Perception data based multipath identification and correction is based on recognition that sensors such as radar, LIDAR, and cameras can generate perception data indicative of locations and properties of terrestrial objects in an environment surrounding a satellite navigation device (e.g., a GNSS receiver), which data may then be used in training, or updating, a model for determining or correcting distances to satellites to account for multipath. Multipath identification includes identifying multipaths to train the model, e.g., by using perception data to perform ray tracing. Multipath correction includes using the model to correct distance errors due to the multipaths or, equivalently, using the model to determine distances to satellites in a manner that accounts for the multipaths.

A system for receiving and processing satellite signals from satellites of global navigation systems, in particular for a vehicle, having a signal path includes a signal conditioning unit for conditioning received satellite signals, an analysis unit for analyzing the conditioned satellite signals, and a position determination unit for determining measured values utilizing the satellite signals provided by the analysis unit. The measured values include a position, a speed, and/or a satellite time. The system has two signal paths which are separate from one another and each process mutually independent satellite signals for a position.

The invention relates to a navigation system for a motor vehicle for ascertaining a navigation position, having: a plurality of receivers for receiving respective position data of a plurality of different navigation satellite systems, an inertial measuring unit for ascertaining an inertial position of the navigation system, a receiving unit for receiving correction data, an additional receiving unit for receiving certified position data, a device which is coupled to the plurality of receivers, the inertial measuring unit, the receiving unit, and the additional receiving unit so as to transmit signals, wherein the device is designed to ascertain the navigation position on the basis of the position data, the inertial position, the correction data, and the certified position data. The invention additionally relates to a method which can be carried out by the navigation device in particular.

A positioning device receives positioning signals from multiple positioning satellites respectively provided by multiple positioning systems, selects one or more use systems to be used in a positioning calculation processing among the multiple positioning systems based on a determination of whether a surrounding environment is an environment in which a multipath is likely to occur, and performs the positioning calculation processing by using the positioning signals from the positioning satellites provided by the positioning systems selected as the use systems.

An information processing system includes a server and a first vehicle acquiring a combination of first and second position information of the first vehicle. The first position information is calculated using a positioning signal from the first satellite system. The second position information is obtained by correcting an error of the first position information using a positioning reinforcement signal from the second satellite system. The first vehicle or the server calculates difference information between the first and second position information for each combination thereof. The server estimates a calculation accuracy for the first position information in a road section on a road map based on one or more pieces of difference information in which one or more positions indicated by the second position information corresponding to the difference information are within the road section and to output the calculation accuracy for the first position information in the road section.

A navigation system for a mobile object generates navigation data for the mobile object based on satellite navigation signals received from a plurality of satellites and base data received from a stationary base station. The navigation data includes code phase estimates and carrier phase estimates for the plurality of satellites. The system computes position, velocity and time estimates for the mobile object in accordance with the code phase estimates and carrier phase estimates, and performs a navigation function for the mobile object in accordance with the position, velocity and time estimates. The system generates code phase estimates by performing a Vector Delay Locked Loop (VDLL) computation process that drives a code NCO for each channel of a plurality of channels, and generates carrier phase estimates for the plurality of satellites by performing a RTK Vector Phase Locked Loop computation process that drives a carrier NCO for each channel.

A GNSS receiver receives GNSS signals from satellites of a plurality of Global Navigation Satellite Systems, and a front end section thereof outputs corresponding navigation signals. A plurality of baseband processing channels receive and process the navigation signals so as to output navigation measurements which are divided and grouped into a plurality of sets. Each of a plurality of first application processing blocks receives a respective set of the navigation measurements and calculates a navigation solution. A general application processing block receives and compares the navigation solutions from the plurality of first application processing blocks, determines if there is a faulty navigation solution which is inconsistent or substantially different from other navigation solutions, discards the faulty navigation solution, produces a common navigation solution based on the remaining or non-faulty navigation solutions, and suspends, for a predetermined time period, use of the navigation measurements corresponding to the faulty navigation solution.

A method for improved position estimation. The method includes: receiving first position information from a first GNSS receiver of a vehicle dashboard camera, receiving second position information from a second GNSS receiver of a mobile device carried by a user and proximate the first GNSS receiver, and, when it is determined that the vehicle dashboard camera and the mobile device share the same inertial reference frame and are within the first distance and that the accuracy of either the first position information or the second position information falls beneath the threshold and that the predicted course of either the vehicle dashboard camera and the mobile device is calculated to pass through the region of poor satellite reception, time synchronizing the second position information with the first position information, and combining the first position information with the second position information to determine third position information.

Disclosed herein is an implementation of a Virtual Traffic Lights (VTL) application implemented as an app on a mobile computing device in which online mapping services provide information necessary to determine a lead vehicle among one or more vehicles approaching an intersection. The lead vehicle controls status of virtual traffic lights at the intersection. The information retrieved from in the online mapping service may be used to determine whether vehicles approaching intersection are moving closer or farther apart from each other, the direction of travel of the vehicles, the geographic location of the intersection, and the distance between each vehicle and the geographic location of the intersection.

Perception data based multipath identification and correction is based on recognition that sensors such as radar, LIDAR, and cameras can generate perception data indicative of locations and properties of terrestrial objects in an environment surrounding a satellite navigation device (e.g., a GNSS receiver), which data may then be used in training, or updating, a model for determining or correcting distances to satellites to account for multipath. Multipath identification includes identifying multipaths to train the model, e.g., by using perception data to perform ray tracing. Multipath correction includes using the model to correct distance errors due to the multipaths or, equivalently, using the model to determine distances to satellites in a manner that accounts for the multipaths.