There is provided a positioning system for a work machine using RTK positioning that uses a satellite positioning system, the positioning system including: a sensor controller that is a calculation unit that calculates a position of an antenna, of the satellite positioning system, disposed in the work machine based on a position of working equipment, of the work machine, aligned with a known reference point PR positioned at a work site; and a monitor controller that is an initialization control unit that outputs a control command that causes a receiver, of the satellite positioning system, that performs positioning calculation by the RTK positioning to execute initialization processing of the positioning calculation in which an integer value bias of each satellite and the position of the antenna of the satellite positioning system are unknown, by using the calculated position of the antenna of the satellite positioning system.

Method, systems, and computer-readable media containing instructions which, when executed by a computing device, cause it to receive data from an inertial measurement unit, including GPS data, velocity data, and bearing data, receive data from a digital magnetic compass, including bearing data, receive data from a Doppler sensor, including velocity data and distance data, determining whether GPS location data is in consensus with a previous derived multi-source reckoning system location, determining a consensus distance value from a weighted average of data from the inertial measurement unit and the Doppler sensor, determine a consensus heading value from a weighted average of data from the inertial measurement unit and the digital magnetic compass, determine a consensus geolocation value from a weighted average of data from the inertial measurement unit and the previous derived multi-source reckoning system location, and determine a derived multi-source reckoning system location.

Method, systems, and computer-readable media containing instructions which, when executed by a computing device, cause it to receive data from an inertial measurement unit, including GPS data, velocity data, and bearing data, receive data from a digital magnetic compass, including bearing data, receive data from a Doppler sensor, including velocity data and distance data, determining whether GPS location data is in consensus with a previous derived multi-source reckoning system location, determining a consensus distance value from a weighted average of data from the inertial measurement unit and the Doppler sensor, determine a consensus heading value from a weighted average of data from the inertial measurement unit and the digital magnetic compass, determine a consensus geolocation value from a weighted average of data from the inertial measurement unit and the previous derived multi-source reckoning system location, and determine a derived multi-source reckoning system location.

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.

The present invention provides a method (200) for providing an interactive location service to a user, through a computing device (110). The method comprising the steps of obtaining (210) a spherical map of the geographical region, identifying (220) a point of reference within the geographical region, obtaining (230) reference Global Positioning System (GPS) coordinates corresponding to the point of reference, defining (240) a spatial coordinate system with the point of reference as an origin of the spatial coordinate system, identifying (250) a first locale within the geographical region and obtaining first GPS coordinates, calculating (260) first spatial coordinates, displaying (270) the spherical map at a screen (120), indicating (280) the first locale on the spherical map by means of a first token and displaying (290) content data corresponding to the first locale to the user. Further, a system (400) for providing an interactive location service to a user is provided.

Methods, systems and computer program products for radionavigation for swimmers are described. A mobile device configured to estimate a location using radio frequency signals can estimate a position of the swimmer when the mobile device is worn on a limb of the swimmer and periodically submerged. The mobile device can supply auxiliary information to a radionavigation subsystem to correct a navigation solution affected by limb motion of the swimmer and affected by the periodic submersion of the mobile device.

A robotic lawnmower (100) for movable operation within a work area (205) has a satellite navigation device (190), a deduced reckoning navigation sensor (195) and a controller (110). The controller causes the robotic lawnmower (100) to movably operate within the work area (205) in a first operating mode, the first operating mode being based on positions determined from satellite signals received by the satellite navigation device (190). The controller determines that a position cannot be reliably determined based on satellite signals received by the satellite navigation device (190), and in response thereto causes the robotic lawnmower (100) to movably operate within the work area (205) in a second operating mode. In the second operating mode, a deduced reckoning position estimate is obtained by the deduced reckoning navigation device (195). A search space is defined using the deduced reckoning position estimate, and the satellite navigation device (190) is recalibrated based on the defined search space. Once the satellite navigation device (190) has been recalibrated, the controller causes the robotic lawnmower (100) to again operate in the first operating mode.

A robotic lawnmower (100) for movable operation within a work area (205) has a satellite navigation device (190), a deduced reckoning navigation sensor (195) and a controller (110). The controller causes the robotic lawnmower (100) to movably operate within the work area (205) in a first operating mode, the first operating mode being based on positions determined from satellite signals received by the satellite navigation device (190). The controller determines that a position cannot be reliably determined based on satellite signals received by the satellite navigation device (190), and in response thereto causes the robotic lawnmower (100) to movably operate within the work area (205) in a second operating mode. In the second operating mode, a deduced reckoning position estimate is obtained by the deduced reckoning navigation device (195). A search space is defined using the deduced reckoning position estimate, and the satellite navigation device (190) is recalibrated based on the defined search space. Once the satellite navigation device (190) has been recalibrated, the controller causes the robotic lawnmower (100) to again operate in the first operating mode.

Disclosed is a digital association and high precision positioning and tracking system for multimodal transport container, comprising a carrier terminal, a container terminal, and a remote digital monitoring platform; the carrier terminal is activated when the a container is in an associated state, and is used to collect high-precision positioning information and other status information of the container and send it to the remote digital monitoring platform; the container monitoring terminal is enabled when the container is in a non-associated state, and is used to collect container status information and send it to the remote digital monitoring platform; the remote digital monitoring platform is used to record and visualize relevant information; the carrier-container association and binding module sends instructions to the carrier terminal and the container monitoring terminal to complete the container-carrier association and unbinding, ensuring the security and positioning accuracy of the container during the multimodal transport process.