Kalman Smoother for GNSS Position Error and Path Smoothness
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Solution Overview
Problem
Global Navigation Satellite System (GNSS) receivers in mobile devices experience poor performance, leading to unfavorable user experiences due to position errors and spec-outs, which are not effectively addressed by existing evaluation metrics and smoothing methods.
Innovation Solution
The implementation of a method and system that utilizes a Kalman smoother to process GNSS estimates, including calculating process and measurement noise covariances, and employing weighted averages to generate smoothed estimates, thereby reducing spec-outs and improving path smoothness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional GNSS evaluation metrics (position errors, spec-outs) are used, then position accuracy can be measured, but the path smoothness and user experience are not improved
Solution Approach 1:
The patent introduces a Kalman smoother as an intermediary component between the GNSS receiver and the evaluation system. This smoother processes the raw GNSS position estimates and generates smoothed position data, which serves as a mediator that improves path smoothness without sacrificing position accuracy measurement capability
Solution Approach 2:
The patent changes the evaluation parameter from raw position errors to smoothed position estimates. By applying the Kalman smoother transformation, the system evaluates GNSS performance based on smoothed positions that reflect both accuracy and smoothness, thereby resolving the contradiction between measuring precision and achieving ease of operation
2Measurement precision
If GNSS receiver targets position error performance improvement, then measurement precision increases, but spec-outs and path smoothness ratings deteriorate
Solution Approach 1:
The Kalman smoother acts as a mediator that transforms raw GNSS estimates into smoothed estimates, allowing the system to simultaneously achieve position error performance improvement and maintain reliability in terms of spec-outs and smoothness ratings
Solution Approach 2:
The system performs preliminary smoothing action on GNSS estimates before evaluation. By pre-processing the position data through the Kalman smoother, the system ensures that both position error performance and path smoothness are optimized before the evaluation metrics are applied
Data Source
AI summary
A system and a method are disclosed for smoothing Global Navigation Satellite System (GNSS) data. In some embodiments, the method includes receiving a first estimate from a navigation engine of a Global Navigation Satellite System (GNSS) receiver, and processing the first estimate with a first Kalman smoother.