	US 12,105,211 B2
	Systems and methods for high-integrity satellite positioning
Sebastien Carcanague, San Francisco, CA (US); and Fergus MacPherson Noble, San Francisco, CA (US)
Assigned to Swift Navigation, Inc., San Francisco, CA (US)
Filed by Swift Navigation, Inc., San Francisco, CA (US)
Filed on Sep. 28, 2023, as Appl. No. 18/374,128.
Application 18/374,128 is a continuation of application No. 17/829,019, filed on May 31, 2022, granted, now 11,860,260.
Application 17/829,019 is a continuation of application No. 17/752,712, filed on May 24, 2022, granted, now 11,543,541, issued on Jan. 3, 2023.
Application 17/752,712 is a continuation of application No. 17/022,924, filed on Sep. 16, 2020, granted, now 11,372,114, issued on Jun. 28, 2022.
Application 17/022,924 is a continuation of application No. 16/865,077, filed on May 1, 2020, granted, now 10,809,388, issued on Oct. 20, 2020.
Claims priority of provisional application 62/841,380, filed on May 1, 2019.
Prior Publication US 2024/0036216 A1, Feb. 1, 2024
Int. Cl. G01S 19/44 (2010.01); G01S 19/07 (2010.01); G01S 19/20 (2010.01); G01S 19/25 (2010.01); G01S 19/49 (2010.01); G01S 19/52 (2010.01)

CPC G01S 19/44 (2013.01) [G01S 19/07 (2013.01); G01S 19/20 (2013.01); G01S 19/252 (2013.01); G01S 19/49 (2013.01); G01S 19/52 (2013.01)]

20 Claims

1. A method comprising:

at a positioning engine:

receiving satellite signals from a global navigation satellite system (GNSS) receiver;

monitoring the satellite signals for high dynamic feared events;

correcting the satellite signals using GNSS corrections;

determining carrier phase ambiguities for the corrected satellite signals; and

determining a position of the GNSS receiver based on the carrier phase ambiguities and the satellite signals; and

at a corrections engine:

receiving a first set of satellite observations from a first set of reference stations;

determining the GNSS corrections using the first set of satellite observations; and

monitoring the GNSS corrections for low dynamic feared events by comparing residuals between the GNSS corrections and a second set of satellite observations from a second set of reference stations to a residual bound, wherein the first set of satellite observations are independent of the second set of satellite observations.