A kinematic positioning system configured to determine position coordinates of moving bodies by receiving positioning signals from positioning satellites, comprises an on-vehicle device configured to calculate the position coordinates of one of the moving bodies based on carrier wave phases of the positioning signals received from the positioning satellites, and a ground management device configured to transmit correction data used to calculate the position coordinates to the on-vehicle device in response to a request from the on-vehicle device. The on-vehicle device executes a first processing sequence of performing precise point positioning computation by acquiring precise orbit data of each positioning satellite from any of the positioning satellite and the ground management device, and calculating the position coordinates, and a second processing sequence of sending the ground management device a pseudorange concerning a positioning satellite selected from the positioning satellites, a carrier wave, and the position coordinates of the one moving body, performing the precise point positioning computation by acquiring the correction data from the ground management device, and calculating the position coordinates. The on-vehicle device selects the position coordinates having a smaller data error out of the position coordinates calculated in the first processing sequence and the position coordinates calculated in the second processing sequence as the position coordinates of the one moving body.

Embodiments of the present invention provide a positioning method, the positioning method includes: obtaining, by the server, first location information, where the first location information is used to indicate a location of the base station; obtaining, by the server, correction information for the base station according to the location of the base station; and sending, by the server, the correction information to the base station, so that the base station forwards the correction information to the mobile terminal, and the mobile terminal determines a location of the mobile terminal according to the correction information.

The present application provides a navigation augmentation method and system, the method includes: broadcasting, by satellites of a Low Earth Orbit (LEO) constellation, navigation direct signals and navigation augmentation information; performing, by a user receiver, precise positioning, speed measurement and timing according to the navigation direct signals of navigation satellites, the navigation direct signals of the LEO satellites and the navigation augmentation information broadcasted by the LEO satellites.

A precise point position and real-time kinematic (PPP-RTK) positioning method, including: when direct emission signals broadcast by a multi-system navigation satellite and a low-earth-orbit constellation are detected, determining raw observation data (S11); receiving navigation satellite augmentation information broadcast by the low-earth-orbit constellation, and a low-earth-orbit satellite precise orbit and precise clock difference (S12); using the navigation satellite augmentation information, the low-earth-orbit satellite precise orbit and precise clock difference and the raw observation data for precise point positioning (S13); or when comprehensive ground-based augmentation error correction information is received, using the navigation satellite augmentation information, the low-earth-orbit satellite precise orbit and precise clock difference, the raw observation data and the comprehensive ground-based augmentation error correction information for precise point positioning of ground-based augmentation (S13′). The present application further relates to a precise point position and real-time kinematic (PPP-RTK) positioning device, a computer-readable storage medium and a processor.

Provided is a method for marking a ground surface according to a predefined marking pattern using a system including a robot unit and a local base station including acts of providing two flag points, receiving global positioning data of the robot unit using a robot GNSS receiver, receiving global positioning data of the local base station using a base GNSS receiver, and establishing a local base station position using the received global positioning data of the local base station. A method wherein the predefined marking pattern is arranged relative to the two flag point positions and wherein the local base station position is a system reference point of the system. Also provided is a system for marking a ground surface according to a predefined marking pattern and the use thereof or parts thereof.

A method of analyzing a ground-based augmentation system (GBAS) signal, comprising: transmitting at least one GBAS message burst; receiving the GBAS message burst, and performing a power measurement at symbol times of the GBAS message burst. Further, a test system for testing a ground-based augmentation system is described.

A system and method for determining a receiver position can include determining a receiver position based on a set of satellite observations, determining the receiver position based on sensor measurements, determining a satellite observation discontinuity; based on the satellite observation discontinuity, determining a second receiver position.

A system and method for providing an accurate position for a GNSS device in an urban environment. The method includes determining a correction model based on differencing data and visibility data received from a plurality of sensors, estimating a current location of the GNSS device, deriving satellite parameters of a set of best visible satellites based at least on the determined correction model and the estimated current location, determining an accurate position of the GNSS device based on derived satellite parameters of the set of best visible satellites and a current location measurement provided by a GNSS receiver in the GNSS device, and setting a location of the GNSS device based on the accurate position.

A device and method which improves the accuracy of a global positioning system (GPS)-equipped mobile device. A time-stamped first set of GPS data is received via a GPS receiver, e.g., of the base station. A second set of GPS data describing a geoposition of the mobile device is received from the mobile device by the base station. A time of collection of the GPS data coincides. The GPS data includes code, carrier-phase, and pseudo-range information from each of the GPS satellites. A predetermined GPS position correction technique is used to generate a first corrected geoposition of the mobile device using the GPS data. Corrected, carrier-smoothed geoposition is generated as a second corrected geoposition using a carrier smoothing operation. The second corrected geoposition is transmitted to the mobile device and/or an external response system such as a drone or first responder.

A first pair of a wide-lane (WL), zero-difference (ZD) bias filter and corresponding supplemental WL bias predictive filter determines the time-variant wide-lane bias for a corresponding received satellite based on adaptive estimation responsive to tuned dynamic noise. A second pair of narrow-lane (NL), zero-difference (ZD) bias filter and corresponding NL bias filter/code-phase bias filter determines the time-variant NL bias for a corresponding satellite based on adaptive estimation on adaptive estimation responsive to tuned dynamic noise. A correction signal comprises the WL ambiguities, the time-variant WL bias and the NL ambiguities and the time-variant NL bias, along with code bias or code-phase bias for each received satellite within a corresponding GNSS constellation.