Positioning Device with Pseudorange Smoothing for Multipath Environments
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Solution Overview
Problem
Current positioning technologies face challenges in achieving lane-level precision in multipath environments due to multipath errors, which affect the accuracy of GNSS receivers, and increase computational complexity with multi-GNSS receivers, leading to decreased positioning precision and increased calculation loads.
Innovation Solution
A positioning device that includes a GNSS receiver, dead reckoning, pseudorange smoothing, GNSS receiver positioning error evaluation, and complex positioning parts to calculate and correct errors, using a distributed processing approach to enhance precision and reduce calculation loads by evaluating and correcting errors in the dead reckoning process and selecting reliable satellites for positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multi-GNSS receivers are used to suppress multipath errors, then positioning reliability is improved, but device complexity and calculation load increase
Solution Approach 1:
The patent segments the positioning system into multiple independent components: GNSS receiver positioning part, dead reckoning part, and complex positioning part. Each component processes data independently and contributes to the final positioning result, allowing the system to use multiple GNSS systems without proportionally increasing overall complexity
Solution Approach 2:
The patent introduces dead reckoning as an intermediary component that bridges GNSS positioning and final position determination. The dead reckoning part uses vehicle motion data to estimate position changes, providing a stable reference that reduces the calculation burden on the complex positioning part while maintaining reliability
2Measurement precision
If complex positioning calculation is performed to correct errors, then positioning precision is improved, but calculation load increases
Solution Approach 1:
The patent performs preliminary error evaluation using the GNSS receiver positioning error evaluation part before conducting complex positioning calculations. This preliminary assessment identifies when complex calculations are actually needed, avoiding unnecessary computational overhead while maintaining precision when required
Solution Approach 2:
The patent implements a feedback mechanism where the complex positioning part uses positioning results and error evaluations to iteratively refine the position estimate. The system continuously compares dead reckoning positions with GNSS positions and adjusts calculations accordingly, improving precision through controlled iterative refinement rather than exhaustive computation
3Stability of the object's composition
If dead reckoning is used to maintain positioning continuity, then positioning stability is improved, but positioning precision deteriorates due to error accumulation
Solution Approach 1:
The patent merges dead reckoning positioning with GNSS positioning and complex positioning results to determine the final vehicle position. The dead reckoning part provides continuous position estimates that maintain stability during signal interruptions, while the complex positioning part corrects accumulated errors using GNSS data when available, achieving both stability and precision through combination
Data Source
AI summary
In a locator device, a dead reckoning part calculates a position of a subject vehicle by dead reckoning. A pseudorange smoothing part smooths a pseudorange between a GNSS satellite and a position of the subject vehicle using a carrier wave phase of the GNSS satellite. A GNSS receiver positioning error evaluation part evaluates reliability of the position of the subject vehicle calculated by the multi-GNSS receiver. A GNSS positioning part (Kalman Filter (KF) method) calculates a position of the subject vehicle from a smoothed value of the pseudorange, a positioning augmentation signal, and an orbit of the GNSS satellite. A complex positioning part (KF method) calculates an error in the dead reckoning from the position of the subject vehicle calculated by the GNSS positioning part (KF method), and corrects the position of the subject vehicle calculated by the dead reckoning part based on the error in the dead reckoning.