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.

An oscillation observation device includes a first receiver and processing circuitry. The first receiver is configured to measure carrier phases of positioning signal. The processing circuitry is configured to calculate a velocity of an object by using an amount of change in the carrier phases measured by the first receiver, and calculate an amount of oscillation of the object in a translational direction using the velocity.

The invention relates to a method for assisting with the navigation of a fleet of vehicles comprising a main vehicle (1) and a secondary vehicle (2) that is mobile in relation to the main vehicle (1), said method involving the steps of: •receiving relative movement data (Y1, Y2), acquired by at least one sensor (2, 12), between the main vehicle (1) and the secondary vehicle (2); •estimating (100, 200) a navigation status of the fleet of vehicles by an invariant Kalman filter using the received data (Y1, Y2) as observations, the navigation status comprising •first variables representing a first rigid transformation linking a location mark associated with the main vehicle (1) to a reference point, and •second variables representing a second rigid transformation linking a location mark associated with the main vehicle (1) to a location mark associated with the secondary vehicle (2), the invariant Kalman filter using, as an internal composition law, a law comprising a term-by term composition of the first rigid transformation and the second rigid transformation.

The invention relates to a method for assisting with the navigation of a fleet of vehicles comprising a main vehicle (1) and a secondary vehicle (2) that is mobile in relation to the main vehicle (1), said method involving the steps of: •receiving relative movement data (Y1, Y2), acquired by at least one sensor (2, 12), between the main vehicle (1) and the secondary vehicle (2); •estimating (100, 200) a navigation status of the fleet of vehicles by an invariant Kalman filter using the received data (Y1, Y2) as observations, the navigation status comprising •first variables representing a first rigid transformation linking a location mark associated with the main vehicle (1) to a reference point, and •second variables representing a second rigid transformation linking a location mark associated with the main vehicle (1) to a location mark associated with the secondary vehicle (2), the invariant Kalman filter using, as an internal composition law, a law comprising a term-by term composition of the first rigid transformation and the second rigid transformation.

A position and orientation determining system and apparatuses including a first radio frequency (RF) device having a first constellation of antennae including at least two receiving antennae and at least one transmitting antenna, and a first radio unit in communication with the first constellation of antennae, a second RF device having a second constellation of antennae including at least three receiving antennae and at least one transmitting antenna, and a second radio unit in communication with the second constellation of antennae, and a processor operatively coupled to at least one of the first or second RF device and configured to determine a three-dimensional position and three-axis angular orientation of the first RF device relative to the second RF device based on a carrier phase difference (CPD) measurement of distance difference based on signals received between each discrete pair of receiving antennae in the first constellation of antennae and received signals between each discrete pair of receiving antennae in the second constellation of antennae.

A position and orientation determining system and apparatuses including a first radio frequency (RF) device having a first constellation of antennae including at least two receiving antennae and at least one transmitting antenna, and a first radio unit in communication with the first constellation of antennae, a second RF device having a second constellation of antennae including at least three receiving antennae and at least one transmitting antenna, and a second radio unit in communication with the second constellation of antennae, and a processor operatively coupled to at least one of the first or second RF device and configured to determine a three-dimensional position and three-axis angular orientation of the first RF device relative to the second RF device based on a carrier phase difference (CPD) measurement of distance difference based on signals received between each discrete pair of receiving antennae in the first constellation of antennae and received signals between each discrete pair of receiving antennae in the second constellation of antennae.

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.

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.

An algorithm for determining of a vehicle orientation based on a coherent processing of GNSS signals received by three spaced antennas and a special GNSS receiver for implementing this algorithm are considered. The three antennas are logically combined into two pairs, with one of the antennas becoming common for both pairs. The GNSS receiver measures the first carrier phase difference between the signals received within each pair of antennas. The first differences of the full phases are represented as the sum of an integer number of periods of the carrier frequency and the fractional part of the period. Values of the fractional parts of the first differences are used to compute the orientation of the vector connecting the antennas phase centers within each pair. The use of the fractional parts of the first differences makes it possible to exclude the integer ambiguity resolution in carrier phase measurements. The attitude of the vehicle is calculated from the orientation of two non-collinear vectors with a common origin, measured by two pairs of antennas. In the special GNSS receiver for the vehicle's attitude measurements, each antenna is connected to its own RF front end. All RF front ends, heterodynes, digital navigation processors of this receiver are clocked from one common clock oscillator. In this case, all the carrier phase measurements of the GNSS signals received by the three spaced antennas are performed and processed coherently, i.e. in a common time scale.

An algorithm for determining of a vehicle orientation based on a coherent processing of GNSS signals received by three spaced antennas and a special GNSS receiver for implementing this algorithm are considered. The three antennas are logically combined into two pairs, with one of the antennas becoming common for both pairs. The GNSS receiver measures the first carrier phase difference between the signals received within each pair of antennas. The first differences of the full phases are represented as the sum of an integer number of periods of the carrier frequency and the fractional part of the period. Values of the fractional parts of the first differences are used to compute the orientation of the vector connecting the antennas phase centers within each pair. The use of the fractional parts of the first differences makes it possible to exclude the integer ambiguity resolution in carrier phase measurements. The attitude of the vehicle is calculated from the orientation of two non-collinear vectors with a common origin, measured by two pairs of antennas. In the special GNSS receiver for the vehicle's attitude measurements, each antenna is connected to its own RF front end. All RF front ends, heterodynes, digital navigation processors of this receiver are clocked from one common clock oscillator. In this case, all the carrier phase measurements of the GNSS signals received by the three spaced antennas are performed and processed coherently, i.e. in a common time scale.