Patent ID: 11921522
Assignee: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
Field: Measurement (Instruments)
Classification: CPC G | IPC G  H

Claim 9:
10. A device configured for navigation using cycle slip detection, the device comprising:
a receiver module configured to receive a broadband communication signal; and
a controller coupled to the receiver module, wherein the controller is configured to receive a broadband communication signal;
process the broadband communication signal based on a navigation framework to determine at least one carrier phase measurement;

compensate for at least one error of the at least one carrier phase measurement using detected cycle slips, wherein compensating for at least one error includes removing an effect of a receiver clock bias on the at least one carrier phase measurement relative to a reference transmitter within a plurality of transmitters by detecting the occurrence of cycle slips according to:, ϕ
     i
     
      (
      u
      )
     
    
    =
    
     
      
       1
       
        λ
        
         (
         u
         )
        
       
      
      ⁢
      
       d
       i
       
        (
        u
        )
       
      
     
     +
     
      
       c
       
        λ
        
         (
         u
         )
        
       
      
      ⁢
      
       (
       
        
         δ
         ⁢
         
          t
          r
         
        
        -
        
         δ
         ⁢
         
          t
          s
          
           (
           u
           )
          
         
        
       
       )
      
     
     +
     
      N
      i
      
       (
       u
       )
      
     
     +
     
      ε
      
       ϕ
       i
      
      
       (
       u
       )
      
     
    
   
   ,
   
    [
    cycle
    ]
   
  
  ⁢
  

  
   
    
     for
     ⁢
        
     i
    
    =
    1
   
   ,
   …
      
   ,
   A
   ,
   

   
    
     
      ϕ
      
       1
       ⁢
       2
      
      
       (
       u
       )
      
     
     (
     n
     )
    
    
     =
     Δ
    
    
     
      
       
        ϕ
        1
        
         (
         u
         )
        
       
       (
       n
       )
      
      -
      
       
        ϕ
        2
        
         (
         u
         )
        
       
       (
       n
       )
      
     
     =
     
      
       
        
         
          N
          1
          
           (
           u
           )
          
         
         (
         n
         )
        
        -
        
         
          N
          2
          
           (
           u
           )
          
         
         ⁢
         
          (
          n
          )
         
        
       
       
        ︸
        
         
          =
          Δ
         
         
          
           N
           
            1
            ⁢
            2
           
           
            (
            u
            )
           
          
          (
          n
          )
         
        
       
      
      +
      
       
        ε
        
         ϕ
         
          1
          ⁢
          2
         
        
        
         (
         u
         )
        
       
       (
       n
       )
      
     
    
   
   ,
   
   
    
     Δ
     ⁢
     
      
       ϕ
       
        1
        ⁢
        2
       
       
        (
        u
        )
       
      
      (
      n
      )
     
    
    
     =
     Δ
    
    
     
      
       
        ϕ
        
         1
         ⁢
         2
        
        
         (
         u
         )
        
       
       (
       n
       )
      
      -
      
       
        ϕ
        
         1
         ⁢
         2
        
        
         (
         u
         )
        
       
       (
       0
       )
      
     
     =
     
      
       
        N
        
         1
         ⁢
         2
        
        
         (
         u
         )
        
       
       (
       n
       )
      
      -
      
       
        N
        
         1
         ⁢
         2
        
        
         (
         u
         )
        
       
       (
       0
       )
      
      +
      
       
        
         ε
         
          ϕ
          
           1
           ⁢
           2
          
         
         
          (
          
           u
           ⁢
           l
          
          )
         
        
        (
        n
        )
       
       ⁢
       0
      
      -
      
       
        ε
        
         ϕ
         
          1
          ⁢
          2
         
        
        
         (
         
          u
          ⁢
          l
         
         )
        
       
       (
       0
       )
      
     
    
   
  
 

wherein A is a number of antenna ports of the LTE SDR, and wherein cycle slips occur when Δϕ12(u)(n) exceeds a threshold;
determine a position for the device based on the at least one carrier phase measurement and the at least one error; and
output a navigation observable based on the position determined for the device.