Ultra wide-lane (UWL) real-time kinematic (RTK)

Patent metadata

Field	Value
Publication number	US-12130369-B2
Application number	US-202117313486-A
Country	US
Kind code	B2
Filing date	May 6, 2021
Priority date	May 6, 2021
Publication date	Oct 29, 2024
Grant date	Oct 29, 2024

Abstract

Techniques for Ultra Wide-Lane (UWL) Real-Time Kinematic (RTK) positioning a mobile device may include obtaining, using a multi-band GNSS receiver of the mobile device: a first carrier-phase measurement of a first GNSS signal on a first GNSS carrier frequency, and a second carrier-phase measurement of a second GNSS signal on second GNSS carrier frequency. Techniques may further comprise providing a position estimate of the mobile device, wherein: the position estimate is determined from a wide-lane (WL) combination of the first carrier-phase measurement and the second carrier-phase measurement, and the WL combination has a combined carrier phase noise that is less than a pseudo-range noise of the first carrier-phase measurement and a pseudo-range noise of the second carrier-phase measurement.

First claim

What is claimed is:

1. A method of Global Navigation Satellite System (GNSS) positioning of a mobile device, the method comprising:
obtaining, using a multi-band GNSS receiver of the mobile device:
a first carrier-phase measurement of a first GNSS signal on a first GNSS carrier frequency, and
a second carrier-phase measurement of a second GNSS signal on second GNSS carrier frequency;

determining a wide-lane (WL) combination of the first carrier-phase measurement and the second carrier-phase measurement;
determining a combined carrier phase noise of the WL combination; and
responsive to a determination that the combined carrier phase noise of the WL combination is (i) less than a measured or estimated pseudo-range noise associated with the first GNSS carrier frequency and (ii) less than a measured or estimated pseudo-range noise associated with the second GNSS carrier frequency, providing, with the mobile device, a position estimate of the mobile device, wherein the position estimate is determined from the WL combination.

2. The method of claim 1 , wherein determining the position estimate from the WL combination comprises using the WL combination as an ambiguity constraint for a positioning engine that determines the position estimate.

3. The method of claim 1 , wherein the measured or estimated pseudo-range noise associated with the first GNSS carrier frequency, the measured or estimated pseudo-range noise associated with the second GNSS carrier frequency, or both, comprise an estimated pseudo-range noise.

4. The method of claim 1 , wherein the measured or estimated pseudo-range noise associated with the first GNSS carrier frequency, the measured or estimated pseudo-range noise associated with the second GNSS carrier frequency, or both, comprise a measured pseudo-range noise.

5. The method of claim 1 , further comprising selecting the first GNSS carrier frequency and the second GNSS carrier frequency from a group comprising more than two potential GNSS carrier frequencies, wherein the selecting is based on a signal characteristic of at least one GNSS carrier frequency of the group and wherein the obtaining the first carrier-phase measurement and the second carrier-phase measurement is responsive to the selecting.

6. The method of claim 1 , further comprising resolving a carrier phase ambiguity of the WL combination to determine the position estimate from the WL combination.

7. The method of claim 1 , wherein the WL combination has an effective wavelength 3 meters or greater.

8. The method of claim 1 , wherein the combined carrier phase noise of the WL combination is 2 meters or less.

9. The method of claim 1 , wherein the mobile device comprises a mobile phone.

10. A mobile device for Global Navigation Satellite System (GNSS) positioning of a mobile device, the mobile device comprising:
a multi-band GNSS receiver;
a memory; and
one or more processors communicatively coupled with the multi-band GNSS receiver and the memory, wherein the one or more processors are configured to:
obtain, using the multi-band GNSS receiver:
a first carrier-phase measurement of a first GNSS signal on a first GNSS carrier frequency, and
a second carrier-phase measurement of a second GNSS signal on second GNSS carrier frequency;

determine a wide-lane (WL) combination of the first carrier-phase measurement and the second carrier-phase measurement;
determine a combined carrier phase noise of the WL combination; and
responsive to a determination that the combined carrier phase noise of the WL combination is (i) less than a measured or estimated pseudo-range noise associated with the first GNSS carrier frequency and (ii) less than a measured or estimated pseudo-range noise associated with the second GNSS carrier frequency, provide a position estimate of the mobile device, wherein the position estimate is determined from the WL combination.

11. The mobile device of claim 10 , wherein the one or more processors, when determining the position estimate from the WL combination, are configured to use the WL combination as an ambiguity constraint for a positioning engine that determines the position estimate.

12. The mobile device of claim 10 , wherein the measured or estimated pseudo-range noise associated with the first GNSS carrier frequency, the measured or estimated pseudo-range noise associated with the second GNSS carrier frequency, or both, comprise an estimated pseudo-range noise.

13. The mobile device of claim 10 , wherein the measured or estimated pseudo-range noise associated with the first GNSS carrier frequency, the measured or estimated pseudo-range noise associated with the second GNSS carrier frequency, or both, comprise a measured pseudo-range noise.

14. The mobile device of claim 10 , wherein the one or more processors are further configured to select the first GNSS carrier frequency and the second GNSS carrier frequency from a group comprising more than two potential GNSS carrier frequencies, wherein the selecting is based on a signal characteristic of at least one GNSS carrier frequency of the group and wherein the one or more processors are further configured to perform the obtaining of the first carrier-phase measurement and the second carrier-phase measurement responsive to the selecting.

15. The mobile device of claim 10 , wherein the one or more processors are further configured to resolve a carrier phase ambiguity of the WL combination to determine the position estimate from the WL combination.

16. The mobile device of claim 10 , wherein the mobile device comprises a mobile phone.

17. An apparatus for Global Navigation Satellite System (GNSS) positioning of a mobile device, the apparatus comprising:
means for obtaining, using a multi-band GNSS receiver of the mobile device:
a first carrier-phase measurement of a first GNSS signal on a first GNSS carrier frequency, and
a second carrier-phase measurement of a second GNSS signal on second GNSS carrier frequency;

means for determining a wide-lane (WL) combination of the first carrier-phase measurement and the second carrier-phase measurement;
means for determining a combined carrier phase noise of the WL combination; and
means for providing, with the mobile device and responsive to a determination that the combined carrier phase noise of the WL combination is (i) less than a measured or estimated pseudo-range noise associated with the first GNSS carrier frequency and (ii) less than a measured or estimated pseudo-range noise associated with the second GNSS carrier frequency, a position estimate of the mobile device, wherein the position estimate is determined from the WL combination.

18. The apparatus of claim 17 , further comprising means for determining the position estimate from the WL combination, wherein the means for determining comprises means for using the WL combination as an ambiguity constraint for a positioning engine that determines the position estimate.

19. The apparatus of claim 17 , further comprising means for selecting the first GNSS carrier frequency and the second GNSS carrier frequency from a group comprising more than two potential GNSS carrier frequencies, wherein the selecting is based on a signal characteristic of at least one GNSS carrier frequency of the group and wherein the obtaining the first carrier-phase measurement and the second carrier-phase measurement is responsive to the selecting.

20. The apparatus of claim 17 , further comprising means for resolving a carrier phase ambiguity of the WL combination to determine the positi

Assignees

• Qualcomm Inc

Inventors

• Wang Min
• Luo Ning
• Zhang Gengsheng
• Biacs Zoltan
• Chansarkar Mangesh
• Rousseau Jean-Michel
• Rubin Dimitri
• Tuck David
• Peng Yuxiang

Classifications

• G01S19/32

  Multimode operation in a single same satellite system, e.g. GPS L1/L2 · CPC title

• G01S19/33

  Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS · CPC title

• G01S19/44 Primary

  Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method · CPC title