US 12,436,296 B2
Cloud-offloaded GNSS positioning method
Guillaume Carrie, Saint-Lys (FR); Cyrille Gernot, Ste Foy de Peyrolieres (FR); and Sylvain Daubas, Montauban (FR)
Assigned to SYNTONY, Toulouse (FR)
Appl. No. 18/000,147
Filed by SYNTONY, Toulouse (FR)
PCT Filed May 28, 2021, PCT No. PCT/FR2021/050974
§ 371(c)(1), (2) Date Nov. 29, 2022,
PCT Pub. No. WO2021/240119, PCT Pub. Date Dec. 2, 2021.
Claims priority of application No. 2005726 (FR), filed on May 29, 2020.
Prior Publication US 2023/0204794 A1, Jun. 29, 2023
Int. Cl. G01S 19/39 (2010.01); G01S 19/43 (2010.01)
CPC G01S 19/396 (2019.08) [G01S 19/43 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method for positioning a connected object, the connected object receiving Global Navigation Satellite System (GNSS) signals from a plurality of satellites belonging to at least one satellite system and translating them in an intermediate frequency before sampling them, wherein:
(a) the connected object performs, on the basis of a sequence of the samples thus obtained, an acquisition of a set S of satellites seen from the connected object, then estimates code phases of the GNSS signals, the code phases being afterwards transmitted to a computing server via a communication network;
(b) the code phases are time-stamped by means of a time-stamp clock by a node of the communication network;
(c) the computing server determines, from among the points of a mesh network in an area of interest, a set of candidate points seeing the satellites of the set S at the time-stamping time;
(d) the computing server calculates the pseudoranges separating the candidate points and the satellites of S for a plurality of possible transmission times and deduces therefrom differences in pseudoranges with respect to a reference satellite;
(e) the computing server estimates pseudoranges separating the connected object and the satellites of S from the code phases, estimated in step (a) and transmitted by the connected object to the computing server, and deduces therefrom differences in pseudoranges estimated with respect to the reference satellite, then calculates an objective function dependent on the discrepancy between the differences in pseudoranges thus estimated and the pseudoranges calculated in step (d), the discrepancy being summed over all of the satellites of the set S except for the reference satellite, the calculation being carried out for each candidate point;
(f) the candidate point optimising the objective function provides an estimate of the position of the connected object.