Systems and methods for tracking a heading of an excavator are provided. An initial heading of the excavator platform is obtained and a current azimuthal orientation of the excavator platform is associated with the initial heading. Coordinates of a measurement center of the GNSS device are obtained. Coordinates of a center of rotation of the excavator platform are determined using the initial heading of the excavator platform, the coordinates of the measurement center, and a known spatial relationship between the measurement center of the GNSS device and the center of rotation of the excavator platform. Rotation of the excavator platform is tracked from the initial heading to a first heading using rotation measurements from a swing sensor.

Systems and methods for tracking a heading of an excavator are provided. An initial heading of the excavator platform is obtained and a current azimuthal orientation of the excavator platform is associated with the initial heading. Coordinates of a measurement center of the GNSS device are obtained. Coordinates of a center of rotation of the excavator platform are determined using the initial heading of the excavator platform, the coordinates of the measurement center, and a known spatial relationship between the measurement center of the GNSS device and the center of rotation of the excavator platform. Rotation of the excavator platform is tracked from the initial heading to a first heading using rotation measurements from a swing sensor.

A method for locating an object of interest using offset. The object may be a mobile platform, or portion of same, associated with a vehicle, or a pavement segment or feature of or on a pavement segment on which the mobile platform is located. The vehicle includes first and second fixed points having a known offset from each other. An image sensor whose field of view includes the second fixed point and a portion of the mobile platform provides image data which is used with the known offset to calculate the precise location of the object of interest.

A method for locating an object of interest using offset. The object may be a mobile platform, or portion of same, associated with a vehicle, or a pavement segment or feature of or on a pavement segment on which the mobile platform is located. The vehicle includes first and second fixed points having a known offset from each other. An image sensor whose field of view includes the second fixed point and a portion of the mobile platform provides image data which is used with the known offset to calculate the precise location of the object of interest.

A method of determining a posterior error probability distribution for a parameter measured by a Global Navigation Satellite System (GNSS) receiver. The method comprises receiving a value for each of one or more GNSS measurement quality indicators associated with the GNSS measurement of the parameter. The or each received measurement quality indicator value is provided as an input into a multivariate probability distribution model to determine the posterior error probability distribution for the GNSS measurement, wherein the variates of the multivariate probability distribution model comprise error for said parameter, and the or each measurement quality indicator.

A method of determining a posterior error probability distribution for a parameter measured by a Global Navigation Satellite System (GNSS) receiver. The method comprises receiving a value for each of one or more GNSS measurement quality indicators associated with the GNSS measurement of the parameter. The or each received measurement quality indicator value is provided as an input into a multivariate probability distribution model to determine the posterior error probability distribution for the GNSS measurement, wherein the variates of the multivariate probability distribution model comprise error for said parameter, and the or each measurement quality indicator.

A position detection method to be executed by a computer, the position detection method includes transmitting, by a sensor terminal, a signal obtained by performing capture processing on a satellite signal from a satellite of a search target according to an order of the satellites of the search targets; calculating, by a calculation device, a position of the sensor terminal based on a signal transmitted by the sensor terminal; and determining a satellite having a highest discovery probability based on a specific estimation method for second and subsequent search targets, using an index which is reflected larger as the discovery probability of other satellites is higher or lower, in a case where the first satellite is captured when a first search target is determined.

A position detection method to be executed by a computer, the position detection method includes transmitting, by a sensor terminal, a signal obtained by performing capture processing on a satellite signal from a satellite of a search target according to an order of the satellites of the search targets; calculating, by a calculation device, a position of the sensor terminal based on a signal transmitted by the sensor terminal; and determining a satellite having a highest discovery probability based on a specific estimation method for second and subsequent search targets, using an index which is reflected larger as the discovery probability of other satellites is higher or lower, in a case where the first satellite is captured when a first search target is determined.

Method, systems, and computer-readable media containing instructions which, when executed by a computing device, cause it to receive data from an inertial measurement unit, including GPS data, velocity data, and bearing data, receive data from a digital magnetic compass, including bearing data, receive data from a Doppler sensor, including velocity data and distance data, determining whether GPS location data is in consensus with a previous derived multi-source reckoning system location, determining a consensus distance value from a weighted average of data from the inertial measurement unit and the Doppler sensor, determine a consensus heading value from a weighted average of data from the inertial measurement unit and the digital magnetic compass, determine a consensus geolocation value from a weighted average of data from the inertial measurement unit and the previous derived multi-source reckoning system location, and determine a derived multi-source reckoning system location.

Method, systems, and computer-readable media containing instructions which, when executed by a computing device, cause it to receive data from an inertial measurement unit, including GPS data, velocity data, and bearing data, receive data from a digital magnetic compass, including bearing data, receive data from a Doppler sensor, including velocity data and distance data, determining whether GPS location data is in consensus with a previous derived multi-source reckoning system location, determining a consensus distance value from a weighted average of data from the inertial measurement unit and the Doppler sensor, determine a consensus heading value from a weighted average of data from the inertial measurement unit and the digital magnetic compass, determine a consensus geolocation value from a weighted average of data from the inertial measurement unit and the previous derived multi-source reckoning system location, and determine a derived multi-source reckoning system location.