Disclosed in some examples are methods, systems, devices, and machine-readable mediums for providing a PNT system provided by stratospheric balloons. This stratospheric PNT system (SPNTS) replaces the space-segment of a standard PNTS with a stratospheric segment comprising one or more stratospheric balloons that provide PNTS signals usable to determine timing, positioning, and/or navigation for user devices.

An apparatus and a method for providing a global localization output are provided. When the apparatus receives navigation signals, the apparatus processes the signals to determine, based on a fixed earth-centered, earth-fixed (ECEF) reference pose of a reference point in an ECEF coordinate, a new ECEF pose, and to convert the fixed ECEF reference pose to an east-north-up (ENU) reference pose in an ENU coordinate. When the apparatus determines that a jump occurs in the new ECEF pose based on a pose change between the new ECEF pose and a previous ECEF pose, the apparatus calculates a reference shift of the ENU reference pose based on the pose change to absorb the jump in the ENU coordinate, and updates the ENU reference pose based on the reference shift. Thus, a new ENU local pose may be obtained using the ENU reference pose.

An apparatus and a method for providing a global localization output are provided. When the apparatus receives navigation signals, the apparatus processes the signals to determine, based on a fixed earth-centered, earth-fixed (ECEF) reference pose of a reference point in an ECEF coordinate, a new ECEF pose, and to convert the fixed ECEF reference pose to an east-north-up (ENU) reference pose in an ENU coordinate. When the apparatus determines that a jump occurs in the new ECEF pose based on a pose change between the new ECEF pose and a previous ECEF pose, the apparatus calculates a reference shift of the ENU reference pose based on the pose change to absorb the jump in the ENU coordinate, and updates the ENU reference pose based on the reference shift. Thus, a new ENU local pose may be obtained using the ENU reference pose.

Disclosed are methods and apparatuses for transmitting and receiving characteristic information of a GNSS subframe. A method for transmitting and receiving characteristic information of a GNSS subframe, as a method for a first device, may comprise: receiving a subframe including first information, which is characteristic information of the subframe, from a second device; checking a format of the subframe on the basis of the first information; and determining whether to decode data included in the subframe on the basis of the checked format of the subframe.

Disclosed are methods and apparatuses for transmitting and receiving characteristic information of a GNSS subframe. A method for transmitting and receiving characteristic information of a GNSS subframe, as a method for a first device, may comprise: receiving a subframe including first information, which is characteristic information of the subframe, from a second device; checking a format of the subframe on the basis of the first information; and determining whether to decode data included in the subframe on the basis of the checked format of the subframe.

Disclosed are methods, systems, and non-transitory computer-readable medium for distributed vehicle processing. For instance, the method may include: in response to determining a first trigger condition of a first set of trigger conditions is satisfied, performing a first process corresponding to the first trigger condition on-board a vehicle; in response to determining a second trigger condition of a second set of trigger conditions is satisfied, prompting a second process corresponding to the second trigger condition by transmitting an edge request to an edge node and receiving an edge response from the edge node; and in response to determining a third trigger condition of a third set of trigger conditions is satisfied, prompting a third process corresponding to the third trigger condition by transmitting a cloud request to a cloud node and receiving a cloud response from the cloud node.

Disclosed are methods, systems, and non-transitory computer-readable medium for distributed vehicle processing. For instance, the method may include: in response to determining a first trigger condition of a first set of trigger conditions is satisfied, performing a first process corresponding to the first trigger condition on-board a vehicle; in response to determining a second trigger condition of a second set of trigger conditions is satisfied, prompting a second process corresponding to the second trigger condition by transmitting an edge request to an edge node and receiving an edge response from the edge node; and in response to determining a third trigger condition of a third set of trigger conditions is satisfied, prompting a third process corresponding to the third trigger condition by transmitting a cloud request to a cloud node and receiving a cloud response from the cloud node.

A sensor device includes a processor configured to communicate with a user terminal as a communication apparatus that downloads positioning satellite information from a management server, acquires a current location by using the positioning satellite information, acquires action information indicating a result of an action of a user, and when the action information is acquired, instruct the user terminal to download the positioning satellite information from the management, and execute a process for acquiring a prediction ephemeris from the user terminal.

A sensor device includes a processor configured to communicate with a user terminal as a communication apparatus that downloads positioning satellite information from a management server, acquires a current location by using the positioning satellite information, acquires action information indicating a result of an action of a user, and when the action information is acquired, instruct the user terminal to download the positioning satellite information from the management, and execute a process for acquiring a prediction ephemeris from the user terminal.

To provide a positioning apparatus which can reduce the error of the positioning information of the positioning satellite, by using either appropriate one of the positioning reinforcement information by the ground channel or the positioning reinforcement information by the satellite channel, according to execution state of the automatic driving. A positioning apparatus receives positioning information from positioning satellites; calculates a first own position based on the positioning information and the positioning reinforcement information of the ground base station; calculates a second own position based on the positioning information and the positioning reinforcement information of the satellite; determines either the first own position or the second own position to be used, based on whether or not the driving mode is the automatic driving mode; and outputs the first own position or the second own position determined to be used, as a final own position.