CPC G01S 19/37 (2013.01) [G01S 19/24 (2013.01)] | 15 Claims |
1. A server for jointly tracking states of multiple vehicles, wherein a state of each vehicle includes one or multiple state biases capturing residual errors in atmospheric delays, the server comprising: at least one processor; and the memory having instructions stored thereon that, when executed by the at least one processor, causes the server to:
receive multiple transmissions from the multiple vehicles, each transmission from a vehicle includes the measurements of satellite signals received at the vehicle and parameters of a probabilistic distribution of the state of the vehicle;
fuse the states of the multiple vehicles defined by the parameters of the corresponding probabilistic distributions into an augmented state of the multiple vehicles;
fuse the measurements of satellite signals of the multiple vehicles into an augmented measurement of the augmented state subject to augmented measurement noise defined by a non-diagonal covariance matrix with non-zero off-diagonal elements, each non-zero off-diagonal elements relating errors in the measurements of a pair of corresponding vehicles;
execute a probabilistic filter updating the augmented state based on the augmented measurement subject to the augmented measurement noise; and
fuse the parameters of the probabilistic distribution of the state of at least some of the multiple vehicles with a corresponding portion of the updated augmented state to output the fused parameters of the probabilistic distribution of the state of at least some of the multiple vehicles.
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