Method and system for navigating a moving object

专利摘要:
METHOD AND SYSTEM FOR NAVIGATING A MOVING OBJECT AND, COMPUTER READable STORAGE MEDIA In a system and method for navigating a moving object (110) according to signals from the satellite (115), a moving object ( 110) receives satellite navigation signals from a number of satellites (115). The moving object (110) also receives moving base data from a moving base station (120). The received motion base data includes satellite mediation data from the motion base station (120). At the moving object (110) a relative position vector of the moving object (110) relative to the moving base station (120) is determined, based on the received moving base data and the received satellite navigation signals. The moving object (110) sends a signal reporting information corresponding to the relative position vector.
公开号:BR112013002383B1
申请号:R112013002383-0
申请日:2011-06-02
公开日:2022-02-15
发明作者:Liwen L. Dai；Yunfeng Shao
申请人:Navcom Technology, Inc；
IPC主号:

专利说明:

RELATED ORDERS
[001] This application claims priority to the U.S. Provisional Patent Application. of No. 61/369,596, filed July 30, 2010, "System and Method for Moving-Base RTK Measurements," which is incorporated herein by reference in its entirety. TECHNICAL DATA FIELDS
[002] The disclosed modalities generally refer to communication via satellites. More particularly, the disclosed embodiments relate to real-time kinematics (RTK) measurement of base station in motion. KNOWLEDGE
[003] Conventional real-time kinematics (RTK) techniques used in many navigation applications such as land and hydrographic surveys are based on the use of carrier phase measurement signals received from a number of satellites. The conventional RTK technique used to navigate a moving object receiver (e.g., a ship, a car, etc.) requires a stationary base receiver (often called the base station) to periodically broadcast its satellite data. to the moving object receiver. The moving object receiver compares its own phase measurements with those received from the base station, and uses that information plus the base station's position to determine the position of the moving object receiver. Communication between the base station and the rover receiver can take place via radio communication using allocated frequencies, typically in the UHF band. BRIEF DESCRIPTION OF THE DRAWINGS
[004] Figure 1 is a block diagram illustrating base station RTK system in motion, according to some embodiments;
[005] Figure 2 is a block diagram illustrating a moving object system of the moving base station RTK system of Figure 1, in accordance with some embodiments;
[006] Figure 3 is a timing diagram illustrating timing of position signals as transmitted from the moving base station and received and processed at the moving object, in accordance with some embodiments;
[007] Figure 4 is a block diagram illustrating a data structure of a message database that stores messages communicated in the moving base station RTK system, in accordance with some embodiments;
[008] Figures 5A-5C are block diagrams illustrating data structure for data received from a moving base station, an optional moving base station position database, and a moving object position database. optional, according to some modalities;
[009] Figure 6 is a block diagram illustrating a data structure of a relative position vector database, according to some embodiments; and
[0010] Figures 7A-7C are flowcharts of a method for measuring moving base station RTK, according to some embodiments. SUMMARY
[0011] Some embodiments provide a system, computer readable storage medium storing instructions, or a computer-implemented method for navigating a moving object according to signals from satellites. A moving object (also referred to here as a “rover”) receives satellite navigation signals from a number of satellites and generates satellite navigation data for the moving object from the received satellite navigation signals. The moving object also receives moving base data from a moving base station. The incoming moving base data includes satellite measurement data from the moving base station. In the moving object a relative position vector (e.g. a vector connecting a moving base station position to a moving object position) of the moving object relative to the moving base station is determined, based on the data motion base data received and received satellite navigation data. In some embodiments, the moving object reports information corresponding to the relative position vector and/or a current position of the moving object by sending a signal to a home system.
[0012] In some embodiments, both the moving base data received from the moving base station and the satellite navigation data for the moving object include data for a specific first time (e.g., an epoch) before at current time. As described in more detail below, the relative position vector is then determined by generating an RTK value for the position vector relative to the first specific time, using the moving base data received from the moving base station and the moving base station data. Satellite navigation for the moving object for the first specific time.
[0013] The moving base station RTK method and system described here can be used in a wide range of applications, such as maintaining a fixed distance between two vehicles (e.g., a moving object such as a rover and a moving base station such as a truck) or other mobile systems, maintaining a fixed relative position (e.g., a two- or three-dimensional position difference vector) between two vehicles or other systems, or maintaining a speed difference fixed between two vehicles or other systems. DESCRIPTION OF MODALITIES
[0014] Figure 1 is a block diagram illustrating a moving base station RTK system 100, in accordance with some embodiments. The moving base station RTK system 100 allows a moving object 110 (e.g., a rover such as a boat, robot, trailer, etc.) to determine, at any point in time, its relative current position. relative to the moving base station 120 (eg, a ship, a command vehicle, a truck, etc.), rather than a stationary base using conventional RTK navigation systems. Moving object 110 and moving base station 120 are equipped with satellite receivers, including satellite antennas 130 and 140, respectively, to receive satellite navigation signals from at least four satellites 115. Satellite navigation signals received by the moving base station 120 and the moving object 110 are typically global navigation satellite system (GNSS) signals, such as global positioning system (GPS) signals at the 1575.42 MHz LI signal frequency and 1227.6 MHz L2 signal frequency.
[0015] The moving base station 120 measures the satellite navigation signals received at specific times and reports those measurements (e.g., pseudo-range and/or phase measurements) at certain specific times (e.g., times, to à à tk, shown in Figure 3) to the moving object 110, using communication channel 150 (e.g., a wireless communication channel, or more specifically a radio communication channel such as a UHF radio). Optionally, the moving base station 120 determines its position at predefined times (e.g., the same times that satellite signal measurements are sent, or other times) using satellite navigation signals received from satellites 115 and communicates its position at those times to the moving object 110 using a communication channel 150. However, in many embodiments, communication of the position from the moving base station 120 to the moving object 110 is not necessary.
[0016] Moving object 110 determines its relative position with respect to moving base station 120 based on (A) satellite navigation signals received by moving object 110 from satellites 115 and (B) measurement data of satellite signal received from the moving base station 120. The relative position determined by the moving object 110 is represented by a relative position vector. In the following discussion, and throughout this document, the term "relative position vector" means the "relative position vector between the moving object 110 and the moving base station 120, or vice versa". It is noted that the relative position vector between moving object 110 and moving base station 120 is the same as the relative position vector between moving base station 120 and moving object 110, multiplied by minus one. Therefore, both relative position vectors carry the same information as long as the start point and the end point (i.e., that end of the vector that is on the moving base station 120 and that end that is on the moving object 11) are known.
[0017] In some embodiments, the moving object 110 is configured to generate a relative position vector for any specified time 1) determining a relative position vector between the moving object 110 and the moving base station 120 at times or intervals predefined (eg at intervals of one second), here called epoch boundary times; and 2) combining the relative position vector at a last epoch boundary time prior to the specified time with the change in position at the moving object 110 and the change in position (or the estimated change in position, as explained below) at the station moving base 120 between the specified time and the previous epoch boundary time. This process, sometimes called RTK synchronized time here, generates an accurate relative position vector between moving object 110 and moving base station 120 (e.g., within a few centimeters) at any specified time that is between epoch boundary (eg, the current time, or an earlier time after the last epoch boundary time). In some implementations, a system such as moving object 110 is configured to generate updated relative position vectors at a rate that is greater than or equal to 25 Hz (e.g., an updated relative position vector is generated every 40 milliseconds when the refresh rate is 25 Hz, or every 20 milliseconds when the refresh rate is 50 Hz).
[0018] In some embodiments, the moving object 110 reports a relative position vector and/or a current position of the moving object 110 to the home system 160. The home system 160 can be a server or a client system (e.g. ., a desktop, a laptop, a cell phone, a tablet, a personal digital assistant (PDA), etc.). In some embodiments, the home system is located at the moving object 110 or the moving base station 120. The home system 160 is optionally connected to a network such as the Internet. Optionally, home system 160 is configured to control the movement of the moving object 110 (e.g., controlling the propulsion and/or steering systems 112 of the moving object 110), or to control movement of the moving base station 120 ( e.g., controlling the propulsion and/or steering systems 122 of the moving base station 120) in order to maintain a predefined distance or relative position vector between the moving base station 120 and the moving object 110.
[0019] Figure 2 is a block diagram illustrating a moving object system 200, corresponding to moving object 110 in the moving base station RTK system 100 of Figure 1, in accordance with some embodiments. The moving object system 200 typically includes one or more processors (CPU's) 202 for executing programs or instructions; a satellite receiver 204 for receiving satellite navigation signals; one or more communication interfaces 206, 208; a memory 210; and one or more communication buses 205 for interconnecting these components. The moving object system 200 optionally includes a user interface 209 characterized in that it comprises a display device and one or more input devices (e.g., one or more of a keyboard, mouse, touch screen, touch pad, etc.). key, etc.). The one or more communication buses 205 may include circuitry (sometimes called a chipset) that interconnects and controls communications between system components.
[0020] Communication interface 206 (eg, a receiver or transceiver) is used by the moving object system 200 to receive communications from the moving base station 120. Communication interface 208 (eg, a transmitter or transceiver ) is used by the moving object system 200 to send signals from the moving object 110 to the home system 160, reporting information corresponding to the relative position vector with respect to the moving base station 120 and/or the current position of the object in motion 110. In some embodiments, communication interfaces 206 and 208 are a single transceiver, while in other embodiments they are separate transceivers or separate communication interfaces.
[0021] Memory 210 includes high-speed random-access memory, such as DRAM, SRAM, DDR RAM, or other solid-state random-access memory devices, and may include non-volatile memory, such as one or more storage devices. magnetic disk, optical disk storage devices, flash memory devices, or other non-volatile solid-state storage devices. The memory 210 optionally includes one or more storage devices remotely located from a CPU(s) 202. The memory 210, or alternatively the non-volatile memory device(s) within the memory 210, comprises a readable storage medium of computer. In some embodiments, memory 210 or the computer readable storage medium of memory 210 stores the following programs, modules, and data structure, or a subset thereof: • An operating system 212 that includes procedures for handling various base system services and to perform hardware-dependent tasks.• A database 214 of data received from the moving base station 120 (as described in more detail below with respect to Figure 5A).• Messaging applications 216 operating together with communication interface 206 (e.g., a receiver or transceiver) to handle communications between the moving base station 120 and the moving object system 200, and communication interface 208 (e.g., a transmitter or transceiver) to handle communications between the moving object system 200 and the home system 160. In some embodiments, messaging applications 216 include units, which when executed the at least one or more processors 202 enable various hardware modules on the communication interface 206 to receive messages from the moving base station 120 and on the communication interface 208 to send messages to the home system 160. A database of positions of the optional moving base station 218 that stores data associated with positions (e.g., positions in three dimensions) of the moving base station 120 at a number of specific times, as will be discussed below with respect to Figure 5B. Database 218 is for applications in which the absolute position of the moving base station 120 is determined by the moving object system 200, or absolute position information is provided by the moving base station 120. A database of positions of the moving object 220 that stores data associated with the positions (e.g., positions in three dimensions) of the moving object 110 at a specific number of times, as will be discussed below with respect to Figure 5C. Database 220 is for applications in which the absolute position of moving object 110 is determined by moving object 110 (moving object system 200). • A relative position vector database 222 that stores data associated with relative position vectors of the moving object 110 with respect to the moving base station 120 at a specified number of times, as will be discussed below with respect to Figure 6. • One or more determination modules 230 which when executed by the CPU 202 determine a relative position vector of the moving object 110 relative to the moving base station 120, based on the moving base station data received from the moving base station 120 via the communications receiver 206 and satellite navigation data received from the satellites 115 by satellite receiver 204 (receiver 130, Figure 1).
[0022] In some implementations, the determination modules 230 include an RTK module 232, a delta module 233, a forward projection module 234, and a velocity damping module 236, as described below.
[0023] RTK module 232 determines the relative position vector at specific times (here called epoch boundary times) using moving base data (ie, satellite measurement data for moving base station 120 at each specific time , as received from the moving base station 120 at times later than the specified time) and satellite signal measurements made at a moving object system 200 (at the moving object 110) at each specified time. The computation of the relative position vector at each specific time is performed according to well-known real-time kinematics (RTK) methodologies.
[0024] Delta module 233 determines changes in position of moving object 110 (or moving object system 200) between epoch boundary times. In some embodiments, the delta module 233 uses a technique known as LI phase navigation to convert changes in phase measurements of the LI signal into changes in the position of the moving object 110.
[0025] Measurement module 231 processes received satellite navigation signals to determine satellite navigation data for moving object 110 in a sequence of times, including epoch boundary times and times between epoch boundary times. This processing involves measuring or determining measurements of received satellite navigation signals. For example, measurements may include a pseudo-band and LI and L2 phase measurements for each satellite from which navigation signals are received. The 232 RTK module uses the moving base data and moving object data from satellite navigation for a specific time (e.g., an epoch boundary time) to generate an RTK value, which is the vector of relative position for that specific time.
[0026] Optionally, in applications where an absolute position of the moving object 110 is required, the RTK module 232 determines the position (ie, absolute position) of the moving base station 120 at one or more specified times using the data from moving base. Alternatively, the determination module(s) 230 receives data from the moving base station 120 indicating the position of the moving base station 120 at one or more specific times. In these alternative implementations, the moving base station 120 processes the satellite navigation signals received by its satellite receiver 140 (Figure 1) to generate absolute position values of the moving base station for the one or more specific times. The accuracy of the absolute position values generated by the moving base station 120 can be improved through the use of any variety of navigational aids technology, such as GPS or wide-area differential RTK (e.g., using a fixed base station). 170, Figure 1).
[0027] Speed smoothing module 236 determines a smoothed speed of moving base station 120 using two or more position change updates from moving base station 120, as discussed below in more detail with respect to Figure 7.
[0028] Forward projection module 234 determines a projected vector from current relative position to current time using a known change in position of moving base station 120 since a specific time in the past (e.g., a boundary time epoch), the speed of the moving base station 120 (e.g., the smoothed speed of the moving base station 120, determined by the module 236), a known change in the position of the moving object 110 since the same specific time in the past , and the relative position vector for that same specific time, to determine a projected vector of current relative position for the current time. See equation 1 below and the associated discussion.
[0029] The operating system 212 and each of the modules and applications identified above correspond to a configuration of instructions to perform the function described above. The instruction set may be executed by one or more processors 202 of the moving base station system 200. The modules, applications, or programs identified above (ie, instruction sets) need not be implemented as separate software programs, procedures, or modules. , and thus various subsets of these modules can be combined or otherwise rearranged in various modalities. In some embodiments, memory 210 stores a subset of the modules and data structures identified above. In addition, memory 210 optionally stores additional modules and data structures not described above.
[0030] Figure 2 is intended more as a functional description of the various features that may be present in a moving object system 200 than as a structural schematic of the modalities described herein. In practice, and as recognized by those with simple skill in the art, items shown separately could be combined and some items could be separated. For example, some items shown separately in Figure 2 could be combined into a single module or component, and single items could be implemented using two or more modules or components. The actual number of modules and components, and how resources are allocated between them, varies from one implementation to another.
[0031] Figure 3 is a timing diagram illustrating timing of the signals (moving base data) as transmitted from the moving base station 120 (Figure 1) and received and processed at the moving object 110 (Figure 1), according to some modalities. The time time scale indicates epoch times t0, t1. . . tk, (each or what, or closely corresponds to an epoch boundary time) where the moving base station 120 transmits data (moving object data, including satellite measurement data) to the moving object 110 For example, at time t0 data is transmitted from the moving base station 120 to the moving object 110. The data transmitted at time t0 includes satellite measurement data, which will be used by the moving object 110, in conjunction with satellite signal measurements made at moving object 110 to generate a relative position vector representing the position of moving object 110 relative to moving base station 120 at t0. Another set of satellite measurement data is transmitted by the moving base station 120 to the moving object 110 at time t1. In some embodiments, epoch times t1. . . tk, occur at one-second intervals.
[0032] Data transmitted by the moving base station 120 arrives at the moving object 110 at time tr, (see time scale 320) which is sufficiently later than the time for which the transmission delay, and subsequent processing, needs be taken into account in order to generate an accurate relative position vector. Put another way, because the moving base station 120 is moving, and the data transmission is not instantaneous, using RTK to determine the relative position vector requires synchronizing the satellite measurement data to the moving base station 120 and the moving object 110, and determining a current relative position vector for the current time requires projecting changes in the position of the moving base station 120 for the current time. These techniques for managing time delays while performing RTK computations are called time-synchronized RTK.
[0033] The RTK module 232 of the moving object system 200 determines an RTK value (also referred to as "an RTK solution"), which is the relative position vector between the moving object 110 and the moving base station 120 for each epoch boundary time t0, t1. . . tk. Determining the RTK solution on the moving object 110 uses both the delayed moving base data and measurements determined from the satellite navigation signals received on the moving object 110. Using this information, the RTK module module 232 determines a precise relative position vector or a precise position (eg, within less than or equal to one or a few centimeters) of the moving object 110 for each of the epoch boundary times.
[0034] The received (tr) associated with the data received from the moving base station 120 is indicated on the time scale 320. As noted above, the delay time between to and tr is due to data transmission between the base station 120 and the moving object 110. As a result, the time-synchronized RTK process for time to starts at three. However, due to computational delay, the RTK solution may not be ready until a later time tp. In other words, the RTK solution obtained at time tp effectively corresponds to time time to. The satellite navigation data for moving object 110 used in determining the RTK solution for time to must correspond to time to and not tp or tr, and therefore the satellite navigation data for time to is placed in a buffered or stored in a local database until the RTK 232 module is ready to use them. Other data transmitted from the moving base station 120 to the moving object 110 (e.g., update data transmitted between epoch boundary times) experience similar transmission delays, and the processing delays for each type of data will vary. typically depend on the way in which that data is processed.
[0035] Update times t01, to2. . . ton (e.g., at predetermined time intervals shorter than one second, such as 20 msec display intervals corresponding to 50 Hz or 40 msec intervals corresponding to 25 Hz) shown on the time scale 310, correspond to the times after the first epoch boundary time t0 (and similarly after other epoch boundary times such as t1 and tk). In some embodiments, the moving base station 120 transmits a position update at each update time. In one example, the update information transmitted by the moving base station 120 for each update time indicates changes in position and time, Δx, Δy, Δz, and Δt, since the immediately preceding epoch boundary time. As explained above, the update information takes a finite amount of time to be received and processed by the moving object system 200. The moving object system 200 processes the update information to determine the speed of the moving base station 120.
[0036] In some embodiments, the moving object 110 determines an updated relative position vector (ie, at current time t0k) based on the RTK solution for the last epoch boundary time, such as time t0 (or t1 . . . tk). In some embodiments, the moving object 110 determines the current relative position vector (e.g., at any of the update times t01, t02 . . . or t0N) by combining the RTK solution for the first specific time t0 with the changes position from both the moving base station 120 and the moving object 110, as represented by equation 1 below: RPV(t0k ) = RPV(t0) + ΔposMO - ΔposMB (Eq. 1)
[0037] where, RPV(t0k ) and RPV(t0) represent the relative position vectors at a current time t0k and the previous epoch boundary time t0, respectively. The relative position change ΔposMO and ΔposMB respectively correspond to the position change of moving object 110 and moving base station 120 between times t0 and t0K. The change in position of the moving object 110 can be determined “directly” (e.g., using L1 successive delta-phase navigation) from measurements of changes in received satellite navigation signals, or can be calculated (in which case it is the projected change in position) using well-known methods, based on the speed of the moving object 110 and a travel time of Δt = t0k - t0 . Furthermore, the speed of the moving object 110 can be determined from changes in the position of the moving object 110. Due to the transmission delay, the current position of the moving base station 120 cannot be determined directly. Therefore, the change in position of the moving base station 120, ΔposMB, between times t0 and t0k is calculated from the two parts. The first part is the change of the moving base station between time t0 and t0i which can be determined “directly” using successive delta phase measurements at the moving base station and then transmitted to the moving object via radio communication. The second part determines a projected change in the position of the base object using well-known methods, based on the speed of the moving base station 120 and a travel time of Δt = t0k - t0 . See equation 8 below and the associated discussion. The speed of the moving base station 120 is determined from changes in the position of the moving base station 120; which is discussed in more detail below.
[0038] Figure 4 is a block diagram illustrating a data structure of a message 400 received by the moving object 110 from the moving base station 120, in accordance with some embodiments. Message 400 is one of a sequence of messages 400-1, 400-2, and sequences, transmitted by moving base station 120, each received message 400 includes a number of data fields. An exemplary data recording structure for message 400 includes the following data fields: • An STX data field 410 that signifies start of a message and is limited to a certain number of bytes (eg, 8 bytes); • A preamble data field 1412 that includes a first preamble; • A preamble data field 2,414 that includes a second preamble; • A command ID data field 416 that provides an identifying command number.
[0039] Examples of command IDs include an ID identifying a message containing satellite navigation data for one or more satellites, and ID identifying a message containing position update data; • A 418 message length data field that indicates the length of the message data field 420;• A message data field 420 that stores the message body and may include various data (e.g., subfields holding specific types of values) depending on the information being communicated;• A field Checksum data 422 which includes a checksum that can be used to detect errors in the communicated message; e• An ETX 424 data field that signifies the end of a message.
[0040] In some implementations, when message 400 is a message containing satellite navigation data for a satellite (e.g., sent at the beginning of an epoch), the data field of message 420 includes the station identification number mobile base 120 (or, more generally, data identifying the mobile base station), the satellite PR number (or, more generally, data identifying the satellite) for that measurement data being provided in the message, the time associated with the mentioned satellite signals (e.g., the value of the GPS date/time timestamp), the resolution or quality information of the satellite signal, a pseudo-range from the mobile base station 120 to the satellite, and phase measurements carrier to one or more satellite signals (eg LI and L2 signals from GPS satellite).
[0041] In some implementations, when message 400 is a position update message (e.g., an update message sent at one of update times t01, t02 . . t0n), the data field of message 420 includes the mobile base station identification number 120, the update time, the delta time for the update (e.g., the amount of time between the update time and the immediate preceding).
[0042] Figure 5A represents a data structure for a database 214 of data received from base station moving 120. The database includes data 550 received from base station moving 120 for each epoch (e.g. , one-second intervals). The number of epochs for which data 550 is retained by the moving object system 200 may depend on the amount of available memory, the needs of applications that use this information, and so on. The data 550 for a respective epoch includes initial measurement data 552 and a sequence of position updates 554. The initial measurement data 552, sent by the moving base station 120 at the beginning of the epoch, includes measurement data 560 for each of a plurality of satellites. In some embodiments, measurement data 560 for any of the satellites includes a satellite identifier 561, a timestamp of date/time 562 (e.g., a timestamp of GPS date/time indicating the start time of the epoch), one or more signal resolution values to indicate the quality of the satellite signal received at the moving base station 120, a pseudo-track 564 from the moving base station 120 to the satellite, and L1 and L2 phase measurements. In other embodiments, some of these fields may be omitted or combined, and additional fields may be included. For example, a single 562 timestamp of date/time can be provided for all satellite measurements.
[0043] In some embodiments, position update data 554 for a single position update sent by mobile base station 120 includes a change in position 574; a timestamp of date/time and/or delta time value (indicating an amount of time since the most recent epoch boundary time) 572, indicating the time corresponding to position update values 574; and optionally includes satellite information 576 (eg, indicating the number of satellites on which the position update is based), and variance - covariance information.
[0044] Figure 5B is a block diagram illustrating a data structure of a position database of the optional moving base station 218, and Figure 5C is a block diagram illustrating a data structure of a position database of the moving object 220, in accordance with some embodiments. As mentioned above, in implementations where an absolute position of the moving object 110 is required, the moving object 110 (Figure 1) optionally receives position information from the moving base station 120 (Figure 1) for each of the times boundary of epochs t0, ti . tk, in addition to satellite navigation data sent by the moving base station 120. In some embodiments, the moving object system 200 stores the received position information in data records 500-1 to 500-K of the database. 218. Position information stored in a respective data record (e.g., data record 500-2) includes data field 510 storing a PMB home position of the moving base station 120 and N fields of position change data 512-1 to 512-N storing position changes (ΔPMB )0l, (ΔPMB )02 . . . (ΔPMB )0N of moving base station 120 for update times t01, t02 . . . t0n, respectively.
[0045] In each position data record 500, the starting position PMB position 510 is the position of the moving base station 120 at the beginning of the epoch (ie, at an epoch boundary time) (e.g., t1 in the figure 3). The PMB home position can be derived from satellite navigation signals received at the moving base station 120 and communicated to the moving object 110 via a communication channel 150 (Figure 1). Alternatively, the home position PMB may be derived at the moving object 110 from the satellite navigation data sent by the moving base station 120 to the moving object 110 via a communication channel 150.
[0046] Position changes (e.g. (ΔPMB)11, (ΔPMB)12 . . .(ΔPMB)lN ) represent changes in the position of the moving base station 120 corresponding to update times (e.g. t11, t12 . . . t1N, shown in figure 3) after a specific epoch boundary time (eg, t1 ). In some modalities, changes in position (ΔPMB)11, (ΔPMB)12 . . . (ΔPMB)lN are derived, using well known methods, at the moving base station 120 from the received satellite navigation signals, and then communicated to the moving object 110 via channel 150 (Figure 1). In addition, when a position update message is not received by the moving object system 200 (e.g., due to noise or other problems), the moving object system can optionally “fill in” the missing position update 512 using the speed of the moving base station 120, as derived from previously received position information for the moving base station 120 (e.g., a home position 510 and one or more of the received position updates 512), and the last known position of the moving base station 120.
[0047] The moving object position database 220 shown in Fig. 5C stores similar information as the moving base station position database 218, described above with respect to Fig. 5B. The positions of the moving object 110 stored in data registers 520-1 through 520-K correspond to the absolute position of the moving object 110 during successive epochs. Each data record (e.g., data record 520-2) includes initial position data field 514 storing an initial position PM0 of moving object 110 at the beginning of an epoch, and N position change data fields 516 -1 to 516-N storing the position changes ((ΔPMB)11, (ΔPMB)12 . . . (ΔPMB )lN) of the moving object 110, In some embodiments, the starting position PM0 of the moving object 110 is a RTK value computed by the RTK module 232 of the moving object system 200, using the PMB home position of the moving base station 120 received from the moving base station 120 (or derived at the moving object 110 based on data from satellite navigation from the moving base station 120 received from the moving base station 120).
[0048] Position changes of the moving object ((ΔPMO)11, (ΔPMO )12 . . . (ΔPMO )lN) represent changes in the position of the moving object 110 corresponding to update times (e.g., update t11, t12 . . . t1N, shown in figure 3) after an epoch boundary time (eg, t1 ). In some embodiments, these changes in position are computed by the moving object system 200 (Figure 2) by applying methods well known to received satellite navigation signals.
[0049] In some embodiments, the forward projection module 234 combines the position of the moving base station 120 at an epoch boundary time (e.g., t1), the relative position vector RPV(t1 ) to the time boundary, and a change in the position of the moving object 110 to determine the position of the moving object 110 at a current time (e.g., an update time t1k), as represented by equation 2 below: PMO (t1k ) = PMB (t1) + RPV(t1) + (ΔPMO)1k (Eq. 2)where, PMO (t1k ) represents position of the moving object110 at update time t1k, PMB (t1) represents the position of the base station in motion 120 at epoch boundary time t1, RPV(t1) indicates the relative position vector at epoch boundary time t1, and (ΔPMO)1k is the change in position of the moving object 110 between the boundary time of epoch t1 and update time t1k.
[0050] Figure 6 is a block diagram illustrating a data structure of a relative position vector database 222, in the moving object system 200, according to some embodiments. The relative position vectors stored by the moving object system 200 in data records 600-1 to 600-K of database 222 correspond to successive epochs. In some embodiments, each of these data records 600 includes an initial data field 610 and N update data fields 612-1 to 612-N as shown in Figure 6. The initial data field 610 stores a vector of relative position initial RPV(t1) determined for the epoch boundary time at the beginning of a respective epoch (eg, epoch boundary time t1, at the beginning of epoch 2). In some embodiments, the initial relative position vector RPV(t1) is determined by the determination module 230 (Figure 2) using satellite navigation data received from the moving base station 120 for the epoch boundary time t1 and measurements of the satellite navigation signals received by the moving object 110 at the same epoch boundary time t1. The relative position vector represents the difference in the positions of the moving object and the moving base station, as represented by the equation 3:RPV(tl) = PM0(tl) - PMB (tl) (Eq. 3)where, PM0( tl) is the position of the moving object 110 at time tl, and PMB(tl) is the position of the moving base station 120 at time tl. Data fields 612-1 to 612-N store update values for the relative position vector corresponding to update times t11, t12 . . . t1N after the epoch boundary time tl. In some embodiments, the relative position vector RPV(tl1) for the update time t11 is determined by the moving object system 200 according to Equation 4:RPV(t11 ) = RPV(t1) + ΔposMO - ΔposMB (Eq. 4)where, RPV(t1) is the initial relative position vector at the epoch boundary time t1, and ΔposMO and ΔposMB are the respective changes in the positions of the moving object 110 and the moving base station 120 between the boundary time of epoch t1 and a corresponding update time t11 .
[0051] Figures 7A-7C describe a flowchart of a method 700 for generating relative position vectors (also called reference vectors), for a sequence of times, representing the relative position of a moving object 110 relative to the base station in motion, according to some modalities. Method 700 may be implemented by the moving object system 200, under the control of instructions stored in memory 210 (Figure 2) that are executed by one or more processors (202, Figure 2) of the moving object system 200, each one of the operations shown in Figures 7A-7C corresponds to computer readable instructions stored on a memory computer readable storage medium 210 in the moving object system 200. The computer readable instructions are in source code, Assembler language code, object code, or other instruction format that is interpreted or executable by the one or more processors of the moving object's system 200,
[0052] Moving object system 200 (Figure 2) receives (710), via satellite receiver 204 (Figure 2), satellite navigation signals from satellites 115 (Figure 1). Satellite navigation signals are measured, or processed to produce measurements, to produce satellite navigation data for the moving object 110 (712). In one example, the satellite navigation data for the moving object 110 includes, for each satellite from which satellite navigation signals are received, a pseudo-range measurement and phase measurements for one or more satellite signals, such as as the GPS LI and L2 signals. For example, satellite navigation data for moving object 110 corresponds to an epoch boundary time (714) (e.g., any of the times t0, t1 . . . tk shown in Figure 3 ).
[0053] Subsequently (720), the moving object 110 receives, via the communication channel 150 and the communications receiver 206 (Figure 2), moving base data from the moving base station 120 (Figure 1). The received moving base data corresponds to an epoch boundary time (eg, any of the times t0, t1 . . . tk shown in Figure 3) prior to the current time (722).
[0054] Moving base data includes satellite measurement data from moving base station 120 (724). Satellite measurement data is generated by moving base station 120 from satellite navigation signals received from a number of satellites 115 (724). Examples of specific information included in satellite measurement data received from moving base station 120 are described above with reference to Figures 4 and 5A.
[0055] In some embodiments, the moving object 110 receives from the moving base station 120 a number of successive position change updates from the moving base station 120 (726). Successive position change updates correspond to a number of update times (e.g. update times t11, t12 . . . t1N after epoch boundary time t1) after the last epoch boundary time (e.g. ., t1) for which satellite measurement data has been received from moving base station 120, Moving object 110 receives successive position change updates via communications channel 150 and communications receiver 206 (728), and stores them in the database of data received from the moving base station 214, as described above with respect to Figure 5A.
[0056] Optionally, an absolute position (as opposed to relative position) of the moving base station 120 is determined by the determination module 230 of the moving object system 200 (Figure 2), using satellite navigation data received from of the moving object system 200 (730). For example, the position of the moving base station 120 is determined for an epoch boundary time (eg, t0 or t1). Alternatively, the moving base station 120 determines its position relative to a fixed base using RTK and transmits the determined position to the moving object system 200 via communication channel 150 (732). The position of the moving base station 120 is determined relative to the fixed base in implementations that require highly accurate measurements of the position of the moving base station 120 and/or the moving object 110. In still other implementations, the position of the moving base station 120 is determined at the moving base station 120 using the best available positioning solution at the moving base station. For example, the best available positioning solution can be selected by the moving base station from a set of two or more solutions from the group consisting of: a stand-alone solution, a Wide Area Augmentation System solution, a global differential positioning, and a real-time kinematics (RTK) solution.
[0057] The moving object system determination module 230 200 determines a relative position vector of the moving object 110 relative to the moving base station 120 (740). Determination module 230 uses satellite navigation data received from moving base station 120 and satellite navigation data received from satellites 115 to determine the relative position vector.
[0058] In some embodiments, the RTK module 232 determines (744) the relative position vector by generating an RTK value for the relative position vector (ie, sometimes called the RTK solution) for a boundary time of epoch (eg time t0 shown in figure 3). The RTK module 232 uses the satellite navigation data from the moving base station for the received epoch boundary time t0 with time delay tr (Figure 3) and the satellite navigation data corresponding to the epoch boundary time t0 to determine the RTK solution. In some embodiments, while determining the relative position vector, the RTK module 232 compares its own phase measurements of the satellite navigation signals received at the moving object 110 with the moving base station satellite navigation data received from from the moving base station 120.
[0059] Optionally, the determination module 230 (in moving object 110) determines the position PMo(to) of the moving object 110 for an epoch boundary time (e.g., to), based on the position PMB( U) of the moving base station 120 for the epoch boundary time and the value of the relative position vector RPV(t0) at the same epoch boundary time (748), as represented by Equation 5 : PMO(t0) = PMB (t0) + RPV(t0) (Eq. 5)
[0060] In some embodiments, the determination module 230 determines the PMO(t01) position of the moving object 110 at the current time t0k (750), based on the PMO(t0) position of the moving base station 120 at the boundary time of the preceding epoch t0, the relative position vector for the preceding epoch boundary time t0, and the change in position of the moving object 110, as represented by the equation 6:PMO (tO1 ) = PMB (t0 ) + RPV(t0) + ΔPMO (t0l - t0 ) (Eq. 6) where RPV(t0) represents the relative position vector for the epoch boundary time t0 and ΔPMO (t0l - t0 ) represents the change in position of the moving object 110 between the current time and epoch boundary time.
[0061] In some embodiments, if the moving object system 200 fails to receive satellite navigation signals for any particular time it needs to measure those signals, for example, because the moving object system 200 is moving close or under an obstruction, the moving object system 200 "skips" the data lack period. The moving object system 200 accomplishes this by extrapolating the position of the moving object system, or change in position. In particular, the moving object system 200 computes a VMO speed of the moving object system 200, for example, using computations analogous to the computations described below to determine a speed of the moving base station 120. Then a change in the ΔPMO position of the moving object system 200 to the data-failure epoch is computed by multiplying the given velocity VMO by the length of the data-failure period Δt.
[0062] In some embodiments (752), the determination module 230 determines the relative position vector RPV(tok) for the current time tok based on the relative position vector RPV(to) for the epoch boundary time to, the change in the position ΔPMO (t0k - t0) of the moving object 110, and a projected change in the position ΔPMB (t0k - t0) of the moving base station 120, which is determined based on the speed of the moving base station 120, as represented by Equations 7 and 8: RPV(tok) = RPV(to) + ΔPMB(tok - to) - ΔPMθ(tok - to) (Eq. 7) where ΔPMB(t0k - t0) is partially projected using the station speed moving base 120 because the current delta position of the moving base station 120 is not available at the moving object 110 due to communication delays. For example, if time toi is the last time for which a position update was received from moving base station 120, ΔPMB(tok - to) can be computed as follows: ΔPMB (tok - to) = ΔPMB ( toi - to) + VMB - (tok - toi) (Eq. 8) where (tok - to) is the time elapsed between the current time and the last update time for which an update from the moving base station was received by the moving object, and VMB is the speed of the moving base station 120. Put more generally, when the moving object has received one or more updates from the moving base station since the last epoch boundary time, the computation of the Position vector relative to current time takes into account (A) the change in position of the moving base station from a specific first time (the last epoch boundary time) to a specific second time (the last time for which an update is received from the moving base station), and (B) the projected change in the position of the moving base station from the specified second time to the current time. The change in position ΔPMO(tok - to) of the moving object 110 is determined by the moving object system 200 from the changes in satellite navigation signals received by the satellite receiver 204 from the moving object system 200.
[0063] In some embodiments, a calculated position propagation value is determined for the relative position vector at an epoch boundary time (e.g., time t1, or more generally tj) when a predefined criterion is satisfied ( 756). As discussed below, the default criterion corresponds to the computation whose result indicates low confidence in the RTK solution. RPVPP, the position propagated value for the relative position vector for an epoch-bound time (e.g., tj) is determined using RPV(t0 ), the relative position vector for a specific previous time (e.g., to), ΔPMO, the change in position of the moving object 110, and ΔPMB, the change in position of the moving base station moving base station 120, in the time interval (e.g., one second) between the boundary time of the current epoch (eg, tj) and the frontier time of the previous epoch (eg, t0), as represented by the equation 9:RPVPP = RPV(t0 ) + ΔPMB - ΔPM0 (Eq. 9)
[0064] Furthermore, when the predefined criterion is satisfied, the determination module 230 determines the relative position vector for the epoch boundary time tj by combining the RTK value for the relative position vector with the calculated propagation value of position to the relative position vector (ie, RPVPP ), as represented by the equation 10:RPV = RPVRTK + RRTK . (RRTK + RPP) -1 . (RPVPP - RPVRTK ) (Eq. 10) where RRTK and RPP represent the variance - covariance matrices for the RTK solution (i.e., RPVRTK) and the propagated position value (i.e., RPVPP), respectively. In some embodiments, when the predetermined criterion is not satisfied, the relative position vector for an epoch boundary time is defined by the RTK solution (i.e., RPVRTK). Equation 10 represents a weighted sum of the RTK value and the calculated position propagation value for the relative position vector. In this weighted sum, the factor RRTK . (RRTK + RPP) -1 in Equation 10 is the weight assigned to the calculated position propagation value for the relative position vector and 1 - RRTK . (RRTK + RPP) -1 is the weight assigned to the RTK value for the relative position vector.
[0065] In some modalities, the default criterion is based on the attributes of the variance - covariance matrices for the RTK solution and the position propagated value (758). For example, the criterion can be considered satisfied when the sum of the diagonal elements in the matrix RRTK is greater than the sum of the diagonal elements in the matrix RPP .
[0066] In some embodiments, the determination module 230 may determine RPV(t1), an updated relative position vector for an update time at an epoch boundary time (e.g., ti) based on one or more position change updates, such as ΔPMB (toj) received from the moving base station 120 (e.g., at an update time t0j of the update times t01, t02 . . . t0N shown in figure 3) and a position change ΔPM0 of the moving object 110 between the preceding epoch boundary time and the update time t0j, as represented by equation 11 :RPV(t1) = RPV(t0J) - ΔPMB + ΔPM0 (Eq. 11)where, RPV(t0J) is the relative position vector determined for the update time toj (based on ΔPMB (toj) and a change in the position of the moving base station 120 between the update time t0j and the preceding epoch boundary time to), ΔPmO is a change in the position of the moving object 110 between the time t1 and the update time. tion toj and APMB is defined in terms of ΔPmb (toj ), as represented by the equation 12:APMB = (APMB(toj)) . (t1 - toJ) / (toJ - to) (Eq. 12)
[0067] In some embodiments, the determination module 230 determines the speed of the moving base station 120 based on two or more position changes of the moving base station 120 received from the moving base station 120 (762), such as represented by the equation 13: VMB = ( ΔPMB (tj - t0) - ΔPMB (tJ-1 - t0)) / (tj - tj-1) (Eq. 13) where, ΔPMB (tj - t0) and ΔPMB (tJ- 1 - t0) are the respective position changes from the moving base station 120 received at the moving object 110 for update times tj and tJ-1 relative to an epoch boundary time t0. In some embodiments, the update times tj and tJ-1 are two of the specific times after the epoch boundary time t0.
[0068] Since the speed of the moving base station 120 used, for example, in Equation 8 can be very noisy, in some embodiments the speed smoothing module 236 (Figure 2) determines a smoothed speed of the moving base station 120 (764), based on historical information (e.g., two or more position changes of the moving base station 120), as represented by the equation 14:^W(G) = |^(G) + £^^L (GI) (Eq. 14) where V SMB(tj) is the smoothed speed of the moving base station 120 for time tj, V SMB(tj-1) is the smoothed speed of the moving base station 120 for a time tj -1 above, VMB (tj) is the unplanned speed (eg, determined using Equation 13) of the moving base station 120 for time tj, and c is a smoothing constant. The planing constant c is typically between 2 and 10, and more generally it is between 2 and 50. In some embodiments, the value of the planing constant c depends on the observed dynamics of the moving base station's speed changes and may be any number greater than one.
[0069] In some embodiments, the determination module 230 determines PMB(UI), the projected position of the moving base station 120 at the current time t01 based on PMB(t0), the position of the moving base station 120 at the time of specific epoch boundary t0 and the VMB speed, of the moving base station 120 (as determined according to equation 13 or 14) (766), as represented by equation 15: PMB (tO1 ) = PMB (to ) + VMB . (tO1 - t0) (Eq. 15)where (tO1 - t0) is the time elapsed between the current time and the epoch boundary time.
[0070] The moving object system system 200 (Figure 2) transmits a signal (e.g., using communication interface 208) to the home system 160 (Figure 1) to report information corresponding to the relative position vector and/or or the position of the moving object 110 to the home system 160,
[0071] The preceding description, for purposes of explanation, has been described with reference to the specific modalities. However, the above illustrative discussions are not intended to be exhaustive or to limit the invention to the precise forms disclosed. Many modifications and variations are possible in view of the above teachings. Embodiments have been chosen and described in order to better explain the principles of the invention and its practical applications, to and thereby enable others of skill in the art to better utilize the invention and various embodiments with various modifications as may be suitable for the particular individual. contemplated use.

权利要求:
Claims (24)
[0001]
1. Method for navigating a moving object according to signals from satellites, characterized in that the method comprises: on a moving object, receiving satellite navigation signals from a plurality of satellites; generating navigation data from satellite to the moving object from the received satellite navigation signals; receiving base moving data from a moving base station, the incoming moving base data including satellite measurement data from the moving base station to a first specific time; determine a relative position vector of the moving object relative to the moving base station, based on the received moving base data and satellite navigation data for the moving object, wherein to determine the position vector Relative comprises generating a real-time kinematics (RTK) value for the position vector relative to the first specific time, using the base data in motion for the first specific time and the satellite navigation data for the object in motion for the first specific time, where when a predefined criterion is satisfied, combining the RTK value for the position vector relative to the first specific time and a propagated relative position vector, the propagated relative position vector comprising a calculated position propagation value for the relative position vector, and that the default criterion is based on the attributes of a variance-covariance matrix for both the value of RTK and the propagated relative position vector; and send a signal reporting information corresponding to the relative position vector.
[0002]
2. Method according to claim 1, characterized in that both the base motion data received from the base station in motion and the satellite navigation data for the object in motion comprise data for a previous specific first time. at a current time.
[0003]
A method according to claim 2, characterized in that the moving base data comprises satellite measurement data generated at the moving base station from satellite navigation signals to a plurality of satellites; the method comprising additionally determine, on the moving object, a position of the moving base station at the first specific time using the moving base data.
[0004]
4. Method according to claim 3, characterized in that it additionally comprises determining a position of the moving object at the first specific time, based on the position of the base station moving at the first specific time and the relative position vector.
[0005]
5. Method according to claim 3, characterized in that it additionally comprises determining a position of the moving object at the current time, based on the position of the base station moving at the first specific time, the relative position vector at the first specific time , and a change in the position of the moving object between the first specific time and the current time.
[0006]
6. Method according to claim 2, characterized in that it additionally comprises determining a current relative position vector for the current time, based on the relative position vector for the first specific time, a change in the position of the moving object to from the first specific time to the current time, a change in the position of the moving base station between the first specific time and a second specific time, and a projected change in the position of the moving base station between the second specific time and the current time , where the projected change in the position of the moving base station is based on a determined speed of the moving base station.
[0007]
Method according to claim 2, characterized in that it further comprises receiving from the moving base station a plurality of successive position change updates from the moving base station for a corresponding plurality of update times after the first time. specific.
[0008]
8. Method according to claim 7, characterized in that it additionally comprises determining a change in position of the moving object, and determining an updated relative position vector for a second specific time after the first specific time, determining a change in position of the object in motion. moving object between the first specific time and the second specific time and using at least one of a plurality of position change updates received from the moving base station.
[0009]
The method of claim 7, further comprising determining a smoothed velocity of the moving base station using two or more of the position change updates received from the moving base station.
[0010]
The method of claim 7, further comprising determining a speed of the moving base station using one or more of the position change updates received from the moving base station.
[0011]
11. Method according to claim 10, characterized in that it further comprises determining a position of the base station in motion at the current time, based on a position of the base station in motion at the first specific time and the determined speed of the base station at movement.
[0012]
12. Method according to claim 1, characterized in that receiving the base data in motion comprises receiving the base data in motion via radio communication.
[0013]
13. Method according to claim 1, characterized in that the moving base data comprises measurements of satellite navigation signals received from a plurality of satellites in the moving base station, and a position of the moving base station. determined at the moving base station relative to a fixed base using real-time kinematics (RTK).
[0014]
14. System (200) for navigating a moving object according to signals from satellites, characterized in that the system (200) comprises: a satellite receiver (204) for receiving satellite navigation signals from a plurality of satellites (115); a receiver (206) for receiving moving base data from a moving base station (120), the received moving base data including satellite measurement data from the moving base station (120); a memory (210) for storing a determination module (230); a processor (202) coupled to the memory (210) via a communication bus, the determination module (230), through the processor (202), determining a vector of the relative position of the moving object (110) relative to the moving base station (120), based on the received moving base data and received satellite navigation signals, the processor (202) generating a kinematics value in time real, RTK, for the relative position vector at the first specific time, using the moving base data for the first specific time and the satellite navigation data for the moving object for the first specific time, where when a predefined criterion is satisfied, the RTK value for the relative position vector at the first specific time and a propagated relative position vector is combined, the propagated relative position vector comprising a calculated position propagation value for the relative position vector, and wherein the criterion default is based on the attributes of a variance-covariance matrix for both the RTK value and the propagated relative position vector; and a transmitter (208) for sending a signal reporting information corresponding to the relative position vector.
[0015]
15. System (200) according to claim 14, characterized in that the receiver (206) and the satellite receiver (204) are respectively configured to receive the moving base data and the satellite navigation signals, respectively, for a specific first time prior to a current time.
[0016]
16. System (200) according to claim 15, characterized in that the determination module (230) further includes instructions for determining, in the moving object (110), a position of the moving base station (120) in the specific first time using the moving base data.
[0017]
17. System (200) according to claim 16, characterized in that the determination module (230), through the processor, determines a position of the moving object (110) at the first specific time, based on the position of the moving base station (120) at the first specific time and relative position vector.
[0018]
18. System (200) according to claim 16, characterized in that the determination module (230), through the processor (202), determines a position of the moving object (110) in the current time, based on the position of the moving base station (120) at the first specific time, the position vector relative to the first specific time, in a change in the position of the moving object (110) between the first specific time and the current time.
[0019]
19. System (200) according to claim 15, characterized in that the determination module (230), through the processor (202), determines a current relative position vector for the current time, based on the vector of relative position for the first specific time, a change in the position of the moving object (110) from the first specific time to the current time, a change in the position of the moving base station (120) between the first specific time and a second specific time, and a projected change in the position of the moving base station (120) between the second specific time and the current time, wherein the projected change in the position of the moving base station is based on a given speed of the base station in movement.
[0020]
System (200) according to claim 15, characterized in that the receiver (206) receives from the moving base station (120) a plurality of successive position change updates from the moving base station (120). ) for a corresponding plurality of update times after the first specific time.
[0021]
21. System (200) according to claim 20, characterized in that the determination module (230), through the processor (202), determines a change of position of the moving object (110), and to determine a updated relative position vector for a specific second time after the first specific time determining a position change of the moving object (110) between the first specific time and the second specific time and using at least one of a plurality of position change updates received from the moving base station (120).
[0022]
22. System (200) according to claim 20, characterized in that the determination module (230), through the processor (202), determines a smoothed speed of the moving base station (120) using two or more of the position change updates received from the moving base station (120).
[0023]
23. System (200) according to claim 22 characterized in that the determination module (230) additionally includes instructions for determining a position of the moving base station (120) at the current time, based on a position of the station moving base station (120) at the specified first time and at the given speed of the moving base station (120).
[0024]
24. System (200) according to claim 14, characterized in that the moving base data (120) comprises measurements of satellite navigation signals received from a plurality of satellites at the moving base station (120) , and a position of the moving base station (120) determined at the moving base station (120) relative to a fixed base using real-time kinematics, RTK.

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法律状态:
2018-12-26| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|

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2020-03-17| B15K| Others concerning applications: alteration of classification|Free format text: AS CLASSIFICACOES ANTERIORES ERAM: G01S 5/00 , G01S 19/43 , G01S 5/14 Ipc: G01C 21/20 (2006.01), G01S 5/00 (2006.01), G01S 19 |

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2020-03-17| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|

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2021-08-17| B06A| Patent application procedure suspended [chapter 6.1 patent gazette]|

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2021-12-07| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

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2022-02-15| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 02/06/2011, OBSERVADAS AS CONDICOES LEGAIS. PATENTE CONCEDIDA CONFORME ADI 5.529/DF, QUE DETERMINA A ALTERACAO DO PRAZO DE CONCESSAO. |

优先权:

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申请号 | 申请日 | 专利标题

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US36959610P| true| 2010-07-30|2010-07-30|

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US61/369,596|2010-07-30|

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US13/115,851|US8983685B2|2010-07-30|2011-05-25|System and method for moving-base RTK measurements|

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US13/115,851|2011-05-25|

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PCT/US2011/038841|WO2012015527A1|2010-07-30|2011-06-02|System and method for moving-base rtk measurements|

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