Granted Patent B2

US 12,736,683 · App. 18/503,662 · Granted Sep 15, 2026

Inventors: Alex Parkins (San Francisco, CA); Isak Tjernberg (San Francisco, CA); Rodrigo Reichert (San Francisco, CA); Fergus MacPherson Noble (San Francisco, CA); Sébastien Carcanague (San Francisco, CA); Philippe Brocard (San Francisco, CA)

Assignee: Swift Navigation, Inc.

G01S19/08G01S19/07

Abstract

Claims (45)

1 . A system comprising:

a corrections generator configured to:

receive a first set of satellite observations from a first set of reference stations; and

determine GNSS corrections and bounds associated with the GNSS corrections using the first set of satellite observations;

a plurality of corrections monitors, each corrections monitor of the plurality of corrections monitors in support of at least ASIL A safety and configured to:

receive a unique set of satellite observations from a set of reference stations;

receive the GNSS corrections from the corrections generator; and

generate an integrity flag indicative of whether the GNSS corrections achieve a threshold safety;

a corrections combiner operating in at least an ASIL B certified environment, wherein the corrections combiner is configured tomatch the plurality of integrity flags to the GNSS corrections; and

a positioning engine configured to determine a positioning solution of a GNSS receiver using the converted GNSS corrections;

wherein each integrity flag meets or exceeds an ASIL A safety rating, wherein the GNSS corrections meet or exceed an ASIL B safety rating after being matched to the plurality of integrity flags by the corrections combiner, wherein the positioning solution achieves ASIL D safety by combining the positioning solution determined using the positioning engine with an independent positioning solution derived from a positioning sensor that is distinct from the GNSS receiver, wherein the independent positioning solution is certified to at least ASIL B safety.

2 . The system of claim 1 further comprising a reference station observation monitor configured to monitor at least one of the first set of satellite observations or the unique sets of satellite observations.

3 . The system of claim 2 , wherein each corrections monitor of the plurality of corrections monitors and the reference station observation monitor is configured to operate free from interference.

4 . The system of claim 3 , wherein each corrections monitor of the plurality of corrections monitors and the reference station observation monitor comprises:

a manager configured to network the each corrections monitor of the plurality of corrections monitors or the reference station observation monitor to an endpoint;

a handler configured to perform a process of the each corrections monitor of the plurality of corrections monitors and the reference station observation monitor, wherein the handler performs the process in a separate memory region of a processor from the manager.

5 . The system of claim 4 , wherein the manager and handler both access a shared memory region, wherein data to be shared between the manager and the handler in the shared memory region comprises a payload, a payload size, an operation to be performed on the payload, and a fingerprint of the payload; wherein the handler reads the fingerprint of the payload before performing the operation on the payload.

6 . The system of claim 5 , further comprising a sync block that controls access to the shared memory region for the manager and the handler.

7 . The system of claim 1 , wherein the corrections generator is in support of quality managed (QM) safety.

8 . The system of claim 1 , wherein the plurality of corrections monitors comprise two corrections monitors each operating on a processor separate from a processor the corrections generator operates on.

9 . A system comprising:

a corrections generator configured to:

receive a first set of satellite observations from a first set of reference stations; and

determine GNSS corrections and bounds associated with the GNSS corrections using the first set of satellite observations;

a corrections monitor in support of at least ASIL A safety and configured to:

receive a second set of satellite observations from a set of reference stations;

receive the GNSS corrections from the corrections generator;

generate an integrity flag indicative of whether the GNSS corrections achieve a threshold safety based on a residual calculated between the second set of satellite observations and the GNSS corrections;

a positioning engine configured to determine a positioning solution of a GNSS receiver using the GNSS corrections;

wherein the corrections monitor comprises a manager and a handler, wherein the handler operates free from interference from the manager, wherein the positioning solution achieves ASIL D safety by combining the positioning solution determined using the positioning engine with an independent positioning solution derived from a positioning sensor that is distinct from the GNSS receiver, wherein the independent positioning solution is certified to at least ASIL B safety.

10 . The system of claim 9 , further comprising

a second corrections monitor configured to generate a second integrity flag indicative of whether the GNSS corrections achieve the threshold safety based on a residual calculated between a third set of satellite observations and the GNSS corrections; and

a corrections combiner operating in at least an ASIL B certified environment, wherein the corrections combiner is configured to:

convert the GNSS corrections and the bounds based on a line-of-sight vector between a GNSS receiver and satellites associated with the GNSS corrections; and

match the integrity flag and the second integrity flag to the converted GNSS corrections.

11 . The system of claim 10 , wherein the second set of satellite observations and the third set of satellite observations are distinct.

12 . The system of claim 10 , wherein the integrity flag and the second integrity flag each meets or exceeds an ASIL A safety rating, wherein the GNSS corrections meet or exceed an ASIL B safety rating after being matched to the plurality of integrity flags by the corrections combiner.

13 . The system of claim 9 , wherein the corrections monitor comprises:

a manager configured to network the corrections monitor to an endpoint; and

a handler configured to generate the integrity flag, wherein the handler generates the integrity flag in a separate memory region of a processor from the manager.

14 . The system of claim 13 , wherein the manager and handler both access a shared memory region, wherein data to be shared between the manager and the handler in the shared memory region comprises a payload comprising the GNSS corrections and the second set of satellite observations, a payload size, an operation to be performed on the payload, and a fingerprint of the payload; wherein the handler verifies the payload based on the fingerprint of the payload generating the integrity flag.

15 . The system of claim 14 , further comprising a sync block that controls access to the shared memory region for the manager and the handler.

16 . The system of claim 9 , wherein the corrections generator comprises a corrections generator manager and a corrections generator handler, wherein the corrections generator manager and the corrections generator handler are not configured to be free from interference.

17 . The system of claim 16 , further comprising a reference station observation preprocessor configured to detect outliers in the first set of satellite observations or the second set of satellite observations, wherein the reference station observation preprocessor comprises a preprocessor manager and a preprocessor handler that are configured to be free from interference.

18 . The system of claim 9 , wherein the corrections generator operates on a first processor and the corrections monitor operates on a second processor separate from the first processor.

Assignments (1)

Continuity (2)

References Cited (400)