GNSS surveying methods and apparatus

摘要

Methods and apparatus are presented for improved productivity in determining static position of an antenna of a GNSS rover, such as in stop-and-go surveying. Computer-implemented methods and apparatus provide for determining a static position of an antenna of a GNSS rover from observations of GNSS signals collected at the antenna over multiple epochs and from correction data for at least one of the epochs. In some forms this comprises: acquiring first-epoch rover observations of GNSS signals received at the antenna during a first epoch, obtaining first-epoch correction data for the first epoch, determining a synchronized rover antenna position for the first epoch from the first-epoch rover observations and the first-epoch correction data, acquiring subsequent-epoch rover observations from the received GNSS satellite signals for at least one subsequent epoch for which correction data is unavailable, determining that the antenna position remained static for at least two static epochs, and determining an updated rover antenna position from the synchronized rover antenna position and the subsequent-epoch rover observations of at least one static epoch of the at least one subsequent epoch.

主权项

1. A method of determining a static position of an antenna of a rover from observations of GNSS signals collected at the antenna over multiple epochs and from correction data for at least one of the epochs, comprising:
acquiring, using the antenna of the rover, a first observation of GNSS signals received at the antenna during a first epoch, wherein the rover is at a first position; obtaining first correction data, wherein the first correction data correlates to the first epoch; determining a first calculation of the position of the rover for the first epoch from the first observation and the first correction data; acquiring, using the antenna of the rover, a second observation of GNSS signals received at the antenna during a second epoch, wherein:
correction data is unavailable for the second epoch; andthe rover is at a second position; acquiring, using the antenna of the rover, a third observation of GNSS signals received at the antenna during a third epoch, wherein the rover is at the second position; determining that the antenna remained static for the second epoch and the third epoch; and determining a second calculation of the position of the rover by combining the first calculation of the position of the rover with a calculated difference between the second position and the first position, after determining that the antenna remained static for the second epoch and the third epoch, wherein the calculated difference between the second position and the first position is determined based on the second observation and the third observation.