Outlier-tolerant navigation satellite system positioning method and system

US10895646B2 · kind B2 · utility

Assignee

• Trimble Inc. · US

Inventors

• Stefan Junker · Leonberg, DE
• Markus Glocker · Munich, DE
• Nicholas C. Talbot · Melbourne, AU

Key dates

• Filing date: Nov 30, 2017
• Grant date: Jan 19, 2021
• Expiry date: Dec 12, 2038

Classification

• Technology area (CPC G): Physics
• CPC primary: G01S19/42
• WIPO field: Measurement
• WIPO sector: Instruments

Abstract

The invention relates to a method carried out by a navigation satellite system (NSS) receiver or a processing entity receiving data therefrom, for estimating parameters useful to determine a position. The NSS receiver observes NSS signals from NSS satellites. Two filters, called “robustifier” and “main estimator” respectively, both use state variables and compute the values thereof based on: NSS signals observed by the NSS receiver, and/or information derived therefrom. The robustifier identifies, within the input data, measurements that do not match a stochastic model assigned thereto. For each identified measurement, the robustifier rejects the measurement, adjusts the stochastic model assigned to the measurement, and/or corrects the measurement. The robustifier uses fewer state variables than the main estimator. A corresponding system is also disclosed.