Real-time kinematic using standalone global navigation satellite system receiver
A standalone GNSS receiver saves at each epoch a position and observables based on one or more signals. A reference position associated with a reference epoch is saved with reference observables. At a later epoch, the current position is determined by reference to the reference position and the reference epoch by performing a real time kinematic process. When cycle slip and/or signal lock has occurred, an ambiguity resolution is performed in real time kinematic. A standalone GNSS receiver with ambiguity resolution and real time kinematic at a current epoch achieves centimeter-level position accuracy by fixing ambiguities to integer and performing real time kinematic upon signal restoration. The saved reference data and coordinate serve as a reference station until signal restoration.
1. A method of determining position using a standalone global navigation satellite system (GNSS) receiver, comprising:
observing for a first signal from a first source at a first epoch;
generating a set of reference data based on the first signal;
observing for a second signal from the first source at a second epoch;
determining whether signal continuity exists between the first and second epoch;
generating a set of comparison data based on the second signal;
performing a real time kinematic to resolve a standalone GNSS receiver position; and
determining a current position of the standalone GNSS receiver.
2. The method of claim 1 , wherein generating the set of reference data further comprises
determining a reference position; and
determining a set of reference observables.
3. The method of claim 2 , wherein generating the set of reference observables further comprises measuring at least one of a reference pseudo-range and a reference carrier phase of the first signal.
4. The method of claim 1 , wherein generating the set of comparison data further comprises measuring at least one of a current pseudo-range and a current carrier phase based on the second signal.
5. The method of claim 1 , wherein determining signal continuity generates a negative result, and further comprising determining, at a third epoch, whether signal continuity has been restored.
6. The method of claim 5 , further comprising reporting a current position coordinate based on the reference data.
7. The method of claim 1 , further comprising performing ambiguity resolution to resolve a position ambiguity.
8. The method of claim 7 , further comprising replacing the deleted reference data with the set of comparison data.
9. The method of claim 1 , further comprising, subsequent to performing ambiguity resolution, deleting the reference data.
10. The method of claim 1 , wherein the determining of a position of the standalone GNSS receiver comprises determining the position of the standalone GNSS receiver with centimeter accuracy.
11. A standalone global navigation satellite system (GNSS) receiver, comprising:
a non-transitory computer readable medium configured to store instructions thereon; and
a processor connected to the non-transitory computer readable medium, wherein the processor is configured to execute the instructions for:
observing for a first signal from a first source at a first epoch;
generating a set of reference data based on the first signal;
observing for a second signal from the first source at a second epoch;
determining whether signal continuity exists between the first and second epoch;
generating a set of comparison data based on the second signal;
performing a real time kinematic to resolve a standalone GNSS receiver position; and
determining a current position of the standalone GNSS receiver.
12. The standalone GNSS receiver of claim 11 , wherein the processor is configured to execute the instructions for generating the set of reference data further by:
determining a reference position; and
determining a set of reference observables.
13. The standalone GNSS receiver of claim 12 , wherein the processor is configured to execute the instructions for generating the set of reference observables by measuring at least one of a reference pseudo-range and a reference carrier phase of the first signal.
14. The standalone GNSS receiver of claim 11 , wherein the processor is configured to execute the instructions for generating the set of comparison data further by measuring at least one of a current pseudo-range and a current carrier phase based on the second signal.
15. The standalone GNSS receiver of claim 11 , wherein the processor is configured to execute the instructions for:
determining signal continuity generates a negative result, and
determining, at a third epoch, whether signal continuity has been restored.
16. The standalone GNSS receiver of claim 15 , wherein the processor is configured to execute the instructions for reporting a current position coordinate based on the set of reference data.
17. The standalone GNSS receiver of claim 11 , wherein the processor is configured to execute the instructions for performing ambiguity resolution to resolve a position ambiguity.
18. The standalone GNSS receiver of claim 17 , wherein the processor is configured to execute the instructions for replacing the deleted reference data with the set of comparison data.
19. The standalone GNSS receiver of claim 11 , wherein the processor is configured to execute the instructions for, subsequent to performing ambiguity resolution, deleting the reference data.
20. The standalone GNSS receiver of claim 11 , wherein the processor is configured to execute the instructions for determining the position of the standalone GNSS receiver with centimeter accuracy.