US 12,085,654 B2
System and method for computing positioning protection levels
Christian Reimer, San Francisco, CA (US); and Philippe Brocard, San Francisco, CA (US)
Assigned to Swift Navigation, Inc., San Francisco, CA (US)
Filed by Swift Navigation, Inc., San Francisco, CA (US)
Filed on Jul. 3, 2023, as Appl. No. 18/217,954.
Application 18/217,954 is a continuation of application No. 17/873,068, filed on Jul. 25, 2022, granted, now 11,733,397.
Claims priority of provisional application 63/225,450, filed on Jul. 24, 2021.
Prior Publication US 2023/0341563 A1, Oct. 26, 2023
Int. Cl. G01S 19/47 (2010.01); G01S 19/20 (2010.01); G01S 19/40 (2010.01); G01S 19/44 (2010.01)
CPC G01S 19/47 (2013.01) [G01S 19/20 (2013.01); G01S 19/40 (2013.01); G01S 19/44 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising a processor configured to:
determine a delayed positioning solution for a rover comprising:
receiving satellite observations tracked by an antenna mounted to a rover; and
determining the delayed positioning solution by:
determining a set of carrier phase ambiguity hypothesis for each satellite observation of the satellite observations; and
selecting a carrier phase ambiguity of the set of carrier phase ambiguity hypotheses based on results of a hypothesis test comparing carrier phase ambiguities of the set of integer phase ambiguity hypotheses; and
calculating the delayed positioning solution and a delayed positioning solution covariance using the satellite observations and the selected carrier phase ambiguities; and
determine a real-time positioning solution for the rover by:
receiving sensor data measured by an inertial measurement unit of the rover;
correcting the sensor data for a sensor bias determined based on the delayed positioning solution;
propagating a previous real-time positioning solution to the real-time positioning solution based on the corrected sensor data; and
propagating the delayed positioning solution covariance.