Enhanced RTK Buffering for Multi-Epoch GNSS Positioning
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Solution Overview
Problem
Existing GNSS technologies face challenges in achieving accurate real-time positioning, particularly in dynamic environments, due to multipath errors caused by signal reflections, which affect both pseudo-range and carrier phase measurements.
Innovation Solution
The implementation of an enhanced RTK mode in GNSS receivers, which involves storing GNSS data in a buffer and using it for batch processing to calculate positions based on multiple epochs, combining the advantages of real-time and post-processing techniques to improve accuracy and robustness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If real-time RTK processing is used to determine position rapidly, then positioning speed is improved, but positioning accuracy deteriorates due to multipath errors and limited data epochs
Solution Approach 1:
The system performs preliminary actions by storing multiple epochs of GNSS measurement data in a buffer before final position calculation. This allows the processor to have access to historical data when computing the current position, enabling more accurate results without sacrificing real-time performance. The buffer acts as a preparatory storage mechanism that accumulates data for future processing needs.
Solution Approach 2:
The invention transitions from single-epoch real-time processing to multi-epoch batch processing by adding the time dimension. Instead of processing only the current epoch data, the system incorporates multiple historical epochs (e.g., 5-10 seconds of data) into the calculation, effectively moving from a 1D (current state) to a 2D (time series) processing approach that improves accuracy while maintaining real-time capabilities.
2Measurement precision
If multiple epochs of GNSS data are stored and processed in batch mode, then positioning accuracy is improved, but processing time increases
Solution Approach 1:
The system performs preliminary data collection and storage in the buffer during normal operation. When a position fix is needed, the pre-stored multiple epochs of data are already available in memory, allowing rapid batch processing without the time penalty of collecting data in real-time. This preliminary buffering action eliminates the trade-off between data accumulation time and processing speed.
Solution Approach 2:
The buffer continuously accumulates GNSS measurement data in the background during normal operation, ensuring that data collection is an ongoing process rather than a periodic batch operation. This continuous data accumulation means that when positioning is required, the system can immediately use the already-collected data without interruption, maintaining both accuracy and real-time performance.
3Productivity
If only current epoch data is used for position calculation, then processing speed is improved, but reliability deteriorates in challenging environments
Solution Approach 1:
The system prepares multiple epochs of data in advance and stores them in the buffer, ensuring that sufficient data is available when positioning is needed. This preliminary data preparation improves reliability by providing multiple data points for validation and error detection, while the buffered storage ensures rapid access maintains processing efficiency.
Solution Approach 2:
The system uses historical data from the buffer to provide feedback on the quality and consistency of current measurements. By comparing current epoch data with previous epochs, the system can detect anomalies, validate measurements, and improve reliability through consistency checks, all while maintaining efficient processing through the pre-buffered data structure.
Data Source
AI summary
An exemplary method of calculating a position of a GNSS device (e.g., a GNSS rover device) comprises: at the GNSS device in an enhanced real-time kinematic (RTK) mode: receiving a first set of GNSS data corresponding to a first epoch; storing the first set of GNSS data in a buffer; receiving a second set of GNSS data corresponding to a second epoch that is after the first epoch; after receiving the second set of GNSS data, retrieving the first set of GNSS data from the buffer; and calculating the position of the GNSS device based on the retrieved first set of GNSS data and the second set of GNSS data.