System and method for moving-base RTK measurements

摘要

In a system and method for navigating a moving object according to signals from satellite, a moving object receives satellite navigation signals from a number of satellites. The moving object also receives moving base data from a moving base. The received moving base data includes satellite measurement data of the moving base. At the moving object a relative position vector of the moving object relative to the moving base is determined, based on the received moving base data and the received satellite navigation signals. The moving object sends a signal reporting information corresponding to the relative position vector.

主权项

1. A method for navigating a moving object according to signals from satellites, the method comprising:
in a moving object,
receiving satellite navigation signals from a plurality of satellites;generating satellite navigation data for the moving object from the received satellite navigation signals for a first specific time prior to a current time, wherein the moving object comprises a first system that includes a first receiver and a first transmitter;receiving moving base data from a moving base that is moving and separated from the moving object, wherein the moving base comprises a second system that includes a second receiver and is configured to receive the satellite navigation signals and to transmit the moving base data, the received moving base data including satellite measurement data of the moving base for the first specific time;determining a relative position vector of the moving object relative to the moving base for the first specific time, and between the moving object and the moving base, based at least in part on a real-time-kinematic (RTK) value for the relative position vector at the first specific time generated based on the received moving base data for the first specific time and the satellite navigation data for the moving object for the first specific time;determining a current relative position vector for the current time at least in part by combining the RTK value for the relative position vector at the first specific time and a propagated relative position vector, the propagated relative position vector comprising a position-propagation calculated value for the current relative position vector; andsending, via the first transmitter of the moving object, a signal reporting information corresponding to the current relative position vector.