A wireless device determines a biased wireless device position and a receiver clock error for a plurality of satellites, the biased wireless device position and the receiver clock error being associated with a biased ambiguity. The wireless device calculates, upon determining the biased wireless device position and the receiver clock error, the biased ambiguity for each of the plurality of satellites. The wireless device applies the biased ambiguity to a carrier phase measurement for each of the plurality of satellites, the carrier phase measurement being associated with the receiver clock error and an absolute location of the wireless device. The wireless device determines, upon applying the biased ambiguity to the carrier phase measurement for each of the plurality of satellites, the absolute location of the wireless device based on the biased ambiguity for all of the plurality of satellites.

A LIDAR-to-vehicle alignment system includes a memory and an autonomous driving module. The memory stores points of data provided based on an output of a LIDAR sensor and GPS locations. The autonomous driving module performs an alignment process including performing feature extraction on the points of data to detect one or more features of one or more predetermined types of objects having one or more predetermined characteristics. The features are determined to correspond to one or more targets because the features have the predetermined characteristics. One or more of the GPS locations are of the targets. The alignment process further includes: determining ground-truth positions of the features; correcting the GPS locations based on the ground-truth positions; calculating a LIDAR-to-vehicle transform based on the corrected GPS locations; and based on results of the alignment process, determining whether one or more alignment conditions are satisfied.

A LIDAR-to-vehicle alignment system includes a memory and an autonomous driving module. The memory stores points of data provided based on an output of a LIDAR sensor and GPS locations. The autonomous driving module performs an alignment process including performing feature extraction on the points of data to detect one or more features of one or more predetermined types of objects having one or more predetermined characteristics. The features are determined to correspond to one or more targets because the features have the predetermined characteristics. One or more of the GPS locations are of the targets. The alignment process further includes: determining ground-truth positions of the features; correcting the GPS locations based on the ground-truth positions; calculating a LIDAR-to-vehicle transform based on the corrected GPS locations; and based on results of the alignment process, determining whether one or more alignment conditions are satisfied.

A position measuring system includes: a connection destination candidate selecting unit which selects a connection destination candidate for each of a plurality of route coordinates on a route included in route information, on the basis of the distance between each of the plurality of route coordinates and reference stations included in a reference station list; and a connection destination information generating unit which determines a connection destination for which to acquire the correction information, on the basis of prescribed determining criteria, from among the connection destination candidates selected by the connection destination candidate selecting means, and generates and outputs connection destination information relating to the determined connection destination.

Systems and methods of heading determination with global navigation satellite system (GNSS) signal measurements are provided herein. A pair of antennas may be separated by a known baseline length and mounted on a vehicle. A GNSS receiver may obtain pseudorange and carrier phase measurements for GNSS satellites within view. An LRU may estimate carrier phase ambiguities and a two-dimensional vector, using the known baseline length and a linearized measurement model. The LRU may determine integer ambiguities using the estimated carrier phase ambiguities. The LRU may determine assumed wrong fixes of the integer ambiguities and a probability of almost fixed value. The LRU may store the set of integer ambiguities. The LRU may determine, from accumulated data over measurement epochs, updated integer ambiguities. The LRU may correct the carrier phase measurements using the updated integer ambiguities. The LRU may compute the heading using the corrected carrier phase measurements.

Systems and methods of heading determination with global navigation satellite system (GNSS) signal measurements are provided herein. A pair of antennas may be separated by a known baseline length and mounted on a vehicle. A GNSS receiver may obtain pseudorange and carrier phase measurements for GNSS satellites within view. An LRU may estimate carrier phase ambiguities and a two-dimensional vector, using the known baseline length and a linearized measurement model. The LRU may determine integer ambiguities using the estimated carrier phase ambiguities. The LRU may determine assumed wrong fixes of the integer ambiguities and a probability of almost fixed value. The LRU may store the set of integer ambiguities. The LRU may determine, from accumulated data over measurement epochs, updated integer ambiguities. The LRU may correct the carrier phase measurements using the updated integer ambiguities. The LRU may compute the heading using the corrected carrier phase measurements.

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 low-earth orbit (LEO) satellite includes a global positioning receiver configured to receive first signaling from a first plurality of non-LEO navigation satellites. An inter-satellite transceiver is configured to send and receive inter-satellite communications with other LEO navigation satellites. At least one processor is configured to execute operational instructions that cause the at least one processor to perform operations that include: determining an orbital position of the LEO satellite based on the first signaling; and generating a navigation message based on the orbital position. A navigation signal transmitter configured to broadcast the navigation message to at least one client device, the navigation message facilitating the at least one client device to determine an enhanced position of the at least one client device based on the navigation message and further based on second signaling received from a second plurality of non-LEO navigation satellites.

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.

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.