Cooperative positioning with multiple global navigation satellite system receivers
Techniques are provided for integrating GNSS measurements between two or more GNSS receivers. An example method includes determining an antenna baseline vector based on relative locations of a first antenna that is communicatively coupled to a first GNSS receiver and a second antenna that is communicatively coupled to a second GNSS receiver, determining a first position estimate and a first integer ambiguity resolution (IAR) status with the first GNSS receiver at a first time, determining a second position estimate and a second IAR status with the second GNSS receiver at approximately the first time, computing a horizontal offset value based on the antenna baseline vector and a difference between the first position estimate and the second position estimate, and generating the wrong fix indication in response to the first IAR status being fixed, the second IAR status being fixed, and the horizontal offset value being greater than a threshold value.
1 . A method for improving positioning accuracy convergence in two global navigation satellite system (GNSS) receivers, comprising:
determining an antenna baseline vector based on relative locations of a first antenna that is communicatively coupled to a first global navigation satellite system (GNSS) receiver and a second antenna that is communicatively coupled to a second GNSS receiver, wherein the antenna baseline vector is referenced from the first antenna to the second antenna;
determining a first position estimate and a first integer ambiguity resolution (IAR) status with the first GNSS receiver, wherein the first IAR status is at least either a float status or a fixed status; and
providing the first position estimate and the antenna baseline vector to the second GNSS receiver in response to the first IAR status being the fixed status.
2 . The method of claim 1 wherein the first GNSS receiver is a smartphone and the second GNSS receiver is disposed in a vehicle with the second antenna being in a fixed location on the vehicle.
3 . The method of claim 2 wherein the smartphone is disposed outside and proximate to the vehicle, and determining the antenna baseline vector includes performing a radio frequency ranging exchange between the smartphone and an on-board unit disposed in the vehicle.
4 . The method of claim 3 wherein the radio frequency ranging exchange includes one or more ultrawideband (UWB) ranging messages.
5 . The method of claim 3 wherein providing the first position estimate and the antenna baseline vector includes providing one or more sidelink messages including the first position estimate and the antenna baseline vector to the on-board unit.
6 . The method of claim 2 wherein the smartphone is disposed within the vehicle, and determining the antenna baseline vector includes performing a radio frequency ranging exchange between the smartphone and an on-board unit disposed in the vehicle.
7 . The method of claim 1 wherein determining the antenna baseline vector includes obtaining respective position estimates for the first GNSS receiver and the second GNSS receiver based on a precise point positioning (PPP) or real time kinematic (RTK) and correction signals received from a reference GNSS station.
8 . An apparatus, comprising:
a memory;
at least one transceiver;
at least one processor communicatively coupled to the memory and the at least one transceiver, and configured to:
determine an antenna baseline vector based on relative locations of a first antenna that is communicatively coupled to a first global navigation satellite system (GNSS) receiver and a second antenna that is communicatively coupled to a second GNSS receiver, wherein the antenna baseline vector is referenced from the first antenna to the second antenna;
determine a first position estimate and a first integer ambiguity resolution (IAR) status with the first GNSS receiver, wherein the first IAR status is at least either a float status or a fixed status; and
provide the first position estimate and the antenna baseline vector to the second GNSS receiver in response to the first IAR status being the fixed status.
9 . The apparatus of claim 8 wherein the first GNSS receiver is a smartphone and the second GNSS receiver is disposed in a vehicle with the second antenna being in a fixed location on the vehicle.
10 . The apparatus of claim 9 wherein the at least one processor is further configured to perform a radio frequency ranging exchange with the smartphone.
11 . The apparatus of claim 10 wherein the radio frequency ranging exchange includes one or more ultrawideband (UWB) ranging messages.
12 . The apparatus of claim 10 wherein the at least one processor is further configured to provide one or more sidelink messages including the first position estimate and the antenna baseline vector.
13 . The apparatus of claim 8 wherein the at least one processor is further configured to obtain respective position estimates for the first GNSS receiver and the second GNSS receiver based on a precise point positioning (PPP) or real time kinematic (RTK) and correction signals received from a reference GNSS station.
14 . An apparatus for improving positioning accuracy convergence in two global navigation satellite system (GNSS) receivers, comprising:
means for determining an antenna baseline vector based on relative locations of a first antenna that is communicatively coupled to a first global navigation satellite system (GNSS) receiver and a second antenna that is communicatively coupled to a second GNSS receiver, wherein the antenna baseline vector is referenced from the first antenna to the second antenna;
means for determining a first position estimate and a first integer ambiguity resolution (IAR) status with the first GNSS receiver, wherein the first IAR status is at least either a float status or a fixed status; and
means for providing the first position estimate and the antenna baseline vector to the second GNSS receiver in response to the first IAR status being the fixed status.
15 . The apparatus of claim 14 wherein the first GNSS receiver is a smartphone and the second GNSS receiver is disposed in a vehicle with the second antenna being in a fixed location on the vehicle.
16 . The apparatus of claim 15 wherein the means for determining the antenna baseline vector includes means for performing a radio frequency ranging exchange between the smartphone and an on-board unit disposed in the vehicle.
17 . The apparatus of claim 16 wherein the radio frequency ranging exchange includes one or more ultrawideband (UWB) ranging messages.
18 . The apparatus of claim 16 wherein the means for providing the first position estimate and the antenna baseline vector includes means for providing one or more sidelink messages including the first position estimate and the antenna baseline vector to the on-board unit.
19 . The apparatus of claim 14 wherein the means for determining the antenna baseline vector includes means for obtaining respective position estimates for the first GNSS receiver and the second GNSS receiver based on a precise point positioning (PPP) or real time kinematic (RTK) and correction signals received from a reference GNSS station.
20 . A non-transitory processor-readable storage medium comprising processor-readable instructions configured to cause one or more processors to improve positioning accuracy convergence in two global navigation satellite system (GNSS) receivers, comprising code for:
determining an antenna baseline vector based on relative locations of a first antenna that is communicatively coupled to a first global navigation satellite system (GNSS) receiver and a second antenna that is communicatively coupled to a second GNSS receiver, wherein the antenna baseline vector is referenced from the first antenna to the second antenna;
determining a first position estimate and a first integer ambiguity resolution (IAR) status with the first GNSS receiver, wherein the first IAR status is at least either a float status or a fixed status; and
providing the first position estimate and the antenna baseline vector to the second GNSS receiver in response to the first IAR status being the fixed status.
21 . The non-transitory processor-readable storage medium of claim 20 wherein the first GNSS receiver is a smartphone and the second GNSS receiver is disposed in a vehicle with the second antenna being in a fixed location on the vehicle.
22 . The non-transitory processor-readable storage medium of claim 21 wherein the code for determining the antenna baseline vector includes code for performing a radio frequency ranging exchange between the smartphone and an on-board unit disposed in the vehicle.
23 . The non-transitory processor-readable storage medium of claim 22 wherein the radio frequency ranging exchange includes one or more ultrawideband (UWB) ranging messages.
24 . The non-transitory processor-readable storage medium of claim 22 wherein the code for providing the first position estimate and the antenna baseline vector includes code for providing one or more sidelink messages including the first position estimate and the antenna baseline vector to the on-board unit.
25 . The non-transitory processor-readable storage medium of claim 20 wherein the code for determining the antenna baseline vector includes code for obtaining respective position estimates for the first GNSS receiver and the second GNSS receiver based on a precise point positioning (PPP) or real time kinematic (RTK) and correction signals received from a reference GNSS station.