Patent ID: 8880001
Filing Date: 2014-11-04
Classification: G01S,H04W

Abstract:
1. A method for providing collaborative positioning, navigation and timing (PNT) for a plurality of nodes, the method comprising: receiving carrier phase and pseudorange measurements from a first node of the plurality of nodes, the carrier phase and pseudorange measurements being measured by the first node based on signals received from a satellite navigation system; receiving carrier phase and pseudorange measurements from a second node of the plurality of nodes, the carrier phase and pseudorange measurements being measured by the second node based on signals received from the satellite navigation system; providing an error characteristics process model for each particular node of the plurality of nodes, the error characteristics process model for each particular node configured for independently modeling error characteristics associated with the particular node, wherein the error characteristics associated with the particular node provides a probability of carrier phase and pseudorange measurement errors occurring at the particular node; utilizing a joint statistical error model in an estimation of a PNT solution for the first node and a PNT solution for the second node, the joint statistical error model taking into account: the carrier phase and pseudorange measurements received from the first node, the carrier phase and pseudorange measurements received from the second node, the probability of carrier phase and pseudorange measurement errors occurring at the first node, the probability of carrier phase and pseudorange measurement errors occurring at the second node, and statistical correlation between the first node and the second node.