Patent ID: 11947022
Assignee: MITSUBISHI ELECTRIC RESEARCH LABORATORIES, INC.
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 14:
15. A method for jointly tracking states of multiple vehicles, wherein a state of each vehicle includes one or multiple state biases capturing residual errors in atmospheric delays, wherein the method uses a processor coupled with stored instructions implementing the method, wherein the instructions, when executed by the processor carry out steps of the method, comprising:
receiving multiple transmissions from the multiple vehicles, each transmission from a vehicle includes the measurements of satellite signals received at the vehicle and parameters of a probabilistic distribution of the state of the vehicle;
fusing the states of the multiple vehicles defined by the parameters of the corresponding probabilistic distributions into an augmented state of the multiple vehicles;
fusing the measurements of satellite signals of the multiple vehicles into an augmented measurement of the augmented state subject to augmented measurement noise defined by a non-diagonal covariance matrix with non-zero off-diagonal elements, each non-zero off-diagonal elements relating errors in the measurements of a pair of corresponding vehicles;
executing a probabilistic filter updating the augmented state based on the augmented measurement subject to the augmented measurement noise; and
fusing the parameters of the probabilistic distribution of the state of at least some of the multiple vehicles with a corresponding portion of the updated augmented state to output the fused parameters of the probabilistic distribution of the state of at least some of the multiple vehicles.