System and method for providing GNSS corrections
A system or method for generating or distributing GNSS corrections can include or operate to: generate a set of corrections based on satellite observations, wherein each correction of the set of corrections comprises an area associated with the correction, a tag, and correction data; update a set of stored corrections with the set of received corrections based on a tag associated with each correction of the set of stored corrections and the tag associated with each correction of the set of received corrections; and transmit stored corrections of the set of stored corrections to the GNSS receiver when the area associated with the stored corrections matches the locality of the GNSS receiver.
1. A system for distributing corrections to a GNSS receiver comprising:
a corrections generator configured to generate a set of corrections based on satellite observations associated with a set of satellites measured at a set of reference stations, wherein each correction of the set of corrections comprises:
an area associated with the correction;
a tag; and
correction data;
a gateway configured to:
receive the set of corrections; and
update a set of stored corrections with the set of received corrections based on a tag associated with each correction of the set of stored corrections and the tag associated with each correction of the set of received corrections; and
a distribution module configured to:
connect to a GNSS receiver;
determine a locality of the GNSS receiver; and
transmit stored corrections of the set of stored corrections to the GNSS receiver when the area associated with the stored corrections matches the locality of the GNSS receiver;
wherein correction data for a correction of the set of corrections comprises atmospheric corrections, wherein the atmospheric corrections are determined by modelling atmospheric effects as a function of at least one of a pierce point or a pierce angle for satellite rays for each satellite of the set of satellites.
2. The system of claim 1 , wherein the correction data for a correction of the set of corrections comprises state space representation data.
3. The system of claim 1 , wherein the atmospheric corrections are determined using a Gaussian process.
4. The system of claim 1 , wherein the set of corrections comprises discrete corrections arranged on a grid and continuous corrections.
5. The system of claim 4 , wherein the discrete corrections associated with the area are transmitted in a raster order.
6. The system of claim 1 , wherein the corrections generator is further configured to update correction of the set of corrections, wherein a tag associated with a correction of the set of corrections is modified when the correction is updated.
7. The system of claim 1 , wherein the area is an approximately five degree latitude by an approximately five degree longitude geographic region.
8. The system of claim 1 , wherein the set of corrections comprise a correction for at least one of: ionosphere delays, troposphere delays, satellite clock error states, satellite orbit error states, code biases, or phase biases.
9. The system of claim 1 , wherein the distribution module is further configured to transmit visual odometry landmarks within the area to the GNSS receiver.
10. A method for distributing corrections to a GNSS receiver comprising:
generating a set of corrections based on satellite observations associated with a set of satellites measured at a set of reference stations, wherein each correction of the set of corrections comprises:
an area associated with the correction;
a tag; and
correction data;
updating a stored correction of a set of stored corrections with a correction of the set of generated corrections based on a tag associated with the stored correction and the tag associated with the correction of the set of generated corrections;
determining a locality of the GNSS receiver; and
transmitting stored corrections of the set of stored corrections to the GNSS receiver when the area associated with the stored corrections matches the locality of the GNSS receiver;
wherein generating the set of corrections comprises modelling atmospheric effects as a function of at least one of a pierce point or a pierce angle for satellite rays for each satellite of the set of satellites.
11. The method of claim 10 , wherein the correction data for a correction of the set of corrections comprises state space representation data.
12. The method of claim 10 , wherein the atmospheric corrections are modelled using a Gaussian process.
13. The system of claim 10 , wherein the set of corrections comprises discrete corrections arranged on a grid and continuous corrections.
14. The system of claim 13 , wherein the discrete corrections associated with the area are transmitted in a raster order.
15. The method of claim 10 , further comprising updating a correction of the set of corrections, wherein the tag associated with the correction is modified when the correction is updated.
16. The method of claim 10 , wherein the area is an approximately five degree latitude by an approximately five degree longitude geographic region.
17. The method of claim 10 , wherein the set of corrections comprise a correction for at least one of: ionosphere delays, troposphere delays, satellite clock error states, satellite orbit error states, code biases, or phase biases.
18. The method of claim 10 , wherein transmitting stored corrections comprises transmitting visual odometry landmarks within the area to the GNSS receiver.