Moving Base RTK Navigation Resolving Carrier Phase Ambiguities
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Solution Overview
Problem
Conventional real-time kinematic (RTK) navigation systems for moving objects require a stationary base receiver, which limits their ability to determine precise relative positions between moving objects and bases in dynamic environments.
Innovation Solution
A moving-base RTK system that enables a moving object to determine its relative position with respect to a mobile base station using satellite navigation signals and mobile base data, allowing for real-time kinematic computations to resolve carrier phase ambiguities and maintain a fixed distance or position between vehicles or systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a stationary base receiver is used in conventional RTK systems, then the system structure is simple and easy to operate, but the system cannot determine precise relative positions between moving objects and bases in dynamic environments
Solution Approach 1:
The patent transforms the base receiver from a stationary to a mobile platform. The base receiver is now mounted on a moving vehicle (truck, boat, or aircraft) that can dynamically position itself in the environment, allowing the RTK system to maintain accuracy while adapting to moving targets and dynamic surveying scenarios.
Solution Approach 2:
The mobile base receiver serves multiple functions: it acts as both a reference station for RTK calculations and a mobile positioning platform that can reach various locations. This multi-functionality allows the system to operate in both dynamic and static scenarios, improving versatility while maintaining measurement precision.
2Adaptability or versatility
If a stationary base receiver is used, then communication infrastructure requirements are minimal, but the system is limited in determining relative positions in dynamic environments
Solution Approach 1:
The patent replaces the need for complex mechanical positioning systems and frequent physical reconfiguration of base stations with a mobile platform that uses its own motion capabilities. The base receiver moves mechanically to desired positions while the RTK computation handles the coordinate transformations, simplifying the overall system architecture despite the added mobility.
3Measurement precision
If conventional RTK with stationary base is used, then setup time is short, but the system cannot maintain precise relative positioning when both base and rover are moving
Solution Approach 1:
The mobile base receiver pre-positions itself at optimal locations before surveying begins, and maintains its position or moves smoothly between points while continuously providing RTK reference data. This preliminary positioning and continuous operation eliminates the need for frequent reconfiguration and setup time between survey points.
Solution Approach 2:
The system maintains continuous RTK computation and reference signal transmission as the mobile base moves, ensuring uninterrupted positioning service. The real-time kinematic calculations continue without interruption, maintaining measurement precision while the base transitions between locations, thus eliminating idle setup time.
Data Source
AI summary
In a system for navigating a moving object according to signals received from satellites, a moving object receives mobile base data from a mobile base station, the received mobile base data including satellite measurement data of the mobile base station, the satellite measurement data of the mobile base station including code measurements and carrier phase measurements for the plurality of satellites, and position-related information of the mobile base station. In accordance with the satellite navigation data for the moving object and the received mobile base data, the moving object performing a real-time kinematic (RTK) computation process to resolve carrier phase ambiguities and determine a relative position of the moving object relative to the mobile base station. A signal reporting information corresponding to the relative position is sent via a transmitter of the moving object.