US 11,733,395 B2
Precise point position and real-time kinematic (PPP-RTK) positioning method and device
Xucheng Mu, Beijing (CN)
Assigned to Beijing Future Navigation Technology Co., Ltd, Beijing (CN)
Appl. No. 15/734,341
Filed by Beijing Future Navigation Technology Co., Ltd, Beijing (CN)
PCT Filed Nov. 20, 2018, PCT No. PCT/CN2018/116294
§ 371(c)(1), (2) Date Dec. 2, 2020,
PCT Pub. No. WO2019/233039, PCT Pub. Date Dec. 12, 2019.
Claims priority of application No. 201810564952.4 (CN), filed on Jun. 4, 2018.
Prior Publication US 2021/0223406 A1, Jul. 22, 2021
Int. Cl. G01S 19/44 (2010.01); G01S 19/37 (2010.01); G01S 19/23 (2010.01)
CPC G01S 19/44 (2013.01) [G01S 19/23 (2013.01); G01S 19/37 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A positioning method of Precise Point Positioning-Real Time Kinematic PPP-RTK, comprising:
determining original observation data when a direct signal broadcasted by a multi-system navigation satellite and a Low Earth Orbit (LEO) constellation is detected via a receiver in a navigation apparatus, wherein the navigation apparatus is arranged at a user equipment;
receiving by the receiver navigation satellite augmentation information broadcasted by the LEO constellation, as well as an LEO satellite precision orbit and a precision clock bias;
performing Precise Point Positioning of the user equipment by the navigation apparatus using the navigation satellite augmentation information, the LEO satellite precision orbit and the precision clock bias, and the original observation data; or
when ground based augmentation comprehensive error correction information is received, performing ground based augmented Precise Point Positioning of the user equipment by the navigation apparatus using the navigation satellite augmentation information, the LEO satellite precision orbit and the precision clock bias, the original observation data and ground based augmentation comprehensive error correction information.