The receiver captures an electromagnetic transmission carrying a bauded signal, such as a transmission from an orbiting satellite, and processes it for Doppler shift analysis. The electromagnetic transmission is captured and a non-linear operation is performed to expose a cyclostationary feature of the captured transmission that will define a rate-line. This rate-line will exist at a frequency that is related to the bauded signal and Doppler shift relative to the motion of the transmitter to the receiver. The rate-line frequency is tracked in time to generate data indicative of a Doppler shift associated with the satellite and processed by an estimator fed by satellite propagator to supply positioning, navigation and timing services at the receiver output.

A satellite radio wave receiving device including: one or more processors configured to: cause a receiver to start a receiving operation of receiving radio waves from positioning satellites; perform a current position calculation to calculate a current position based on the radio waves received; calculate a positioning accuracy of the current position; decide whether or not to adopt the current position based on a number of positioning satellites from which the receiver has received radio waves and the positioning accuracy; in response to deciding to adopt the current position, cause the receiver to stop the receiving operation; and in response to deciding to not adopt the current position, cause the receiver to continue the receiving operation of receiving radio waves from the positioning satellites and repeat performance of the current position calculation to calculate current positions based on the radio waves received during the continued receiving operation.

Aspects concern a method for correcting position estimates of a movable object. According to various embodiments, the method comprises establishing (1001) a hidden Markov model, HMM, instance for a movable object and, for positioning times of a sequence of positioning times, receiving (1002) a position estimate from a positioning device of the movable object for a respective positioning time, determining (1003) a set of candidate path segments for the positioning time, determining (1004) likelihoods for the candidate path segments to correspond to the position estimate by application of the Viterbi algorithm to the HMM instance, expanding (1005) the HMM instance by the determined likelihoods for the candidate path segments for the positioning time and determining (1006) a corrected position estimate from a candidate path segment of the set of candidate path segments with the highest likelihood.

A control system for a screen of a vehicle includes a global positioning system (GPS), an inertia sensor and a control circuit. The GPS detects a satellite signal from a satellite. The inertia sensor senses motion of the vehicle and correspondingly generates a motion state value. The control circuit performs one of a first determination procedure and a second determination procedure according to the state of the satellite signal. In the first determination procedure, the control circuit calculates the vehicle speed of the vehicle according to the satellite signal, and selectively locks the screen of the vehicle according to the vehicle speed. In the second determination procedure, the control circuit generates a motion signal according to the motion state value, and selectively locks the screen of the vehicle according to the motion signal. Accordingly, driving safety can still be effectively ensured even in the case of poor satellite signals.

An apparatus and a method for providing a global localization output are provided. When the apparatus receives navigation signals, the apparatus processes the signals to determine, based on a fixed earth-centered, earth-fixed (ECEF) reference pose of a reference point in an ECEF coordinate, a new ECEF pose, and to convert the fixed ECEF reference pose to an east-north-up (ENU) reference pose in an ENU coordinate. When the apparatus determines that a jump occurs in the new ECEF pose based on a pose change between the new ECEF pose and a previous ECEF pose, the apparatus calculates a reference shift of the ENU reference pose based on the pose change to absorb the jump in the ENU coordinate, and updates the ENU reference pose based on the reference shift. Thus, a new ENU local pose may be obtained using the ENU reference pose.

An apparatus and a method for performing positioning using a Global Navigation Satellite System (GNSS) with a state machine based localization engine are provided. When the apparatus receives GNSS signals, the apparatus provides the localization engine to process the GNSS signals, and determines, based on a GNSS status and a position-velocity-time (PVT) status, a state of the localization engine. Specifically, the state of the localization engine is switchable between at least 3 states, including a dead reckoning state, a tightly coupling state, and a loosely coupling state. Once the state is determined, the localization engine may determine a local accuracy status based on the state of the localization engine. Thus, a downstream module on the apparatus may use the local accuracy status to perform a corresponding downstream action.

A Global Navigation Satellite System (GNSS) receiver for performing GNSS outlier detection and rejection is provided. When the GNSS receiver receives GNSS signals from satellites in the GNSS, the GNSS receiver processes the GNSS signals to perform positioning. Then, the GNSS receiver sequentially performs a Doppler-pseudorange comparison, a Random Sampling Consensus (RANSAC) check for selected subsets of the satellites, and a history-based check for the satellites to determine a status of each satellites as an outlier or an inlier. Specifically, in the RANSAC check, the subsets of the satellites are selected using results of the Doppler-pseudorange comparison as inputs to filter the satellites, thus reducing the number of subsets needed for computation in the RANSAC check. The status of the satellites are recorded for the history-based check, which further exploits the correlations of outliers across time.

A method for alignment a lidar with a camera of a vehicle includes: aggregating multiple lidar scans performed by the lidar of a vehicle while the vehicle is in motion to generate an aggregated point-cloud; rendering the aggregate point-cloud onto a camera image to generate a rendered image; comparing the rendered image with the camera image to determine a difference between the rendered image and the camera image, wherein a difference value is indicative of the difference between the rendered image and the camera image is represented; and determining that the camera is aligned with the lidar in response to determining that the difference value is less than or equal to a predetermined threshold.

A method for alignment a lidar with a camera of a vehicle includes: aggregating multiple lidar scans performed by the lidar of a vehicle while the vehicle is in motion to generate an aggregated point-cloud; rendering the aggregate point-cloud onto a camera image to generate a rendered image; comparing the rendered image with the camera image to determine a difference between the rendered image and the camera image, wherein a difference value is indicative of the difference between the rendered image and the camera image is represented; and determining that the camera is aligned with the lidar in response to determining that the difference value is less than or equal to a predetermined threshold.

Presented herein are systems and methods for generating a consistent set of signals to be processed by a PVT processor. In one or more examples, a GNSS receiver can receive a plurality of signals from a plurality of signal sources. In one or more examples, the systems and methods can generate clusters that have been vetted using cost functions so as to maximize the probability that any cluster that is sent to the PVT processor contains legitimate GNSS signals, and does not include any spoofed or otherwise illegitimate signals, thereby maximizing the probability that a PVT solution produced by the PVT processor is accurate.