US 12,468,047 B2
Method and apparatus for GNSS-based motion detection
Sergey Vladislavovich Averin, Moscow (RU); Andrey Valeryevich Plenkin, Moscow (RU); Andrey Andreevich Trofimov, Moscow (RU); and Vyacheslav Viktorovich Lanovets, Moscow (RU)
Assigned to Topcon Positioning Systems, Inc., Livermore, CA (US)
Appl. No. 17/909,058
Filed by Topcon Positioning Systems, Inc., Livermore, CA (US)
PCT Filed Mar. 3, 2022, PCT No. PCT/RU2022/000062
§ 371(c)(1), (2) Date Sep. 2, 2022,
PCT Pub. No. WO2023/167605, PCT Pub. Date Sep. 7, 2023.
Prior Publication US 2024/0248215 A1, Jul. 25, 2024
Int. Cl. G01S 19/43 (2010.01); G01S 19/16 (2010.01)
CPC G01S 19/43 (2013.01) [G01S 19/16 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A method for detecting the motion of a physical object using global navigation satellite system (GNSS) signals, the method comprising:
(i) evaluating distances between a GNSS antenna and GNSS satellites using carrier phase measurements at a first time;
(ii) computing distances between known position of the GNSS antenna and known positions of the GNSS satellites at the first time;
(iii) for each GNSS satellite in (i) and (ii), calculating a first set of residuals as the distances in (i) minus the distances in (ii);
(iv) evaluating distances between the GNSS antenna and the GNSS satellites using carrier phase measurements at a second time, which is later than the first time;
(v) computing distances between known position of the GNSS antenna and known positions of the GNSS satellites at the second time;
(vi) for each GNSS satellite in (iv) and (v), calculating a second set of residuals as the distances in (iv) minus the distances in (v);
(vii) computing a set of differences between the first set of residuals and the second set of residuals;
(viii) computing a metric based on the set of differences in (vii);
(ix) comparing the metric to a threshold;
(x) based on the comparison in (ix), deciding that either: a) the object has been static, b) the object has been moved between the first time and the second time, c) there is insufficient information to reliably detect whether or not the object has been moved;
(xi) issuing an alert message in case of (b) or (c) in (x).