Systems, devices, and methods for a vertical take-off and landing (VTOL) aerial vehicle having a first GPS antenna and a second GPS antenna, where the second GPS antenna is disposed distal from the first GPS antenna; and an aerial vehicle flight controller, where the flight controller is configured to: utilize a GPS antenna signal via the GPS antenna switch from the first GPS antenna or the second GPS antenna; receive a pitch level of the aerial vehicle from the one or more aerial vehicle sensors in vertical flight or horizontal flight; determine if the received pitch level is at a set rotation from vertical or horizontal; and utilize the GPS signal not being utilized via the GPS antenna switch if the determined pitch level is at or above the set rotation.

A positioning method includes: receiving, at an apparatus from a first signal source, a first positioning signal; determining, at the apparatus, a first receiver clock value with respect to the first positioning signal; determining, at the apparatus in response to loss of reception of the first positioning signal, a drift of the first receiver clock value using delta carrier phase updating based on one or more available positioning signals; and determining, at the apparatus, a second receiver clock value based on the first receiver clock value and the drift of the first receiver clock value.

Methods and systems for femtocell positioning using low Earth orbit (LEO) satellite signals may comprise receiving an initial position of a wireless communication device (WCD) as entered by as user, service provider, or manufacturer, wherein the WCD comprises a LEO satellite signal receiver path (Rx). The WCD may be operable to provide wireless communication services to other WCDs. LEO signals may be received for determining a position of the WCD, which may be compared to a threshold radius defined by the initial position. The communication services may be enabled when the measured position is within the threshold radius. The WCD may comprise a femtocell device, a WiFi access point, or may provide cellular telephone service to the other WCDs. The position of the WCD may be measured upon powering up of the WCD, on a periodic basis, and/or when one or more motion sensors in the WCD detect motion.

An aircraft receives pseudorange input from a plurality of satellites of an augmentation system. Each pseudorange input includes a precise position solution and error data. The aircraft receives a high frequency measurement from an inertial navigation system. The aircraft applies the precise position solution, error data, and high frequency measurement to a set of parallel Schmidt extended Kalman filters to produce a corrected position solution and integrity data. The aircraft applies the integrity data to a receiver autonomous integrity monitoring system to produce a protection level for the corrected position solution. The aircraft performs an aircraft operation using the corrected position solution and protection level.

Methods and apparatus are presented for determining a position of a GNSS rover antenna from observations collected at the antenna over multiple epochs from satellite signals of multiple GNSS, wherein the observation data of each GNSS has a distinct data format. The observation data of each GNSS are presented in a generic GNSS data format, which differs from the distinct data format of the GNSS, to obtain a set of generic data. A set of difference data is prepared representing differences between the converted observation data and the generic data. When at least four satellites are tracked, the generic data of the tracked satellites of multiple GNSS are used to compute a standalone antenna position. When at least five satellites are tracked, the generic data of the tracked satellites of multiple GNSS are used to compute a real-time kinematic antenna position.

A vehicle-based radio frequency (RF) hardware component comprises first and second antennas, a digitizer, a serializer, and a serial output. The first antenna receives, over-the-air, a first analog Global Navigation Satellite System (GNSS) signal in a first frequency band. The second antenna receives, over-the-air, at least a second analog GNSS signal in a second frequency band, wherein the first frequency band and the second frequency band are separate and distinct. The digitizer digitizes the first analog GNSS signal into a first digitalized GNSS signal and digitizes the second analog GNSS signal into a second digitized GNSS signal. The serializer serializes the digitized GNSS signals into a serialized output signal. The serial output communicatively couples the digitized GNSS signals, as the serialized output signal, directly from a location in a vehicle of the radio frequency hardware component to a separate communication device that is also coupled with the vehicle.

Methods and systems for femtocell positioning using low Earth orbit (LEO) satellite signals may comprise receiving LEO RF satellite signals utilizing a LEO satellite signal receiver path when medium Earth orbit (MEO) signals are attenuated below a threshold needed for positioning purposes. A position of said wireless communication device (WCD) may be measured based on the received LEO RF satellite signals. The measured position of the WCD may be compared to a threshold radius defined by a stored initial position. Wireless communication services to the other WCDs may be enabled when the measured position is within the threshold radius. Reentry of the stored initial position may be requested when the measured position is outside of the threshold radius. The WCD may be disabled when the measured position of the WCD falls outside of the threshold radius more than a predetermined number of times.

A three-dimensional map of an environment with buildings is used to computationally predict locations and times of global navigation satellite system (GNSS) blockages. For example, in urban environments some of the GNSS satellites are occluded by buildings. These blockages can be modeled. A computing system can make a map showing which satellites are or are not visible as a function both of location and time. The map can be used by a mobile GNSS receiver to determine which satellites to use or whether to use a backup system for navigation. The system can determine when a given satellite will enter or leave a GNSS receiver view during a route. The map can be stored in the GNSS receiver (or a host of the GNSS) or can be stored by a network service. This mapping can be used to predict multi-path effects of a satellite transmission at a location.

A primary phase measurement device measures a first carrier phase and a second carrier phase of carrier signals received by the location-determining receiver. A secondary phase measurement device measures the third carrier phase and the fourth carrier phase of other carrier signals. A real time kinematic engine estimates a first integer ambiguity set associated with the measured first carrier phase and a second integer ambiguity set associated with the measured second carrier phase. The real time kinematic engine estimates a third ambiguity set associated with the measured third carrier phase and a fourth ambiguity set associated with the measured fourth carrier phase. A compensator is capable of compensating for the inter-channel bias in at least one of the third ambiguity set and the fourth ambiguity set by modeling a predictive filter in accordance with various inputs or states of the filter estimated by an estimator.

The invention relates to engineering geodesy for monitoring a height and deformation of a pipeline. The invention includes use of a complex of interrelated monitoring measures that include monitoring a control position of deformation control benchmarks using optic geodetic devices and mobile satellite geodetic receivers. A state geodetic network is used only at an initial stage for reference of the network sites to the local system of coordinates. Geodetic measurements are then converted to a local system of coordinates. The invention decreases an amount of time and labor for detection of the oil pipeline coordinates for operational needs and simplifies a planned high-altitude position data exchange, storage and transfer during measurement.