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1. 发明授权

US11619748B2 Kinematic positioning system and kinematic positioning method 有权
公开(公告)号：US11619748B2
公开(公告)日：2023-04-04
申请号：US17260157
申请日：2019-07-01
申请人： Hitachi Industrial Equipment Systems Co., Ltd.
发明人： Hitoshi Tomita , Mikio Bando , Satoshi Sugawara , Megumi Suehiro , Makoto Tanikawara
IPC分类号： G01S19/43 , G01S19/40 , G01S19/07 , G01S19/42
摘要： A kinematic positioning system configured to determine position coordinates of moving bodies by receiving positioning signals from positioning satellites, comprises an on-vehicle device configured to calculate the position coordinates of one of the moving bodies based on carrier wave phases of the positioning signals received from the positioning satellites, and a ground management device configured to transmit correction data used to calculate the position coordinates to the on-vehicle device in response to a request from the on-vehicle device. The on-vehicle device executes a first processing sequence of performing precise point positioning computation by acquiring precise orbit data of each positioning satellite from any of the positioning satellite and the ground management device, and calculating the position coordinates, and a second processing sequence of sending the ground management device a pseudorange concerning a positioning satellite selected from the positioning satellites, a carrier wave, and the position coordinates of the one moving body, performing the precise point positioning computation by acquiring the correction data from the ground management device, and calculating the position coordinates. The on-vehicle device selects the position coordinates having a smaller data error out of the position coordinates calculated in the first processing sequence and the position coordinates calculated in the second processing sequence as the position coordinates of the one moving body.

2. 发明授权

US11550067B2 System and method for fusing dead reckoning and GNSS data streams 有权
公开(公告)号：US11550067B2
公开(公告)日：2023-01-10
申请号：US17554993
申请日：2021-12-17
申请人： Swift Navigation, Inc.
发明人： Christian Reimer , Guillaume Decerprit , Richard Deurloo , Sébastien Carcanague , Joseph Angelo
IPC分类号： G01S19/49 , G01S19/25 , G01S19/54 , G01S19/43
摘要： A method can include receiving sensor data, receiving satellite observations, determining a positioning solution (e.g., PVT solution, PVA solution, kinematic parameters, etc.) based on the sensor data and the satellite observations. A system can include a sensor, a GNSS receiver, and a processor configured to determine a positioning solution based on readings from the sensor and the GNSS receiver.

3. 发明授权

US11474262B2 Underground line locator system with real time kinematic and global satellite positioning 有权
公开(公告)号：US11474262B2
公开(公告)日：2022-10-18
申请号：US16880595
申请日：2020-05-21
申请人： Metrotech Corporation
发明人： Andrzej Zbigniew Regini , William Moore , Stephen John Petherick
IPC分类号： G01S19/43 , G01S19/14 , G01V3/08 , G01S19/47 , G01S19/36
摘要： A precise line locator is presented that provides precise line location. The locator includes a housing; a wand attached to the housing, the wand including an array of low frequency antennas arranged along the wand, the array of low frequency antennas defining an electromagnetic locate axis of the line locator system; a real-time kinematic (RTK) Global Navigation Satellite (GNSS) antenna attached to the housing; a user interface positioned in the housing; and a processing circuit coupled to the array of low frequency antennas, the RTK GNSS antenna, and the user interface, wherein the underground line locator determines locate data of the underground line based on signals from the array of low frequency antennas and determines a precise position of the underground line locator from the RTK GNSS antenna.

4. 发明申请

US20220308238A1 SYSTEM AND METHOD FOR DETERMINING GNSS POSITIONING CORRECTIONS 有权
公开(公告)号：US20220308238A1
公开(公告)日：2022-09-29
申请号：US17833560
申请日：2022-06-06
申请人： Swift Navigation, Inc.
发明人： Benjamin Lipeles Segal , Mark Fine , Joseph Angelo , Leith Bade , Fergus MacPherson Noble
IPC分类号： G01S19/40 , G01S19/04 , G01S19/43 , G01S19/07
摘要： A system or method for generating GNSS corrections can include receiving satellite observations associated with a set of satellites at a reference station, determining atmospheric corrections valid within a geographical area; wherein geographical areas associated with different atmospheric corrections can be overlapping, and wherein the atmospheric corrections can be provided to a GNSS receiver when the locality of the GNSS receiver is within a transmission region of the geographical area.

5. 发明申请

US20220228867A1 SYSTEM AND METHOD FOR PROVIDING LOCALIZATION USING INERTIAL SENSORS 有权
公开(公告)号：US20220228867A1
公开(公告)日：2022-07-21
申请号：US17484346
申请日：2021-09-24
申请人： ALMA Technologies Ltd.
发明人： Barak OR
IPC分类号： G01C21/16 , G01C21/20 , G06N3/04 , G06N3/08 , G01S19/43
摘要： A system and method for providing localization, including, during a training phase: obtaining a training dataset of accelerations, angular velocities, and known locations over time of vehicles moving in a defined area; and training a machine learning model to provide location estimation in the defined area based on the accelerations and angular velocities using the training dataset; and during runtime phase: obtaining runtime accelerations and angular velocities over time of a vehicle moving in the defined area; and using the trained model to obtain current location of the vehicle based on the runtime acceleration and angular velocities.

6. 发明申请

US20220228866A1 SYSTEM AND METHOD FOR PROVIDING LOCALIZATION USING INERTIAL SENSORS 有权
公开(公告)号：US20220228866A1
公开(公告)日：2022-07-21
申请号：US17337632
申请日：2021-06-03
申请人： ALMA Technologies Ltd.
发明人： Barak OR
IPC分类号： G01C21/16 , G01C21/20 , G01S19/43 , G06N3/04 , G06N3/08
摘要： A system and method for providing localization, including, during a training phase: obtaining a training dataset of accelerations, angular velocities, and known locations over time of vehicles moving in a defined area; and training a machine learning model to provide location estimation in the defined area based on the accelerations and angular velocities using the training dataset; and during runtime phase: obtaining runtime accelerations and angular velocities over time of a vehicle moving in the defined area; and using the trained model to obtain current location of the vehicle based on the runtime acceleration and angular velocities.

7. 发明申请

US20220222392A1 CONSTRUCTION MACHINE 有权
公开(公告)号：US20220222392A1
公开(公告)日：2022-07-14
申请号：US17607914
申请日：2020-05-28
申请人： HITACHI CONSTRUCTION MACHINERY CO., LTD.
发明人： Shinji ISHIHARA , Shiho IZUMI , Shinichi KOTAKE
IPC分类号： G06F30/17 , E02F3/30 , E02F3/36 , E02F9/12 , E02F9/20 , G01S19/43 , G01S19/47 , G01S19/54 , G06F30/20
摘要： A position/posture computing section determines that an azimuth of an upper swing structure calculated at a GNSS receiver is of low quality when at least one of a posture angle of the upper swing structure acquired at a machine-body IMU and a posture angle of a front work implement acquired at a boom IMU is equal to or larger than a threshold value, executes a bias removal computation on the basis of the quality of the azimuth and the azimuth of the upper swing structure calculated at the GNSS receiver, calculates a corrected azimuth of the upper swing structure on the basis of the azimuth of the upper swing structure calculated at the GNSS receiver, and an angular velocity of the upper swing structure from which a gyro bias has been removed, and computes a three-dimensional position and posture of the front work implement by using the corrected azimuth.

8. 发明申请

US20220163679A1 IONOSPHERIC DELAY ESTIMATION FOR GLOBAL NAVIGATION SATELLITE SYSTEM SIGNALS 有权
公开(公告)号：US20220163679A1
公开(公告)日：2022-05-26
申请号：US17103125
申请日：2020-11-24
申请人： QUALCOMM Incorporated
发明人： Kannan MUTHURAMAN , David TUCK
IPC分类号： G01S19/43 , H04W4/024 , G01S19/39
摘要： Techniques are provided for utilizing a mobile device to estimate ionospheric delays in GNSS transmissions. An example method of determining a position of a mobile device includes obtaining a pseudorange measurements and carrier-phase measurements for a satellite at a first frequency band and a second frequency band, determining a bias estimate for the satellite based on a plurality of pseudorange measurements and carrier-phase measurements, determining a delta carrier-phase measurement for the satellite based on the carrier-phase measurements at the first frequency band and the second frequency band, and determining the position of the mobile device based at least in part on the delta carrier-phase measurement, and the pseudorange measurements, the carrier-phase measurements, or both.

9. 发明授权

US11327184B2 Providing atmospheric correction data for a GNSS network-RTK system by encoding the data according to a quad-tree hierarchy 有权
公开(公告)号：US11327184B2
公开(公告)日：2022-05-10
申请号：US16855859
申请日：2020-04-22
申请人： LEICA GEOSYSTEMS AG
发明人： Frank Takac , Paul Spencer
IPC分类号： G01S19/41 , G01S19/07 , G01S19/43
摘要： The invention relates to providing atmospheric correction data in a GNSS network-RTK system for correcting GNSS data, wherein a base triangulation that encloses at least part of the reference stations of the GNSS network-RTK system is subdivided into child triangles by means of a recursive division of parent triangles into four child triangles, synthetic data are determined for each of the child triangles based on a triangulation algorithm applied to basic data of the reference stations such that the synthetic data represent a gridded representation of the basic data, and access to correction data is provided, wherein the correction data comprise at least part of the synthetic data arranged in a quad-tree hierarchy.

10. 发明申请

US20220073108A1 PRODUCTION FACTORY UNMANNED TRANSFER SYSTEM AND METHOD 有权
公开(公告)号：US20220073108A1
公开(公告)日：2022-03-10
申请号：US17406957
申请日：2021-08-19
申请人： HYUNDAI MOTOR COMPANY , KIA CORPORATION
发明人： Jun Yeon Park , Jihoon Park , Youngjin Jung , Kyung Dong Park , David Oh
IPC分类号： B60W60/00 , H04W4/40 , G08G1/0967 , B60W10/10 , B60W10/18 , B60W10/20 , B60W50/023 , B60W30/09 , G01S19/43 , G01S19/47
摘要： A production factory unmanned transfer system includes: a vehicle, which connects Vehicle to Everything (V2X) communication with an infrastructure facility in a vehicle production factory and transfers a worker to a set destination in an unmanned manner through autonomous driving; and a road side unit, which is fixed around a road in the production factory to relay the V2X communication and which generates positioning error correction information based on high-precision Real Time Kinematic-Global Navigation Satellite System (RTK-GNSS) based on a fixed absolute coordinate and transmits the generated positioning error correction information to the vehicle. The vehicle includes a vehicle terminal, which controls autonomous driving according to a lane of a precise map based on high-precise positioning information obtained by correcting an error of satellite-based vehicle location information with the positioning error correction information.

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