Gnss satellite line of sight detection

Patent metadata

Field	Value
Publication number	US-2022018973-A1
Application number	US-202016932465-A
Country	US
Kind code	A1
Filing date	Jul 17, 2020
Priority date	Jul 17, 2020
Publication date	Jan 20, 2022
Grant date	—

Abstract

Disclosed are techniques for processing satellite signals for computing a geospatial position. A plurality of GNSS signals are received from a plurality of GNSS satellites. An image is captured using an imaging device at least partially oriented toward the plurality of GNSS satellites. The image is segmented into a plurality of regions based on RF characteristics of objects in the image. An orientation of the image is determined. The plurality of GNSS satellites are projected onto the image based on the orientation of the image such that a corresponding region is identified for each of the plurality of GNSS satellites. Each of the plurality of GNSS signals is processed in accordance with the corresponding region.

First claim

What is claimed is:

1 . A method of processing satellite signals for computing a geospatial position, the method comprising:
receiving a plurality of GNSS signals from a plurality of GNSS satellites; capturing an image using an imaging device at least partially oriented toward the plurality of GNSS satellites; segmenting the image into a plurality of regions based on RF characteristics of objects in the image; determining an orientation of the image; projecting the plurality of GNSS satellites onto the image based on the orientation of the image such that a corresponding region is identified for each of the plurality of GNSS satellites; and processing each of the plurality of GNSS signals in accordance with the corresponding region for a corresponding GNSS satellite of the plurality of GNSS satellites.

2 . The method of claim 1 , wherein the plurality of GNSS signals are received via a GNSS antenna, and wherein the GNSS antenna and the imaging device are mounted to an antenna structure.

3 . The method of claim 2 , wherein determining the orientation of the image includes:
capturing orientation data using an orientation sensor mounted to the antenna structure, wherein the orientation of the image is determined based on the orientation data.

4 . The method of claim 2 , wherein the GNSS antenna is a multi-element antenna, and wherein the imaging device is positioned within a threshold distance of a phase center of the multi-element antenna.

5 . The method of claim 1 , wherein each particular region of the plurality of regions is characterized by an extent to which the plurality of GNSS signals are obstructed by the objects within the particular region.

6 . The method of claim 1 , wherein processing each of the plurality of GNSS signals in accordance with the corresponding region for the corresponding GNSS satellite includes:
weighting each of the plurality of GNSS signals in accordance with a weight for the corresponding region for the corresponding GNSS satellite.

7 . The method of claim 1 , further comprising:
computing the geospatial position based on the processed plurality of GNSS signals.

8 . The method of claim 1 , wherein projecting the plurality of GNSS satellites onto the image based on the orientation of the image includes determining a pixel location within the image for each of the plurality of GNSS satellites.

9 . A system for processing satellite signals for computing a geospatial position, the system comprising:
an antenna structure; a GNSS antenna mounted to the antenna structure and configured to receive a plurality of GNSS signals from a plurality of GNSS satellites; an imaging device mounted to the antenna structure and configured to capture an image while being at least partially oriented toward the plurality of GNSS satellites; and a processor that is communicatively coupled with the GNSS antenna and the imaging device and is configured to perform operations comprising:
segmenting the image into a plurality of regions based on RF characteristics of objects in the image;
determining an orientation of the image;
projecting the plurality of GNSS satellites onto the image based on the orientation of the image such that a corresponding region is identified for each of the plurality of GNSS satellites; and
processing each of the plurality of GNSS signals in accordance with the corresponding region for a corresponding GNSS satellite of the plurality of GNSS satellites.

10 . The system of claim 9 , further comprising:
an orientation sensor mounted to the antenna structure and configured to capture orientation data, wherein the orientation of the image is determined based on the orientation data.

11 . The system of claim 9 , wherein the GNSS antenna is a multi-element antenna, and wherein the imaging device is positioned within a threshold distance of a phase center of the multi-element antenna.

12 . The system of claim 9 , wherein each particular region of the plurality of regions is characterized by an extent to which the plurality of GNSS signals are obstructed by the objects within the particular region.

13 . The system of claim 9 , wherein processing each of the plurality of GNSS signals in accordance with the corresponding region for the corresponding GNSS satellite includes:
weighting each of the plurality of GNSS signals in accordance with a weight for the corresponding region for the corresponding GNSS satellite.

14 . The system of claim 9 , wherein the operations further comprise:
computing the geospatial position based on the processed plurality of GNSS signals.

15 . The system of claim 9 , wherein projecting the plurality of GNSS satellites onto the image based on the orientation of the image includes determining a pixel location within the image for each of the plurality of GNSS satellites.

16 . A non-transitory computer-readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising:
receiving a plurality of GNSS signals from a plurality of GNSS satellites; capturing an image using an imaging device at least partially oriented toward the plurality of GNSS satellites; segmenting the image into a plurality of regions based on RF characteristics of objects in the image; determining an orientation of the image; projecting the plurality of GNSS satellites onto the image based on the orientation of the image such that a corresponding region is identified for each of the plurality of GNSS satellites; and processing each of the plurality of GNSS signals in accordance with the corresponding region for a corresponding GNSS satellite of the plurality of GNSS satellites.

17 . The non-transitory computer-readable medium of claim 16 , wherein the plurality of GNSS signals are received via a GNSS antenna, and wherein the GNSS antenna and the imaging device are mounted to an antenna structure.

18 . The non-transitory computer-readable medium of claim 17 , wherein determining the orientation of the image includes:
capturing orientation data using an orientation sensor mounted to the antenna structure, wherein the orientation of the image is determined based on the orientation data.

19 . The non-transitory computer-readable medium of claim 17 , wherein the GNSS antenna is a multi-element antenna, and wherein the imaging device is positioned within a threshold distance of a phase center of the multi-element antenna.

20 . The non-transitory computer-readable medium of claim 16 , wherein processing each of the plurality of GNSS signals in accordance with the corresponding region for the corresponding GNSS satellite includes:
weighting each of the plurality of GNSS signals in accordance with a weight for the corresponding region for the corresponding GNSS satellite.

Assignees

• Trimble Inc

Inventors

• Weisenburger Shawn
• Wallace Gregory

Classifications

• G01S19/428 Primary

  using multipath or indirect path propagation signals in position determination · CPC title

• G01S19/22

  Multipath-related issues · CPC title

• G01S19/485 Primary

  whereby the further system is an optical system or imaging system · CPC title

• G01S19/43

  using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry · CPC title

• G06T2207/10032

  Satellite or aerial image; Remote sensing · CPC title