A method includes processing reference data and positioning signals to determine a first position of a rover station for a first instance in time. A first pseudo-range measurement of a frequency and a first carrier phase measurement of the frequency are calculated. The method also includes detecting an inability to receive the reference data and generating virtual reference data based on the reference data, the position of the rover station, the first pseudo-range measurement, and the first carrier phase measurement. A second pseudo-range measurement of the frequency and a second carrier phase measurement of the frequency are calculated. The method further includes processing the virtual reference data, the positioning signals, the second pseudo-range measurement and the second carrier phase measurement, based on the detected inability to receive the reference data, to determine a second position of the rover station for a second instance in time.

A method includes processing reference data and positioning signals to determine a first position of a rover station for a first instance in time. A first pseudo-range measurement of a frequency and a first carrier phase measurement of the frequency are calculated. The method also includes detecting an inability to receive the reference data and generating virtual reference data based on the reference data, the position of the rover station, the first pseudo-range measurement, and the first carrier phase measurement. A second pseudo-range measurement of the frequency and a second carrier phase measurement of the frequency are calculated. The method further includes processing the virtual reference data, the positioning signals, the second pseudo-range measurement and the second carrier phase measurement, based on the detected inability to receive the reference data, to determine a second position of the rover station for a second instance in time.

Techniques for transmitting global navigation satellite system (GNSS) correction data to a rover. GNSS signals are wirelessly received by a base station from one or more GNSS satellites. GNSS correction data is generated by the base station based on the GNSS signals. A beacon frame is formed by the base station to include a frame header, a frame body, and a frame check sequence (FCS). The frame body is formed to include the GNSS correction data. The beacon frame is wirelessly transmitted by the base station for receipt by the rover. The rover wirelessly receives the beacon frame. The GNSS correction data is extracted by the rover from the beacon frame. A geospatial position of the rover is calculated based on the GNSS correction data.

Techniques for transmitting global navigation satellite system (GNSS) correction data to a rover. GNSS signals are wirelessly received by a base station from one or more GNSS satellites. GNSS correction data is generated by the base station based on the GNSS signals. A beacon frame is formed by the base station to include a frame header, a frame body, and a frame check sequence (FCS). The frame body is formed to include the GNSS correction data. The beacon frame is wirelessly transmitted by the base station for receipt by the rover. The rover wirelessly receives the beacon frame. The GNSS correction data is extracted by the rover from the beacon frame. A geospatial position of the rover is calculated based on the GNSS correction data.

Even if a cycle slip occurs in which reception of a positioning signal is interrupted, it is not necessary to estimate an integer bias again. A position during previous observation is updated on the basis of observation information from a sensor. The position during current observation is obtained by solving a modified observation equation obtained by applying a periodic function to an observation equation including a double difference of a carrier phase observed from a positioning signal from a satellite and eliminating the integer bias with the updated position as an initial value. For example, while an error in the position updated by the first calculation unit is less than ½ of a carrier wavelength, the second calculation unit solves the modified observation equation with the updated position as the initial value.

Various aspects of the present disclosure generally relate to wireless communication. In some aspects, an assisting node in a cellular positioning system may obtain one or more carrier phase measurements. The assisting node may transmit, and a positioning node in the cellular positioning system may receive, phase error related information associated with the one or more carrier phase measurements. Numerous other aspects are described.

A system for estimating a receiver position with high integrity can include a reference station observation monitor configured to: receive a set of reference station observations associated with a set of reference stations, detect a predetermined event, and mitigate an effect of the predetermined event; a modeling engine configured to generate corrections; a reliability engine configured to validate the corrections; an observation monitor configured to: receive a set of satellite observations from a set of global navigation satellites corresponding to at least one satellite constellation; detect a predetermined event; and mitigate an effect of the predetermined event; a carrier phase determination module configured to determine a carrier phase ambiguity of the set of satellite observations; and a position filter configured to estimate a position of the receiver.

A system for estimating a receiver position with high integrity can include a reference station observation monitor configured to: receive a set of reference station observations associated with a set of reference stations, detect a predetermined event, and mitigate an effect of the predetermined event; a modeling engine configured to generate corrections; a reliability engine configured to validate the corrections; an observation monitor configured to: receive a set of satellite observations from a set of global navigation satellites corresponding to at least one satellite constellation; detect a predetermined event; and mitigate an effect of the predetermined event; a carrier phase determination module configured to determine a carrier phase ambiguity of the set of satellite observations; and a position filter configured to estimate a position of the receiver.

A method for supporting positioning of a vehicle using a satellite positioning system is disclosed. The method includes generating, in real-time, a sliding window map (SWM) based on 3D point clouds from a 3D LiDAR sensor and an attitude and heading reference system (AHRS), wherein the SWM provides an environment description for detecting and correcting a non-line-of-sight (NLOS) reception; accumulating the 3D point clouds from previous frames into the SWM for enhancing a field of view (FOV) of the 3D LiDAR sensor; receiving global navigation satellite system (GNSS) measurements from satellites, by a GNSS receiver; detecting NLOS reception from the GNSS measurements using the SWM; correcting the NLOS reception by NLOS remodeling when a reflection point is not found in the SWM; and estimating a GNSS positioning by a least-squares algorithm. It is the objective to provide a method that mitigates NLOS caused by both static buildings and dynamic objects.

A method for supporting positioning of a vehicle using a satellite positioning system is disclosed. The method includes generating, in real-time, a sliding window map (SWM) based on 3D point clouds from a 3D LiDAR sensor and an attitude and heading reference system (AHRS), wherein the SWM provides an environment description for detecting and correcting a non-line-of-sight (NLOS) reception; accumulating the 3D point clouds from previous frames into the SWM for enhancing a field of view (FOV) of the 3D LiDAR sensor; receiving global navigation satellite system (GNSS) measurements from satellites, by a GNSS receiver; detecting NLOS reception from the GNSS measurements using the SWM; correcting the NLOS reception by NLOS remodeling when a reflection point is not found in the SWM; and estimating a GNSS positioning by a least-squares algorithm. It is the objective to provide a method that mitigates NLOS caused by both static buildings and dynamic objects.