The carrier phase ready coherent acquisition of a global navigation satellite system (GNSS) snapshot signal includes receiving in a snapshot receiver different GNSS signals from correspondingly different GNSS satellites, and performing multi-hypothesis (MH) acquisition upon each of GNSS signal in order to produce a complete set of secondary code index hypotheses, each hypothesis producing a corresponding acquisition result according to an identified peak at a correct code-phase and Doppler frequency. The secondary code index hypotheses are adjusted for each different GNSS signal based upon a flight time difference determined for each GNSS satellite, so as to produce a new set of hypotheses. Finally, one of the hypotheses in the new set may be selected as a correct hypothesis according to a predominate common index amongst the hypotheses in the new set, and the acquisition results for each of the different GNSS signals may be filtered utilizing the correct hypothesis.

The carrier phase ready coherent acquisition of a global navigation satellite system (GNSS) snapshot signal includes receiving in a snapshot receiver different GNSS signals from correspondingly different GNSS satellites, and performing multi-hypothesis (MH) acquisition upon each of GNSS signal in order to produce a complete set of secondary code index hypotheses, each hypothesis producing a corresponding acquisition result according to an identified peak at a correct code-phase and Doppler frequency. The secondary code index hypotheses are adjusted for each different GNSS signal based upon a flight time difference determined for each GNSS satellite, so as to produce a new set of hypotheses. Finally, one of the hypotheses in the new set may be selected as a correct hypothesis according to a predominate common index amongst the hypotheses in the new set, and the acquisition results for each of the different GNSS signals may be filtered utilizing the correct hypothesis.

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.

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.

A device may use Precise Point Positioning (PPP) correction information to generate Real Time Kinematic (RTK) correction information that can be sent to other devices for RTK-based positioning. In particular, according to some embodiments, the first device having access to PPP correction information may obtain the PPP correction information and generate RTK correction information by determining a virtual RTK base station location and generating, based on the PPP correction information, a virtual Multi-Constellation Multi-Frequency (MCMF) measurement corresponding to the determined virtual RTK base station location. This virtual MCMF measurement (and/or data derived therefrom) can then be sent to other devices as RTK correction information.

A device may use Precise Point Positioning (PPP) correction information to generate Real Time Kinematic (RTK) correction information that can be sent to other devices for RTK-based positioning. In particular, according to some embodiments, the first device having access to PPP correction information may obtain the PPP correction information and generate RTK correction information by determining a virtual RTK base station location and generating, based on the PPP correction information, a virtual Multi-Constellation Multi-Frequency (MCMF) measurement corresponding to the determined virtual RTK base station location. This virtual MCMF measurement (and/or data derived therefrom) can then be sent to other devices as RTK correction information.

A method for applying GPS UAV attitude estimation to accelerate computer vision. The UAV has a plurality of GPS receivers mounted at fixed locations on the UAV. The method includes receiving GPS signals from each GPS satellite in view of the UAV, the GPS measurements comprising pseudo-range and carrier phase data representing the distance between each GPS receiver and each GPS satellite. Carrier phase and pseudo-range measurements are determined for each GPS receiver based on the pseudo-range and carrier phase data. The GPS carrier phase and pseudo-range measurements are compared pair-wise for each pair of GPS receiver and satellite. An attitude of the UAV is determined based on the relative distance measurements. A 3D camera pose rotation matrix is determined based on the attitude of the UAV. Computer vision image search computations are performed for analyzing the image data received from the UAV in real time using the 3D camera pose rotation matrix.

Disclosed are systems and methods for a power management framework that can computationally minimize the power consumption of a device with Real-Time Kinematic (RTK) enabled. The disclosed framework can analyze the operating characteristics of a device (e.g., applications executing, movement, battery level, signal strength and current battery consumption of the device, and the like), which can provide an indication of the device's need for updated location information, and determine a frequency for updating RTK. Thus, the disclosed framework provides computerized mechanisms for the automatic optimization between the need for an RTK power update and the device's capabilities for actually performing the update.

Disclosed are systems and methods for a power management framework that can computationally minimize the power consumption of a device with Real-Time Kinematic (RTK) enabled. The disclosed framework can analyze the operating characteristics of a device (e.g., applications executing, movement, battery level, signal strength and current battery consumption of the device, and the like), which can provide an indication of the device's need for updated location information, and determine a frequency for updating RTK. Thus, the disclosed framework provides computerized mechanisms for the automatic optimization between the need for an RTK power update and the device's capabilities for actually performing the update.

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.