US 12,405,388 B2
GNSS positioning with fixing of carrier range ambiguities
Alex Parkins, Thalwil (CH); Cecile Mongredien, Thalwil (CH); and Ville Joensuu, Thalwil (CH)
Assigned to u-blox AG, Thalwil (CH)
Filed by u-blox AG, Thalwil (CH)
Filed on Jul. 11, 2022, as Appl. No. 17/861,372.
Claims priority of application No. 21186191 (EP), filed on Jul. 16, 2021.
Prior Publication US 2023/0015483 A1, Jan. 19, 2023
Int. Cl. G01S 19/44 (2010.01); G01S 19/42 (2010.01); G01S 19/43 (2010.01)
CPC G01S 19/44 (2013.01) [G01S 19/42 (2013.01); G01S 19/43 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A method of calculating a position based on Global Navigation Satellite Systems (GNSS) signals, the method comprising:
estimating a first state vector comprising a first set of float carrier range ambiguities using a first estimator, based on first observations of the GNSS signals;
estimating a second state vector comprising a second set of float carrier range ambiguities using a second estimator, based on second observations of the GNSS signals;
fixing one or more first carrier range ambiguities, using a first strategy, based on the first set of float carrier range ambiguities;
fixing one or more second carrier range ambiguities, using a second strategy, based on the second set of float carrier range ambiguities,
wherein the first strategy for fixing the one or more first carrier range ambiguities is different from the second strategy for fixing the one or more second carrier range ambiguities,
the method further comprising:
selecting a set of fixed carrier range ambiguities from among a plurality of different sets of fixed carrier range ambiguities, the plurality including at least the one or more fixed first carrier range ambiguities and the one or more fixed second carrier range ambiguities; and
estimating, using a third estimator, the position based on the selected set of fixed carrier range ambiguities.