Satellite-based operation of a mobile device
Techniques and apparatus for satellite-based determination of a position of a mobile device are disclosed. In some embodiments, such techniques include: obtaining a plurality of first satellite measurements in a first frequency, and a plurality of second satellite measurements in a second frequency; using at least qualified or consistent satellite measurements to determine the position of the mobile device, sending at least the qualified or consistent satellite measurements to a network device, or disabling usage of first satellite measurements in the first frequency or second satellite measurements in the second frequency.
1 . A method of satellite-based determination of a position of a mobile device, the method comprising:
obtaining a plurality of first satellite measurements in a first frequency, and a plurality of second satellite measurements in a second frequency;
identifying, based on an error not meeting or exceeding an error threshold, one or more of the plurality of second satellite measurements in the second frequency as qualified, the error being associated with (i) a first pseudorange determined based on the plurality of first satellite measurements and (ii) a second pseudorange determined based on the plurality of second satellite measurements; and
based on a quantity of the qualified one or more second satellite measurements exceeding a threshold number of measurements, using at least the qualified one or more second satellite measurements to determine the position of the mobile device, sending at least the qualified one or more second satellite measurements to a network device, or disabling usage of the first satellite measurements in the first frequency or the second satellite measurements in the second frequency, wherein the threshold number of measurements is set based at least on a characteristic of an environment associated with the mobile device.
2 . The method of claim 1 , wherein:
the plurality of first satellite measurements in the first frequency comprise a plurality of Global Navigation Satellite System (GNSS) L5 measurements; and
the plurality of second satellite measurements in the second frequency comprise a plurality of GNSS L1 measurements.
3 . The method of claim 1 , wherein the network device is configured to determine the position of the mobile device based on the qualified one or more second satellite measurements received at the network device.
4 . The method of claim 1 , wherein the error comprises an error between (i) the first pseudorange pre-corrected with a time bias associated with the plurality of first satellite measurements and the plurality of second satellite measurements, and (ii) the second pseudorange.
5 . The method of claim 1 , further comprising identifying one or more of the plurality of second satellite measurements in the second frequency as being unqualified based on: the error meeting or exceeding the error threshold, the quantity of the qualified one or more second satellite measurements not exceeding the threshold number of measurements, or a combination thereof;
wherein the determination of the position of the mobile device comprises de-weighting or exclusion of the unqualified one or more second satellite measurements.
6 . The method of claim 1 , wherein usage of at least the qualified one or more second satellite measurements to determine the position of the mobile device comprises determination of one or more weighted least squares values using the qualified one or more second satellite measurements.
7 . The method of claim 6 , further comprising initializing a Kalman filter with the position of the mobile device using the plurality of first satellite measurements, the plurality of second satellite measurements, or a combination thereof.
8 . The method of claim 1 , wherein disabling usage of the first satellite measurements or the second satellite measurements is based on:
a consistency between at least a pseudorange derived from the plurality of first satellite measurements and at least a pseudorange derived from the qualified one or more second satellite measurements;
a strength associated with the plurality of first satellite measurements and a strength associated with the plurality of second satellite measurements; or
a combination thereof.
9 . The method of claim 1 , wherein disabling usage of the first satellite measurements or the second satellite measurements is based on:
a consistency between a position of the mobile device determined based on the plurality of first satellite measurements and a position of the mobile device determined based on the plurality of second satellite measurements;
a strength associated with the plurality of first satellite measurements and a strength associated with the plurality of second satellite measurements; or
a combination thereof.
10 . The method of claim 1 , wherein the network device comprises a location server.
11 . A mobile device comprising:
one or more Global Navigation Satellite System (GNSS) receivers;
one or more memory; and
one or more processors communicatively coupled to the one or more GNSS receivers and the one or more memory, and configured to:
obtain a plurality of first satellite measurements in a first frequency, and a plurality of second satellite measurements in a second frequency;
identify, based on an error not meeting or exceeding an error threshold, one or more of the plurality of second satellite measurements in the second frequency as qualified, the error being associated with (i) a first pseudorange determined based on the plurality of first satellite measurements and (ii) a second pseudorange determined based on the plurality of second satellite measurements; and
based on a quantity of the qualified one or more second satellite measurements exceeding a threshold number of measurements, use at least the qualified one or more second satellite measurements to determine a position of the mobile device, send at least the qualified one or more second satellite measurements to a network device, or disable usage of the first satellite measurements in the first frequency or the second satellite measurements in the second frequency, wherein the threshold number of measurements is set based at least on a characteristic of an environment associated with the mobile device.
12 . The mobile device of claim 11 , wherein:
the plurality of first satellite measurements in the first frequency comprise a plurality of GNSS L5 measurements; and
the plurality of second satellite measurements in the second frequency comprise a plurality of GNSS L1 measurements.
13 . The mobile device of claim 11 , wherein the network device is configured to determine the position of the mobile device based on the qualified one or more second satellite measurements received at the network device.
14 . The mobile device of claim 11 , wherein the error comprises an error between (i) the first pseudorange pre-corrected with a time bias associated with the plurality of first satellite measurements and the plurality of second satellite measurements, and (ii) the second pseudorange.
15 . The mobile device of claim 11 , wherein the one or more processors are further configured to identify one or more of the plurality of second satellite measurements in the second frequency as being unqualified based on: the error meeting or exceeding the error threshold, the quantity of the qualified one or more second satellite measurements not exceeding the threshold number of measurements, or a combination thereof; and
wherein the determination of the position of the mobile device comprises de-weighting or exclusion of the unqualified one or more second satellite measurements.
16 . The mobile device of claim 11 , wherein usage of at least the qualified one or more second satellite measurements to determine the position of the mobile device comprises determination of one or more weighted least squares values using the qualified one or more second satellite measurements.
17 . The mobile device of claim 16 , wherein the one or more processors are further configured to initialize a Kalman filter with the position of the mobile device using the plurality of first satellite measurements, the plurality of second satellite measurements, or a combination thereof.
18 . The mobile device of claim 11 , wherein disabling usage of the first satellite measurements or the second satellite measurements is based on:
a consistency between at least a pseudorange derived from the plurality of first satellite measurements and at least a pseudorange derived from the qualified one or more second satellite measurements;
a strength associated with the plurality of first satellite measurements and a strength associated with the plurality of second satellite measurements; or
a combination thereof.
19 . The mobile device of claim 11 , wherein disabling usage of the first satellite measurements or the second satellite measurements is based on:
a consistency between a position of the mobile device determined based on the plurality of first satellite measurements and a position of the mobile device determined based on the plurality of second satellite measurements;
a strength associated with the plurality of first satellite measurements and a strength associated with the plurality of second satellite measurements; or
a combination thereof.
20 . An apparatus comprising:
means for obtaining a plurality of first satellite measurements in a first frequency, and a plurality of second satellite measurements in a second frequency;
means for identifying, based on an error not meeting or exceeding an error threshold, one or more of the plurality of second satellite measurements in the second frequency as qualified, the error being associated with (i) a first pseudorange determined based on the plurality of first satellite measurements and (ii) a second pseudorange determined based on the plurality of second satellite measurements; and
means for, based on a quantity of the qualified one or more second satellite measurements exceeding a threshold number of measurements, using at least the qualified one or more second satellite measurements to determine a position of the apparatus, sending at least the qualified one or more second satellite measurements to a network device, or disabling usage of the first satellite measurements in the first frequency or the second satellite measurements in the second frequency, wherein the threshold number of measurements is set based at least on a characteristic of an environment associated with the mobile device.
21 . The apparatus of claim 20 , wherein:
the plurality of first satellite measurements in the first frequency comprise a plurality of Global Navigation Satellite System (GNSS) L5 measurements; and
the plurality of second satellite measurements in the second frequency comprise a plurality of GNSS L1 measurements.
22 . The apparatus of claim 20 , wherein the network device is configured to determine the position of the apparatus based on the qualified one or more second satellite measurements received at the network device.
23 . The apparatus of claim 20 , wherein:
the error comprises an error between (i) the first pseudorange pre-corrected with a time bias associated with the plurality of first satellite measurements and the plurality of second satellite measurements, and (ii) the second pseudorange.
24 . The apparatus of claim 20 , wherein disabling usage of the first satellite measurements or the second satellite measurements is based on:
a consistency between at least a pseudorange derived from the plurality of first satellite measurements and at least a pseudorange derived from the qualified one or more second satellite measurements;
a strength associated with the plurality of first satellite measurements and a strength associated with the plurality of second satellite measurements; or
a combination thereof.
25 . The apparatus of claim 20 , wherein disabling usage of the first satellite measurements or the second satellite measurements is based on:
a consistency between a position of the apparatus determined based on the plurality of first satellite measurements and a position of the apparatus determined based on the plurality of second satellite measurements;
a strength associated with the plurality of first satellite measurements and a strength associated with the plurality of second satellite measurements; or
a combination thereof.
26 . A non-transitory computer-readable apparatus comprising a storage medium, the storage medium comprising a plurality of instructions configured to, when executed by one or more processors, cause a mobile device to:
obtain a plurality of first satellite measurements in a first frequency, and a plurality of second satellite measurements in a second frequency;
identify, based on an error not meeting or exceeding an error threshold, one or more of the plurality of second satellite measurements in the second frequency as qualified, the error being associated with (i) a first pseudorange determined based on the plurality of first satellite measurements and (ii) a second pseudorange determined based on the plurality of second satellite measurements; and
based on a quantity of the qualified one or more second satellite measurements exceeding a threshold number of measurements, use at least the qualified one or more second satellite measurements to determine a position of the mobile device, send at least the qualified one or more second satellite measurements to a network device, or disable usage of the first satellite measurements in the first frequency or the second satellite measurements in the second frequency, wherein the threshold number of measurements is set based at least on a characteristic of an environment associated with the mobile device.
27 . The non-transitory computer-readable apparatus of claim 26 , wherein:
the error comprises an error between (i) the first pseudorange pre-corrected with a time bias associated with the plurality of first satellite measurements and the plurality of second satellite measurements, and (ii) the second pseudorange; and
the threshold number of measurements is set based at least on a characteristic of an environment associated with the mobile device.
28 . The non-transitory computer-readable apparatus of claim 26 , wherein disabling usage of the first satellite measurements or the second satellite measurements is based on:
a consistency between at least a pseudorange derived from the plurality of first satellite measurements and at least a pseudorange derived from the qualified one or more second satellite measurements;
a strength associated with the plurality of first satellite measurements and a strength associated with the plurality of second satellite measurements; or
a combination thereof.