Rover Coordinate Smoothing via Phase Increment Filtering
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Solution Overview
Problem
Satellite positioning systems face challenges in achieving high accuracy, particularly in adverse environments, due to issues like cycle slips, multipath errors, and the need for dual-frequency receivers, which increase complexity and cost, limiting the effectiveness of real-time kinematic (RTK) positioning.
Innovation Solution
A method for determining coordinates of a mobile rover using one-shot code coordinates and phase increments, involving filtering and anomaly correction, which processes pseudoranges and full carrier phases to smooth code coordinates and phase increments, enabling accurate positioning even with single-frequency receivers in adverse conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If real-time kinematic (RTK) positioning is used to achieve high accuracy, then measurement precision is improved, but device complexity increases due to the need for dual-frequency receivers
Solution Approach 1:
The patent extracts and eliminates the requirement for dual-frequency receivers by developing a processing method that works effectively with single-frequency data. The invention takes out the complexity constraint by focusing on algorithmic improvements rather than hardware requirements, achieving high-precision positioning through sophisticated filtering and anomaly correction of single-frequency carrier phase and code measurements
Solution Approach 2:
The patent changes the processing parameters by implementing advanced filtering techniques (Kalman filtering, smoothing algorithms) and anomaly detection methods that transform single-frequency measurements into high-precision position estimates. The invention modifies how the data is processed rather than requiring additional frequency data, achieving RTK-level accuracy from single-frequency receivers through parameter optimization in the signal processing domain
2Device complexity
If conventional filtering is applied to code coordinates, then processing simplicity is maintained, but measurement precision deteriorates due to inability to resolve cycle slips and multipath errors
Solution Approach 1:
The patent applies preliminary action by implementing anomaly detection and correction before final coordinate calculation. The method pre-identifies and corrects cycle slips and multipath errors in the carrier phase and code measurements through statistical analysis and consistency checks, ensuring that only validated measurements are used in the positioning solution, thereby improving accuracy without significantly increasing processing complexity
Solution Approach 2:
The patent implements feedback mechanisms where the positioning solution continuously monitors measurement quality indicators (such as residual analysis, geometry dilution of precision, and measurement consistency) and adjusts the filtering and anomaly correction processes accordingly. This adaptive feedback loop maintains high precision by dynamically responding to changing signal conditions while keeping processing complexity manageable through efficient algorithms
Data Source
AI summary
Disclosed is a method for determining coordinates of a mobile rover. The method includes determining a vector of one-shot code coordinates of the mobile rover. The method also includes determining a vector of phase increments by determining full phase differences for each navigation satellite in a plurality of navigation satellites in view at a discrete time interval (called a time epoch) and at a previous time epoch in a plurality of time epochs. A vector of radial range increments is determined from the full phase differences. A vector of rover phase coordinate increments is also determined using the vector of radial range increments. The vector of one-shot code coordinates and the vector of rover phase coordinate increments are then filtered to determine, at each time epoch, smoothed code coordinates of the mobile rover. Measured phase increments are cleared up from abnormal measurements.