Moving-Base RTK Relative Positioning for Dynamic Navigation
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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 maintain accurate relative positioning and velocity differences between moving vehicles or systems in dynamic environments.
Innovation Solution
A moving-base RTK system that enables a moving object to determine its relative position with respect to a moving base using satellite navigation signals and communication of measurement data, allowing for accurate relative position vectors to be generated at high update rates, even in the absence of a stationary base.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a stationary base receiver is used for conventional RTK measurements, then the system structure is simple and easy to operate, but the system cannot maintain accurate relative positioning when both base and rover are moving
Solution Approach 1:
The patent applies the dynamics principle by transforming the base receiver from a stationary to a moving platform. The system now accommodates moving base receivers that can change position over time, allowing both base and rover to be mobile while maintaining RTK measurement accuracy through continuous position updates and dynamic coordinate transformations.
Solution Approach 2:
The patent implements parameter changes by modifying the fundamental assumption of base receiver stationarity. The system now tracks and processes time-varying position parameters of the moving base, updating baseline vectors dynamically as the base moves, thereby adapting the RTK measurement model to mobile operations.
2Adaptability or versatility
If a moving base receiver is implemented, then the system can operate in dynamic environments with both base and rover moving, but the system complexity increases
Solution Approach 1:
The patent applies preliminary action by pre-calculating and storing position updates of the moving base at discrete time intervals. This allows the rover receiver to retrieve and apply these pre-computed base position changes without requiring real-time complex calculations, thereby reducing onboard computational complexity while maintaining accuracy.
Solution Approach 2:
The patent introduces an intermediary communication channel between the moving base and rover receivers. The base receiver transmits its position updates and measurement data to the rover via a communication interface, mediating the complex relative positioning calculations and simplifying the rover's computational burden.
3Measurement precision
If real-time position updates are transmitted at high rates, then the relative positioning accuracy is maintained, but the communication data load increases
Solution Approach 1:
The patent extracts and transmits only the essential position update parameters of the moving base (coordinate changes, time stamps) rather than complete measurement datasets. This selective extraction reduces the communication data load while providing sufficient information for the rover to maintain accurate relative positioning calculations.
Solution Approach 2:
The patent implements partial action by transmitting position updates at optimized intervals rather than continuous maximum rates. The system determines appropriate update frequencies based on base motion characteristics, transmitting data only when significant position changes occur, thereby reducing overall communication load while maintaining positioning accuracy.
Data Source
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AI summary
In a system and method for navigating a moving object (110) according to signals from satellite (115), a moving object (110) receives satellite navigation signals from a number of satellites (115). The moving object (110) also receives moving base data from a moving base (120). The received moving base data includes satellite measurement data of the moving base (120). At the moving object (110) a relative position vector of the moving object (110) relative to the moving base (120) is determined, based on the received moving base data and the received satellite navigation signals. The moving object (110) sends a signal reporting information corresponding to the relative position vector.