other telecommunication core configured to carry out data exchange between the vehicle 22, 24, 26 and the telecommunication network.

[0251] The operating unit 120 comprises the client node 300 having a navigation satellite system module 324 provided with a navigation satellite system receiver 360, 362 configured to receive navigation satellite system signals 5 from the navigation satellites 2 of the global navigation satellite system.

[0252] The operating unit 120 further comprises a vehicle control module

[0253] 123 configured to control the data exchange via the vehicle communication module 122 and to control operation of the vehicle network node 100 based on the received navigation satellite system signals 5.

[0254] In the network it is usually required that operation of the vehicle network nodes 100 is coordinated and controlled such that the vehicle network nodes 100 operate efficiently and in correct manner together in the network. Therefore, timing and synchronization of the vehicle network node are required.

[0255] The vehicle control module 123 configured to control timing and synchronization of the vehicle network node 100 in the based on the navigation satellite system signals 5 received with the navigation satellite system module 324. GNSS satellites provide x, y, z coordinates and precise time information to the receiver. Fundamentals of any GNSS system is that all satellite clocks are synchronized with precise time. The navigation satellites 2 broadcast coded navigation satellite system signals 5 at exact times while the receivers 360, 362 estimates the exact time it takes for each navigation satellite system signal 5 to travel from the navigation satellite 2 to the receiver 360, 362. The position of the GNSS receiver 360, 362 is then calculated as a function of the time of flight of each navigation satellite system signal 5 from the navigation satellite 2 to the receiver 360, 362. Therefore, the navigation satellite system signals 5 are used for timing and synchronization of operation of the vehicle network nodes 100. Thus, the vehicle network nodes 100 are configured to utilize the navigation satellite system signals 5 for operating the vehicle network nodes 100 in efficient manner such that errors may be prevented.

[0256] Figure 11 shows schematically a GNSS receiver 360, 362. The GNNS receiver is configured to generate signal data comprising navigation output messages 30 which comprises position information and precise time information. The vehicle control module 123 is configured to control timing, or synchronization, or timing and synchronization of the vehicle network node 100, or the vehicle communication module 122, thereof based on the signal data and the navigation output messages 30 generated by the navigation satellite system receiver 360, 362. The navigation output messages mean navigation output data comprising location and time data.

[0257] The navigation satellite system receiver 360, 362 is further configured to generate signal data comprising signal characteristic output messages 32. The signal characteristic output messages comprise information of the navigation satellite signal 5 itself, as received from each navigation satellite at each frequency. The signal characteristic output messages 32 comprise for example carrier phase information, code phase information, pseudoranges information and pseudorange rates information.

[0258] The system of the present invention further comprises a meteorological modelling module 328. The meteorological modelling module 328 is configured to determine atmospheric delay of the navigation satellite signal 5 between the navigation satellite 2 and the client node 300. The meteorological modelling module 328 is further configured to calculate atmospheric quantity in a direction between the navigation satellite 2 and the client node 300 based on the determined atmospheric delay of the navigation satellite signal between the navigation satellite 2 and the client node 300. The meteorological modelling module 328 is configured to calculate the atmospheric delay based on the signal characteristics output messages 32 generated by the navigation satellite system receiver 360, 362. The signal characteristics output messages 32 comprise navigation satellite system raw signal data.

[0259] The system is configured to determine or calculate the geographical position of the vehicle 22, 24, 26 based on the navigation output messages 30.

[0260] The signal data generated by the client node 300 or the navigation satellite system receiver 360, 362 thereof comprises the navigation output messages 30 and the characteristics output messages 32.

[0261] As shown in figure 6, the meteorological modelling module 328 is provided to the vehicle network node 100 and the processing unit 120 thereof. The meteorological modelling module 328 is arranged to receive signal data from the navigation satellite system module 324.

[0262] Figure 7 shows an alternative embodiment of the embodiment of figure 6. In figure 7 the system comprises an external meteorological modelling server 329 arranged in data exchange connection with the vehicle network nodes 100 and the vehicle 22, 24, 26. The meteorological modelling module 328 is provided to the external meteorological modelling server 329. The external meteorological modelling server 329 is connected to the vehicle network node via the network, such as the telecommunication network. The external meteorological modelling server 329 is connected to the vehicle network node 100 via the vehicle communication module 122.

[0263] Thus, the external meteorological modelling server 329 is connected to the vehicle network node 100 via the telecommunication network and arranged to receive signal data from the navigation satellite system modules 324 from the vehicle network node 100.

[0264] Figure 8 shows an alternative embodiment in which the vehicle network node 100 and the client node 300 are provided as separate device units in the vehicle 22, 24, 26.

[0265] The client node 300 comprises a GNSS antenna unit 350 configured to receive navigation satellite system signals 5 from the navigation satellites 2 of the global navigation satellite system.

[0266] The client node 300 comprises the navigation satellite system module 324 having the navigation satellite system receiver 360, 362 configured to receive navigation satellite system signals 5 from GNSS antenna unit 350.

[0267] The client node 300 of the navigation satellite system receiver 360, 362 is configured to generate signal data based on the received navigation satellite system signals 5.

[0268] As shown in figure 8, the client node 300 is connected to the vehicle network node 100 of the vehicle 22, 24, 26 with a data transfer connection 302, and the vehicle network node 100 is configured to receive signal data directly from the client node 300 via the data transfer connection 302. The vehicle network node 100 is connected to the power unit 40, and the client node 300 is connected to the vehicle network node 100 with the client power supply connection 304 such that power is supplied to the client node 300 from the vehicle network node 100.

[0269] As shown in figure 8, the meteorological modelling module 328 is provided to the client node 300. The meteorological modelling module 328 is arranged to receive the signal data from the navigation satellite system module 324.

[0270] In an alternative embodiment of figure 8, the meteorological modelling module 328 is provided to the vehicle network node 100, as in the embodiment of figure 6.

[0271] Figure 9 shows an alternative embodiment in which the system comprises the external meteorological modelling server 329 arranged in data exchange connection with the vehicle network nodes 100 via the network. The meteorological modelling module 328 is provided to the external meteorological modelling server 329. The external meteorological modelling server 329 is connected to the vehicle network nodes 100 via the telecommunication network 7. The external meteorological modelling server 329 is connected to the vehicle network nodes 100 via the vehicle communication module 122.

[0272] Thus, the external meteorological modelling server 329 is connected to the vehicle network node 100 via the telecommunication network and arranged to receive the signal data from the vehicle network node 100. The vehicle network node 100 is configured to receive the signal data from the client node 300 and the navigation satellite system module 324 thereof.

[0273] In the embodiment of figure 9, the vehicle network node 100 and the client node 300 are separately connected to power unit 40. The client node 300 is directly connected to the power unit 40 with the client power connection 304 such that power is supplied to the client node 300 from the power unit 40 of the vehicle 22, 24, 26.

[0274] In a further alternative embodiment, the system is provided as distributed system in which the meteorological modelling module 328 and operation thereof is distributed between at least two of the following: the vehicle network nodes 100, the client nodes 300 and the external meteorological modelling server 329 arranged in data exchange connection with the vehicle network nodes 100 via the network. Accordingly, the meteorological modelling module 328 is a software module.

[0275] In one embodiment, a first sub-module of the meteorological modelling module 328 is provided to and carried out in the vehicle network nodes 100 or the client nodes 300. The first sub-module of the meteorological modelling module 328 is configured to determine atmospheric delay of the navigation satellite signal 5 between the navigation satellite 2 and the client node 300.

[0276] A second sub-module of the meteorological modelling module 328 is provided to and carried out in the external meteorological modelling server 329. The second sub-module of the meteorological modelling module 328 is configured to calculate atmospheric quantity in a direction between the navigation satellite 2 and the client node 300 based on the determined atmospheric delay of the navigation satellite signal between the navigation satellite 2 and the client node 300.

[0277] In some embodiments, the meteorological modelling module 328 is further configured to generate a meteorological model based on the calculate atmospheric quantities. The meteorological model comprising the calculated atmospheric quantities.

[0278] Figure 10 shows a schematic configuration example of the meteorological modelling module 328. The meteorological modelling module 328 comprises components from an input unit 101 to an output unit 107.

[0279] The input unit 101 is configured to receive the signal data.

[0280] A Zenith Tropospheric Delay unit 102 is configured to determine Zenith Tropospheric Delay of the navigation satellite signals 5 between the navigation satellite 2 and the client node 300 based on the signal data received in the client node 300 and navigation satellite system module 324.

[0281] The Zenith Tropospheric Delay unit 102 comprises a Zenith Tropospheric Delay calculation algorithm configured to calculated Zenith Tropospheric Delay based on the signal data. The signal data is input to the Zenith Tropospheric Delay calculation algorithm. Output of the Zenith Tropospheric Delay calculation algorithm is Zenith Tropospheric Delay between the navigation satellite 2 and the client node 300.

[0282] In some embodiments, Zenith Tropospheric Delay unit 102 is further configured to calculate Zenith Wet Delay of the navigation satellite system signals 5 between the two or more navigation satellites 2 and the client node 300 based on the determined Zenith Tropospheric Delay.

[0283] The navigation satellite system signals 5 are refracted nondispersively by the atmosphere (troposphere and stratosphere), with the signal delays at particular elevation angles and azimuths are mapped to form the Zenith Tropospheric Delay (ZTD). The ZTD can be attributed to the hydrostatic and the nonhydrostatic components of the atmosphere, which are mapped to the zenith using separate hydrostatic and wet mapping algorithms. Because of the well-mixed nature of the hydrostatic gases in the atmosphere, a Zenith Hydrostatic Delay (ZHD) can be accurately calculated using local surface pressure and temperature measurements. The additional delay resulting from the water vapor is the Zenith Wet Delay (ZWD). Therefore, the Zenith Wet Delay is calculated by subtracting the Zenith Hydrostatic Delay from the Zenith Tropospheric Delay.

[0284] Figure 12 shows schematically the bending of the navigation satellite system signal 5 between the navigation satellites 2 and the client node 300. The linear line 5’ represents direct line from the navigation satellite 2 to the and the client node 300, and the curved line 5 represent the real path of the navigation satellite system signal 5.

[0285] An atmospheric quantity unit 104 is configured to calculate atmospheric quantity in a direction between the navigation satellite 2 and the client node 300 based on the determined atmospheric delay of the navigation satellite signal between the navigation satellite 2 and the client node 300.

[0286] The atmospheric quantity unit 104 comprises an atmospheric quantity calculation algorithm configured to calculated one or more atmospheric quantities based on the determined atmospheric delay of the navigation satellite signal between the navigation satellite 2 and the client node 300.

[0287] The atmospheric quantity is one or more of temperature, pressure and humidity in the atmosphere.

[0288] The atmospheric quantity unit 104 comprises an atmospheric temperature calculation algorithm configured to calculate atmospheric temperature. In another embodiment atmospheric quantity unit 104 comprises an atmospheric pressure calculation algorithm configured to calculate atmospheric temperature. In a further embodiment atmospheric quantity unit 104 comprises an atmospheric humidity calculation algorithm configured to calculate atmospheric humidity.

[0289] In a yet further embodiment atmospheric quantity unit 104 comprises an atmospheric quantity calculation algorithm configured to calculate one or more of atmospheric humidity, atmospheric temperature, atmospheric pressure and atmospheric wind.

[0290] The determined atmospheric delay is input to the atmospheric quantity calculation algorithm. Output of the atmospheric quantity calculation algorithm is value representing the atmospheric quantity in the atmosphere in the direction between the navigation satellite 2 and the client node 300.

[0291] In some embodiments, the atmospheric delay inputted to the atmospheric quantity calculation algorithm is the Zenith Wet Delay or the Zenith Tropospheric Delay. In some further embodiments, the atmospheric delay inputted to the atmospheric quantity calculation algorithm comprises both the Zenith Wet Delay or the Zenith Tropospheric Delay.

[0292] A Tomography unit 105 is configured to determine three-dimensional water vapor distribution in the atmosphere based on the navigation satellite system signals 5 received in the navigation satellite system module 324 from two or more navigation satellites 2.

[0293] The Tomography unit 105 comprises a Tomography calculation algorithm configured to calculate atmospheric water vapor between the navigation satellite 2 and the client nodes 300 based on the navigation satellite signals 5 received in the client nodes 300.

[0294] In some embodiments, the determined atmospheric delay is input to the Tomography calculation algorithm. Output of the Tomography calculation algorithm is a three-dimensional water vapor model representing three- dimensional distribution of water vapor in the atmosphere.

[0295] In some embodiments, the atmospheric delay inputted to the Tomography calculation algorithm is the Zenith Wet Delay or the Zenith Tropospheric Delay. In some further embodiments, the atmospheric delay inputted to the Tomography calculation algorithm comprises both the Zenith Wet Delay or the Zenith Tropospheric Delay.

[0296] In further embodiments, the output of the atmospheric quantity calculation algorithm is input to the Tomography calculation algorithm. Output of the Tomography calculation algorithm is a three-dimensional water vapor model representing three-dimensional distribution of water vapor in the atmosphere. Thus, the inputs are the values representing the atmospheric quantity in the atmosphere in the directions between the navigation satellites 2 and the client node 300.

[0297] A modelling unit 106 is configured to generate the meteorological model based on the calculated atmospheric quantities or update the predetermined meteorological models, as disclosed above. The meteorological model comprises one or more of the calculated atmospheric quantities. In some embodiments, the meteorological model comprises one or more of the calculated atmospheric quantities and / or the three-dimensional water vapor model representing three-dimensional distribution of water vapor in the atmosphere based on the Tomography unit 105.

[0298] An output unit 107 is configured to output the generated meteorological model from the meteorological modelling module 328.

[0299] The meteorological modelling module 328 comprises a database 110.

[0300] The database 110 comprises a navigation satellite system signal database 111 configured to store signal data and / or raw signal data of the navigation satellite system signals 5 received in the client nodes 300.

[0301] The database 110 comprises a process database 112 configured to store output of one or more of the Zenith Tropospheric Delay unit 102, the atmospheric quantity unit 104 and the Tomography unit 105.

[0302] The database 110 comprises a model database 113 configured to store the meteorological models and / or the pre-determined meteorological models.

[0303] The 110 comprises a position database 114 configured to store the determined positions of the vehicles 22, 24, 26 determined based on the signal data.

[0304] The system is configured to determine the geographical position of the vehicle 22, 24, 26 during use or a movement session of the vehicle 22, 24, 26.

[0305] Accordingly, in the present invention the same signal data is used for determining the position of the vehicle 22, 24, 26 and for calculating the atmospheric quantity.

[0306] The geographical position of the vehicle 22, 24, 26 may be determined in the client node 300, in the vehicle network node 100 or in the meteorological modelling module 328 based on the signal data.

[0307] The meteorological modelling module 328 is further configured to associate the determined geographical locations of the client nodes 300 or the vehicles with the calculated atmospheric quantities and determine the atmospheric quantity in a direction between the determined location of the vehicle 22, 24, 26 and the navigation satellite 2.

[0308] The meteorological model comprising the calculated atmospheric quantities associated with geographical location information of the vehicle 22, 24, 26. Thus, a location-based meteorological model is generated.

[0309] In an alternative embodiment, the system comprises one or more predetermined meteorological models, and the meteorological modelling module 328 is further configured to update the one or more pre-determined meteorological models based on the calculated atmospheric quantities. The geographical location information of the vehicle 22, 24, 26 is associated to the one or more pre-determined meteorological models and also to the calculated atmospheric quantities such that location-based updating is carried out.

[0310] Generating the meteorological model or updating the one or more meteorological models is carried in the meteorological modelling module 328 in the operating unit 120 of vehicle network node 100, or in the external meteorological modelling server 329 or in the second sub-module of the meteorological modelling module 328.

[0311] Navigation satellite system signals 5 pass through space from the navigation satellites 2 to the client node 300 and navigation satellite system receivers 360, 362. Most of space is near vacuum. To calculate accurate position, the receiver needs to know the length and direct path of the navigation satellite system signals 5 from the navigation satellites 2 to the client node 300 and navigation satellite system receivers 360, 362. Radio waves do not travel in a straight path. Navigation satellite system signals 5 travelling from the navigation satellite 2 to the navigation satellite system receivers 360, 362 are bent as they pass through the different layers during the travel. This bending has an effect and increase to the amount of time the navigation satellite system signal 5 travels from the navigation satellite to the navigation satellite system receivers 360, 362.

[0312] By comparing a straight line of sight to the actual path the signal travels one can determine how much atmosphere and different atmospheric variables affect the navigation satellite system signal 5. The meteorological modelling module 328 utilizes characteristics of the navigation satellite system signal 5 to calculate the amount of water vapor, pressure and temperature in the atmosphere.

[0313] The system of the invention may comprise one or more different global navigation satellite systems. Therefore, the navigation satellite system module 324 may comprise a multi-system navigation satellite system receiver 360, 362 configured to receive navigation satellite system signals 5 from the navigation satellites 2 of two or more global navigation satellite systems. Alternatively, the navigation satellite system module 324 comprises a first navigation satellite system receiver 360 configured to receive navigation satellite system signals 5 from the navigation satellites 2 of a first global navigation satellite system, and a second navigation satellite system receiver 362 configured to receive configured to receive navigation satellite system signals 5 from the navigation satellites 2 of a second global navigation satellite system. The navigation satellites 2 send navigation satellite system signal 5 in multiple different frequencies.

[0314] In some embodiments, the navigation satellite system receiver 360, 362 is a single frequency navigation satellite system receiver configured to receive navigation satellite system signals 5 from navigation satellites 2 on one frequency.

[0315] In some preferred embodiments, the navigation satellite system receiver 360, 362 is configured to receive navigation satellite system signals 5 from navigation satellites 2 on at least two different frequencies.

[0316] In some preferred embodiments, the navigation satellite system receiver 360, 362 is a dual-frequency navigation satellite system receiver configured to receive navigation satellite system signals 5 having a first frequency and navigation satellite system signals 5 having a second frequency.

[0317] In some other preferred embodiments, the navigation satellite system receiver 360, 362 is a multi-frequency navigation satellite system receiver configured to receive navigation satellite system signals 5 on multiple different frequencies.

[0318] In some other preferred embodiments, the navigation satellite system module 324 comprises a first frequency navigation satellite system receiver 360, 362 configured to receive navigation satellite system signals 5 having a first frequency, and a second frequency navigation satellite system receiver 360, 362 configured to receive navigation satellite system signals 5 having a second frequency.

[0319] In some embodiments, the global navigation satellite system module is configured to receive GPS signals, the GPS signals having at least two of frequency bands LI, L2 and L5.

[0320] In some other embodiments, the global navigation satellite system module 324 is configured to receive Glonass system signals, the Glonass system signals having at least two of frequency bands Gl, G2 and G3.

[0321] In some further embodiments, the global navigation satellite system module 324 is configured to receive Galileo system signals, the Galileo system signals having at least two of frequency bands El, E5a, E5b and E6.

[0322] In further embodiments, the global navigation satellite system module 324 is configured to receive frequency bands LI, L2 and L5.

[0323] In some other embodiments, the global navigation satellite system module 324 is configured to receive Glonass system signals, the Glonass system signals having at least two of frequency bands Gl, G2, G3, El, E5a, E5b, E6, LI, L2 and L5.

[0324] In some other embodiments, the navigation satellite system module 324 is configured to receive QZSS system signals, the QZSS system signals having at least two frequency bands LI and L5.

[0325] The delay of navigation satellite system signals usually comprises ionospheric part and tropospheric part. Using multi-frequency, or dual-frequency receivers or two or more receivers, the ionospheric part of the delay may be removed. Ionospheric delay varies with frequency, so it impacts the various GNSS signals differently. By comparing the delays of two or more different frequencies the ionospheric part of the delay may be removed. Thus, the atmospheric quantities may be calculated more accurately. In the context of this application the atmospheric quantities and atmospheric delay relate to tropospheric quantities and tropospheric delay.

[0326] The method further comprises and the system is configured to carry out:

[0327] - determining geographical position of the vehicle based on the signal data,

[0328] - determining atmospheric delays of the navigation satellite system signals between the navigation satellites and the client node provided to the vehicle based on the signal data,

[0329] - calculating atmospheric quantities between the navigation satellite and the client node based on the determined atmospheric delays of the navigation satellite system signals between the navigation satellites and the client node provided to the vehicle,

[0330] - associating the determining geographical position of the vehicle with the calculated atmospheric quantities, and

[0331] - determining the atmospheric quantity in a direction between the navigation satellite and determined geographical position of the vehicle.

[0332] Calculation of the atmospheric quantity and determining geographical position of the vehicle is of carried out method is carried out during use or a movement session of the vehicle 22, 24, 26. The movement session comprises travelling of the vehicle 22, 24, 26 from a geographical start position to a geographical end position.

[0333] The navigation satellite transmits the navigation satellite signal 5 continuously.

[0334] In some embodiments, the method comprises and the system is configured to calculating continuously the atmospheric quantity between the navigation satellite and the client node and determining continuously the geographical position of the vehicle.

[0335] In some other embodiments, the method comprises and the system is configured to calculating continuously the atmospheric quantity between the navigation satellite and the client node and determining continuously the geographical position of the vehicle during the movement session of the vehicle.

[0336] Commonly geographical position determined based on the navigation satellite signals 5 is updated or determined in 1 - 5s intervals.

[0337] Calculating the atmospheric quantity in connection with each updated geographical position requires considerable amount of processing capacity, especially when numerous separate vehicles 22, 24, 26 are utilized.

[0338] Therefore, the method comprises selection criteria. The method comprises selecting a measurement section in the signal data, determining the geographical position of the vehicle 22, 24, 26 based on the selected measurement section of the signal data, determining atmospheric delays of the navigation satellite system signals 5 between the navigation satellites 2 and the client node 300 provided to the vehicle 22, 24, 26 based on the selected measurement section of the signal data, and calculating atmospheric quantities between the navigation satellite 2 and the client node 300 based on the determined atmospheric delays of the navigation satellite system signals 5 between the navigation satellites 2 and the client node 300 provided to the vehicle 22, 24, 26.

[0339] Calculating the atmospheric quantity between the navigation satellite and the client node is carried based on selection criteria. The selection criteria comprise selection time criteria and / or selection position criteria.

[0340] The system or the meteorological modelling module 328 is configured to provide or maintain the selection criteria. Therefore, the system or the meteorological modelling module 328 is configured to operate based on the selection criteria.

[0341] Calculating the atmospheric quantity between the navigation satellite and the client node is carried based on a selection time criteria and / or based on selection position criteria based on the determined position of the vehicle.

[0342] The pre-determined time interval may be for example Is, 10s, 30s, 1 minute, 5 minutes, 10 minutes, 30 minutes or a time interval between 10s to 60s, or 60s and 600s, or between 10s and 1 hour. The predetermined distance may be 10m, 50m, 100m, 500m or 1000m, or between 10m and 1000m. The calculation of the atmospheric quantity is carried out when the predetermined distance is reached.

[0343] Figure 13 shows schematically, that each of the client node 300 is configured to receive navigation satellite system signals 5 from plurality of navigation satellites 2. Thus, the atmospheric quantities and the meteorological modelling is carried out in plurality of directions from each other the client nodes 300.

[0344] Figure 14 further shows schematically multiple vehicles 22, 24, 26 each of which is configured to receive navigation satellite system signals 5 from plurality of navigation satellites 2 via the client nodes 300. Therefore, three-dimensional distribution of the atmospheric quantities is determined and also a three- dimensional meteorological model generated.

[0345] Figure 14 further discloses that the system comprises one or more atmospheric sensors 200 arranged in communication connection with the meteorological modelling module 328. The sensors 200 may be temperature sensors, humidity sensors, pressure sensors or the like sensors. The sensors 200 may be connected with the meteorological modelling module 328 for example via a telecommunication network 7.

[0346] The meteorological modelling module 328 is configured to receive atmospheric measurement data from the one or more atmospheric sensors 200 and determine the three-dimensional distribution of the one or more atmospheric quantities in the atmosphere based on the navigation satellite system signals 5 and the atmospheric measurement data from the one or more atmospheric sensors 200.

[0347] In some embodiments, the meteorological modelling module 328 is configured to receive precise orbit data, or ephemeris, from an external ephemeris server, such as 1GS. The ephemeris server is configured to determine or calculate precise orbit data of navigation satellites. The orbit data received with the navigation satellite system signals has minor inaccuracies which are eliminated by the calculations carried out by the ephemeris server. The meteorological modelling module 328 is configured to receive precise orbit data from the ephemeris server and determine the three-dimensional distribution of the one or more atmospheric quantities in the atmosphere based on the navigation satellite system signals 5 and the ephemeris data, and possible also with the atmospheric measurement data from the sensors 200. The invention has been described above with reference to the examples shown in the figures. However, the invention is in no way restricted to the above examples but may vary within the scope of the claims.

Claims

CLAIMS1. A system for meteorological modelling, the system comprising global navigation satellite system comprising:- a space segment having navigation satellites (2),- a control segment having ground-based satellite stations (4, 6, 8), and- a client segment having a plurality of navigation satellite signal receiving client nodes (300), c h a r a c t e r i z e d in that the client segment comprises a plurality of vehicles (22, 24, 26), the vehicles (22, 24, 26) comprising:- a vehicle network node (100) comprising: a vehicle communication module (122) configured to carry out data exchange between the vehicle and a network, and a vehicle control module (123) configured to control data exchange via the vehicle communication module (122) and to control operation of the vehicle network node (100), and- a navigation satellite signal receiving client node (300), the client node (300) comprising a navigation satellite system module (324) configured to receive navigation satellite system signals (5) from the navigation satellites (2) of the global navigation satellite system and to generate signal data based on the received navigation satellite system signals (5),- the system is configured to determined geographical position of the vehicle (22, 24, 26) based on the signal data,- the vehicle network node (100) is configured to receive signal data from the client node (300),- the vehicle communication module (122) of the vehicle network node (100) is configured to transmit signal data received from the client node (300) in the network, and- the system is configured to determined geographical position of the vehicle (22, 24, 26) based on the signal data, the system further comprising a meteorological modelling module (328) configured to:- determine the atmospheric delay of the navigation satellite signal (5) between the navigation satellite (2) and the client node (300) provided to the vehicle (24, 25, 26) based on the signal data,- calculate an atmospheric quantity between the navigation satellite (2) and the client node (300) provided to the vehicle (22, 24, 26) based on thedetermined atmospheric delay of the navigation satellite signal (5) between the navigation satellite (2) and the client node (300) provided to the vehicle (22, 24, 26),- associate the determined geographical position of the vehicle (22, 24, 26) with the calculated atmospheric quantity, and- determine the atmospheric quantity in a direction between the navigation satellite (2) and determined geographical position of the vehicle (22, 24, 26).

2. A system according to claim 1, characterized in that the client node (300) is configured to receive navigation satellite system signals (5) from the navigation satellites (2) during a movement session of the vehicle (22, 24, 26), the movement session comprising travel of the vehicle (22, 24, 26) from a start position to an end position.

3. A system according to claim 1 or 2, characterized in that:- the client node (300) of the vehicle (22, 24, 26) is configured to determine position of the vehicle (22, 24, 26) based on the signal data or based on the received navigation satellite system signals (5); or- the vehicle network node (100) of the vehicle (22, 24, 26) is configured to determine position of the vehicle (22, 24, 26) based on the signal data; or- the meteorological modelling module (328) is configured to determine position of the vehicle (22, 24, 26) based on the signal data.

4. A system according to any one of claims 1 to 3, characterized in that:- the client node (300) is an integral module of the vehicle network node (100), and the vehicle network node (100) is configured to receive signal data directly from the client node (300); or- the client node (300) and the vehicle network node (100) are provided as separate device units in the vehicle (22, 24, 26), and the client node (300) is connected to the vehicle network node (100) with a data transfer connection (302), and the vehicle network node (100) is configured to receive signal data directly from the client node (300) via the data transfer connection (302).

5. A system according to any one of claims 1 to 4, characterizedin that:- the vehicle (22, 24, 26) comprises power unit (40), and the vehicle network node (100) and the client node (300) are separately arranged in power supply connection with the power unit (40); or- the vehicle (22, 24, 26) comprises power unit (40), and the vehicle network node (100) is arranged in power supply connection with the power unit (40), and the client node (300) is connected to the vehicle network node (100) with a client power supply connection (304).

6. A system according to any one or claims 1 to 5, c h a r a c t e r i z e d in that the vehicle communication module (122) of the vehicle network node (100) is configured to carry out data exchange between the vehicle (22, 24, 26) and the network, and the network comprises one or more of the following:- an infrastructure network (7),- one or more other vehicles (24, 25, 26) provided with the vehicle communication module (122),- an external device (329, 200), and- communication satellite (9).

7. A system according to claim 6, c h a r a c t e r i z e d in that:- the infrastructure network is telecommunication network (7); or- the infrastructure network is telecommunication network (7) and the external device (329, 200) is provided in data exchange connection with the telecommunication network (7).

8. A system according to any one or claims 1 to 6, c h a r a c t e r i z e d in that the system comprises two or more different global navigation satellite systems, and the navigation satellite system module (324) comprises:- a multi-system navigation satellite system receiver (360, 362) configured to receive navigation satellite system signals (5) from the navigation satellites (2) of two or more global navigation satellite systems; or- a first navigation satellite system receiver (360) configured to receive navigation satellite system signals (5) from the navigation satellites (2) of a first global navigation satellite system, and- a second navigation satellite system receiver (362) configured to receive navigation satellite system signals (5) from the navigation satellites (2) ofa second global navigation satellite system.

9. A system according to any one of claims 1 to 8, c h a r a c t e r i z e d in that:- the navigation satellite system module (324) comprises a navigation satellite system receiver (360, 362), the navigation satellite system receiver (360, 362) is a single frequency navigation satellite system receiver configured to receive navigation satellite system signals (5) from navigation satellites (2) of the navigation satellite system on one frequency; or- the navigation satellite system module (324) comprises a navigation satellite system receiver (360, 362), the navigation satellite system receiver (360, 362) is a dual-frequency navigation satellite system receiver configured to receive navigation satellite system signals (5) of the navigation satellite system having a first frequency and navigation satellite system signals (5) having a second frequency; or- the navigation satellite system module (324) comprises a navigation satellite system receiver (360, 362), the navigation satellite system receiver (360, 362) is a multi-frequency navigation satellite system receiver configured to receive navigation satellite system signals (5) of the navigation satellite system on multiple different frequencies; or- the navigation satellite system module (324) comprises a first frequency navigation satellite system receiver (360, 362) configured to receive navigation satellite system signals (5) of the navigation satellite system having a first frequency, and- a second frequency navigation satellite system receiver (360, 362) configured to receive navigation satellite system signals (5) of the navigation satellite system having a second frequency.

10. A system according to claim 9, c h a r a c t e r i z e d in that:- the meteorological modelling module (328) is configured to determine atmospheric delay of the navigation satellite signal (5) between the navigation satellite (2) and the client node (300) provided to vehicle (22, 24, 26) based on the navigation satellite signal (5) having the first frequency and the navigation satellite system signal (5) having the second frequency; or- the meteorological modelling module (328) is configured to determine atmospheric delay of the navigation satellite signal (5) between the navigationsatellite (2) and the client node (300) provided to the vehicle (22, 24, 26) based on the navigation satellite system signals (5) having different frequencies.

11. A system according to any one of claims 1 to 10, c h a r a c t e r i z e d in that the vehicle control module (123) is configured to control timing, or synchronization, or timing and synchronization of the vehicle network node (100) of the vehicle (22, 24, 26) based on the signal data received from the client node (300).

12. A system according to any one of claims 1 to 11, c h a r a c t e r i z e d in that:- the meteorological modelling module (328) is provided to the client node (300), the signal data received in the vehicle network node (100) comprises the calculated atmospheric quantity, and the vehicle communication module (122) of the vehicle network node (100) is configured to transmit the signal data comprising the atmospheric quantity in the network; or- the meteorological modelling module (328) is provided to the vehicle network node (100), and the vehicle communication module (122) of the vehicle network node (100) is configured to transmit the signal data comprising the atmospheric quantity in the network; or- the system comprises an external meteorological modelling server (329) arranged in data exchange connection with the vehicle network nodes (100) of the vehicles (22, 24, 26), the meteorological modelling module (328) is provided to the external meteorological modelling server (329), and the external meteorological modelling server (329) is configured to receive the signal data from the vehicle network node (100); or- the system is provided as distributed system in which the meteorological modelling module (328) and operation thereof is distributed between at least two of the following: client nodes (300), the vehicle network nodes (100) and an external meteorological modelling server (329) arranged in data exchange connection with the vehicle network nodes (100).

13. A system according to any one of claims 1 to 12, c h a r a c t e r i z e d in that the vehicle (22, 24, 26) is a car (24), or an airplane (22), or a ship (26), or a train.

14. A system according to any one of claims 1 to 13, c h a r a c t e r i z e d in that the system is configured to carry out the method according any one of claims 15 to 28.

15. A method for meteorological modelling, c h a r a c t e r i z e d in that the method being carried out in connection with plurality of vehicles (22, 24, 26), the vehicle (22, 24, 26) comprising:- a vehicle network node (100) comprising: a vehicle communication module (122) configured to carry out data exchange between the vehicle (22, 24, 26) and a network, and a vehicle control module (123) configured to control data exchange via the vehicle communication module (122) and to control operation of the vehicle network node (100), and- a navigation satellite signal receiving client node (300), the client node (300) comprising a navigation satellite system module (324) configured to receive navigation satellite system signals (5) from the navigation satellites (2) of the global navigation satellite system and to generate signal data based on the received navigation satellite system signals (5), the method comprising:- carrying out data exchange in the network between the vehicle network nodes (100) of the network,- receiving navigation satellite system signals (5) from navigation satellites (2) of the global navigation satellite system in the navigation satellite signal receiving client nodes (300) of the vehicle (22, 24, 26), and generating signal data based on the received navigation satellite signals (5) in the client node (300),- receiving signal data in the vehicle network node (100) from the client node (300), and- transmitting signal data in the network with the vehicle communication module (122) of the vehicle network node (100), the method further comprises:- determining geographical position of the vehicle (22, 24, 26) based on the signal data,- determining atmospheric delays of the navigation satellite system signals (5) between the navigation satellites (2) and the client node (300) provided to the vehicle (22, 24, 26) based on the signal data,- calculating atmospheric quantities between the navigation satellite(2) and the client node (300) based on the determined atmospheric delays of the navigation satellite system signals (5) between the navigation satellites (2) and the client node (300) provided to the vehicle (22, 24, 26),- associating the determining geographical position of the vehicle (22, 24, 26) with the calculated atmospheric quantities, and- determining the atmospheric quantity in a direction between the navigation satellite (2) and determined geographical position of the vehicle (22, 24, 26).

16. A method according to claim 15, c h a r a c t e r i z e d in that the method is carried out during a movement session, the movement session comprises travelling of the vehicle (22, 24, 26) from a geographical start position to a geographical end position.

17. A method according to claim 15 or 16, c h a r a c t e r i z e d in that the method comprises:- selecting a measurement section in the signal data,- determining the geographical position of the vehicle (22, 24, 26) based on the selected measurement section of the signal data,- determining atmospheric delays of the navigation satellite system signals (5) between the navigation satellites (2) and the client node (300) provided to the vehicle (22, 24, 26) based on the selected measurement section of the signal data,- calculating atmospheric quantities between the navigation satellite (2) and the client node (300) based on the determined atmospheric delays of the navigation satellite system signals (5) between the navigation satellites (2) and the client node (300) provided to the vehicle (22, 24, 26).

18. A method according to claim 15 to 17, c h a r a c t e r i z e d in that c h a r a c t e r i z e d in that the method comprises:- calculating the atmospheric quantity between the navigation satellite (2) and the client node (300) and determining the geographical position of the vehicle (22, 24, 26) at pre-determined time intervals or at pre-determined time intervals during the movement session; or- selecting two or more measurement sections in the signal data based on pre-determined time intervals, and calculating the atmospheric quantitybetween the navigation satellite (2) and the client node (300) and determining the geographical position of the vehicle (22, 24, 26) based on the selected two or more measurement sections of the signal, respectively; or- calculating the atmospheric quantity between the navigation satellite (2) and the client node (300) and determining the geographical position of the vehicle (22, 24, 26) at one or more pre-determined time points or at one or more pre-determined time points during the movement session; or- selecting one or more measurement sections in the signal data based on one or more pre-determined time points, and calculating the atmospheric quantity between the navigation satellite (2) and the client node (300) and determining the geographical position of the vehicle (22, 24, 26) based on the selected one or more measurement sections of the signal, respectively.

19. A method according to any one of claims 15 to 18, characterized in that the method comprises:- calculating the atmospheric quantity between the navigation satellite (2) and the client node (300) at one or more pre-determined distances along the movement of the vehicle (24, 25, 26) based on the position of the vehicle (24, 25, 26) determined based on the signal data or at one or more pre-determined distances during the movement session based on the position of the vehicle (24, 25, 26) determined based on the signal data; or- selecting one or more measurement sections in the signal data based on one or more pre-determined distances along the movement of the vehicle (24, 25, 26), and calculating the atmospheric quantity between the navigation satellite (2) and the client node (300) and determining the geographical position of the vehicle (22, 24, 26) based on the selected one or more measurement sections of the signal, respectively; or- calculating the atmospheric quantity between the navigation satellite (2) and the client node (300) at one or more pre-determined geographical positions along the movement of the vehicle (24, 25, 26) based on the position of the vehicle (24, 25, 26) determined based on the signal data or at one or more predetermined geographical positions during the movement session based on the position of the vehicle (24, 25, 26) determined based on the signal data; or- selecting one or more measurement sections in the signal data based on one or more pre-determined geographical positions along the movement of the vehicle (24, 25, 26), and calculating the atmospheric quantity between thenavigation satellite (2) and the client node (300) and determining the geographical position of the vehicle (22, 24, 26) based on the selected one or more measurement sections of the signal, respectively.

20. A method according to claim 15 or 16, c h a r a c t e r i z e d in that the method comprises:- calculating continuously the atmospheric quantity between the navigation satellite (2) and the client node (300) and determining continuously the geographical position of the vehicle (22, 24, 26); or- calculating continuously the atmospheric quantity between the navigation satellite (2) and the client node (300) and determining continuously the geographical position of the vehicle (22, 24, 26) during the movement session of the vehicle (24, 25, 26).

21. A method according to any one of claims 15 to 20, c h a r a c t e r i z e d in that the method comprises:- controlling operation of the vehicle network node (100) of the vehicle (22, 24, 26) based on the signal data received from the client node (300); or- controlling timing, or synchronization, or timing and synchronization of the vehicle network node (100) of the vehicle (22, 24, 26) with the vehicle control module (123) based on the signal data received from the client node (300).

22. A method according to any one of claims 15 to 21, c h a r a c t e r i z e d in that the method comprises:- calculating the atmospheric quantities in the client node (300) of the vehicle (22, 24, 26), the signal data received in the vehicle network node (100) from the client node (300) comprises the calculated atmospheric quantity, and the vehicle communication module (122) of the vehicle network node (100) is configured to transmit the signal data comprising the calculated atmospheric quantity; or- calculating the atmospheric quantities in the vehicle network node (100) of the vehicle (22, 24, 26), and the vehicle communication module (122) of the vehicle network node (100) is configured to transmit the signal data comprising the calculated atmospheric quantity; or- receiving the signal data in an external meteorological modelling server (329) from vehicle network node (100) via the network, and calculating theatmospheric quantities in the external meteorological modelling server (329); or- calculating the atmospheric quantities in a distributed manner by utilizing at least two of the following: the client nodes (300), the vehicle network nodes (100) and an external meteorological modelling server (329) arranged in data exchange connection with the vehicle network nodes (100).

23. A method according to any one of claims 15 to 22, c h a r a c t e r i z e d in that the method comprises:- determining the geographical position of the vehicle (22, 24, 26) in the client node (300) of the vehicle (22, 24, 26), the signal data received in the vehicle network node (100) from the client node (300) comprises the determined geographical position of the vehicle (22, 24, 26), and the vehicle communication module (122) of the vehicle network node (100) is configured to transmit the signal data comprising the determined geographical position of the vehicle (22, 24, 26); or- determining the geographical position of the vehicle (22, 24, 26) in the vehicle network node (100) of the vehicle (22, 24, 26), and the vehicle communication module (122) of the vehicle network node (100) is configured to transmit the signal data comprising the determined geographical position of the vehicle (22, 24, 26); or- receiving the signal data in the external meteorological modelling server (329) from vehicle network node (100) via the network, and determining the geographical position of the vehicle (22, 24, 26) in the external meteorological modelling server (329).

24. A method according to any one of claims 15 to 23, c h a r a c t e r i z e d in that the method comprises:- determining tropospheric delay of the navigation satellite signal (5) between the navigation satellite (2) and the client node (300) of the vehicle (22, 24, 26) based on the signa data; or- determining tropospheric delay of the navigation satellite system signals (5) between two or more navigation satellites (2) and the and the client node (300) of the vehicle (20, 22, 24) based on the signal data.

25. A method according to any one of claims 15 to 24, c h a r a c t e r i z e d in that the method comprises carrying out global navigationsatellite system tomography for the atmospheric quantity between two or more navigation satellites (2) and the client node (300) of the vehicle (22, 24, 26) based on the signal data.

26. A method according to any one of claims 15 to 25, characterized in that the method comprises:- carrying out the method simultaneously in connection with two or more vehicles (22, 24, 26); or- carrying out the method simultaneously in connection with two or more vehicles (22, 24, 26) in relation to a pre-determined geographical area; or- carrying out the method simultaneously in connection with two or more vehicles (22, 24, 26) in relation to two or more different pre-determined geographical areas.

27. A method according to any one of claims 15 to 26, characterized in that the atmospheric quantity is one or more of the following:- atmospheric refractivity- water vapor;- temperature;- pressure;- humidity- liquid water;- ice; and- wind.

28. A method according to any one of claims 15 to 27, characterized in that the method is carried out with a system according to the any of claims 1 to 14.

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