A multiple faulty global navigation satellite signal detecting system is provided. The system includes at least one pair of spaced antennas, at least one aiding source and processor. The at least one pair of spaced antennas are configured to receive satellite signals from a plurality of satellites. The at least one aiding source is used to generate aiding source position estimate signals. The processor is in communication with each antenna and the at least one aiding source. The processor is configured to determine signals blocks. The signal blocks being a collection of subsets of the determined difference signals and a covariance matrix for the difference signals. The processor further configured to generate a union of good signals from all the good blocks and a complementary set of bad signals.

A host vehicle position estimation device includes an observation position estimation unit configured to estimate an observation position of the vehicle based on a result of recognition of the target object performed, a prediction position calculation unit configured to calculate a prediction position of the vehicle from a result of estimation of the host vehicle position in the past based on a result of measurement performed by an internal sensor, a host vehicle position estimation unit configured to estimate the host vehicle position based on the observation position and the prediction position. The host vehicle position estimation unit is configured to give more weighting to the prediction position in the estimation of the host vehicle position such that the host vehicle position is estimated to be close to the prediction position if it is determined that a result of estimation of the host vehicle position is unsteady.

Provided is an electronic device capable of suitably determining whether a user is moving or stationary. The electronic device includes a speed acquisition unit that acquires a user's moving speed and a processor that determines whether the user is in a moving state or in a pause state. In the moving state, the processor determines that a transition from the moving state to the pause state has occurred in the case where the moving speed acquired by the speed acquisition unit is less than the pause speed threshold. In the pause state, the processor determines that a transition from the pause state to the moving state has occurred in the case where the moving speed acquired by the speed acquisition unit is equal to or more than the moving speed threshold.

A method is provided for arranging a grid with respect to a vehicle position. An initial position and a state of movement of the vehicle are determined. A physical grid specifying a spatial location of grid cells with respect to an earth-fixed coordinate system and a logical grid representing the cells within a memory are defined. An initial arrangement of the physical grid is determined with respect to the initial vehicle position. A mapping is defined between the physical and logical grids, and a torus interconnection is defined between margins of the logical grid. A modification of the vehicle position is determined based on the state of movement of the vehicle. By applying the torus interconnection, a revised logical grid is determined based on the modification of the vehicle position. A current arrangement of the physical grid is determined by mapping the revised logical grid.

A first bias conversion unit converts, based on a first frequency and a second frequency, a signal bias related to carrier phase for correcting a carrier phase contained in a first ranging signal having the first frequency, to a signal bias related to carrier phase for correcting a carrier phase contained in a second ranging signal having the second frequency. A first correction unit corrects the carrier phase using the converted signal bias. A second bias conversion unit converts the signal bias related to pseudorange to the signal bias related to pseudorange by making reference to a conversion table indicating values for use in conversion of the signal bias related to pseudorange to the signal bias related to pseudorange. A second correction unit corrects a pseudorange using the converted signal bias.

A positioning device measures a position of a vehicle by including a controller. The controller provides (i) a first positioning system to obtain a first positioning result having a first accuracy by performing positioning using a signal from a GNSS satellite and (ii) a second positioning system to obtain a second positioning result having a second accuracy higher than the first accuracy, by using acquired vehicle-related information, instead of or in addition to the first positioning result. The controller selects, as a selected positioning system to obtain a selected positioning result, either (i) the first positioning system or (ii) the second positioning system. In response to determining that the second accuracy of the second positioning result is lower than the first accuracy of the first positioning result, the controller is configured to switch the selected positioning system to select the first positioning system.

A device implementing a system for estimating device position includes at least one processor configured to receive a first sensor measurement of a device at a first time, the first sensor measurement having a first variance in measurement error, and to receive a second sensor measurement of the device at a second time, the second sensor measurement having a second variance in measurement error. The at least one processor is further configured to determine a speed of the device based on at least one of the first or second sensor measurements, and adjust the second variance in measurement error based on the determined speed. The at least one processor is further configured to estimate a device position based at least in part on the first variance in measurement error and the adjusted second variance in measurement error.

The present invention discloses a method for real and virtual combined positioning, it not only sends positioning information to the server through the electronic device for tracking the positioning of the electronic device, but also further captures external scene image and scene sound through the electronic device, or the server generates corresponding scene image and scene sound based on the positioning information, further used to confirm the positioning of electronic device.

A method of determining a posterior error probability distribution for a parameter measured by a Global Navigation Satellite System (GNSS) receiver. The method comprises receiving a value for each of one or more GNSS measurement quality indicators associated with the GNSS measurement of the parameter. The or each received measurement quality indicator value is provided as an input into a multivariate probability distribution model to determine the posterior error probability distribution for the GNSS measurement, wherein the variates of the multivariate probability distribution model comprise error for said parameter, and the or each measurement quality indicator.

A method of determining a posterior error probability distribution for a parameter measured by a Global Navigation Satellite System (GNSS) receiver. The method comprises receiving a value for each of one or more GNSS measurement quality indicators associated with the GNSS measurement of the parameter. The or each received measurement quality indicator value is provided as an input into a multivariate probability distribution model to determine the posterior error probability distribution for the GNSS measurement, wherein the variates of the multivariate probability distribution model comprise error for said parameter, and the or each measurement quality indicator.