method for estimating an object's position by a location determination receiver associated with

专利摘要:
METHOD TO EASTIMATE THE POSITION OF AN OBJECT BY A LOCATION DETERMINATION RECEIVER ASSOCIATED WITH THE OBJECT. A primary phase measuring device (18) measures a first carrier phase and a second carrier phase of carrier signals received by the location determination receiver (10). A secondary phase measuring device (30) measures the third carrier phase. A real-time kinematic mechanism (20) estimates a first integer set of ambiguities associated with the first measured carrier phase and a second whole set of ambiguities associated with the second measured carrier phase. A compensator (32) is able to compensate for inter-channel bias in at least one of the third ambiguity set and the fourth ambiguity set by modeling a predictive filter (for example, 24) according to various inputs or estimated filter states by a stimulator (26).
公开号:BR112012016122A2
申请号:R112012016122-9
申请日:2011-02-21
公开日:2020-07-28
发明作者:Liwen Dai；Chaochao Wang
申请人:Navcom Technology, Inc.；
IPC主号:

专利说明:

“METHOD FOR ESTIMATING THE POSITION OF AN OBJECT BY A
LOCATION DETERMINATION RECEIVER ASSOCIATED WITH THE OBJECT ”Cross Reference at Related Request This document claims priority based on US Provisional Order number 61 / 308,467, filed on February 26, 2010, and entitled" METHOD AND SYSTEM FOR ESTIMATING POSITION WITH BIAS COMPENSATION " , under 35 USC 119 (e).
Field of the Invention This invention relates to a method and system for estimating position, attitude, or both of an object or vehicle with polarization compensation to support combined use of Global Positioning System (GPS) satellite transmissions and satellite transmissions GLONASS (Global Navigation Satellite System).
Background of the Invention A location determination receiver, such as a Global Positioning System (GPS) receiver or a GLONASS (Global Navigation Satellite System) receiver, estimates position, attitude (for example, tilt, balance, or yaw), or both of an object or a vehicle. The location determination receiver may experience inaccurate measurements of pseudo-range and carrier phase, where the location determination receiver receives (for example, transiently) one or more satellite signals of low signal strength or poor signal quality.
GLONASS (Global Navigation Satellite System) and GPS use different satellite constellations and different modulation schemes for their respective satellite transmissions. The GLONASS constellation includes more than twenty satellites and broadcasts signals through different frequencies according to a frequency division multiple access modulation (FDMA) and a frequency reuse plan, while the GPS system uses spread spectrum modulation or frequency modulation. code division multiple access (CDMA), where transmission frequencies are generally the same for each satellite. Because GLONASS satellites transmit at different frequencies, which can lead to differences in propagation by the ionosphere or troposphere or other errors, the GLONASS location determination receiver is susceptible to inter-channel bias position error associated with the transmission frequencies different from satellites.
Certain location-determining receivers can use an error reduction filter (for example, Kalman filter) to filter the results of carrier phase measurements or processed carrier phase measurement data, for example. Some location-determining receivers may use an Autonomous Receiver Integrity Monitoring (RAIM) technique to detect analyzed pseudo-range measurement errors by comparing the analyzed pseudo-range measurements to reference pseudo-range measurements, where pseudo-range measurements - erroneous or peripheral ranges can be excluded from a position or attitude solution to improve the accuracy of the estimated position or attitude of the object or vehicle. Neither the error reduction filter approach nor the —RAIM technique completely addresses the aforementioned problem of inaccurate measurements of pseudo-range and carrier phase, where the location determination receiver receives (for example, transiently) one or more satellite signals of low signal strength or poor signal quality. Thus, there is a need for a location determination receiver that is capable of using both GPS and GLONASS transmission signals to increase the accuracy of position and attitude estimates in real time, while compensating for polarization error.
Summary of the Invention According to one embodiment, the method and system includes a primary phase measurement device for measuring a first carrier phase of a first carrier signal (e.g., GPS signal LI or "L1") and a second phase of carrier bearer of a second bearer signal
(for example, GPS signal L2 or "L2") received by the location determination receiver.
The first carrier signal (for example, L1) is transmitted at substantially the same frequency as two or more primary satellites.
The second carrier signal (for example, L2) is transmitted at substantially the same frequency as two or more primary satellites.
A secondary phase measuring device measures the third carrier phase
—Of a third carrier signal (for example, GLONASS G1 (KW) or "G1 (K)" signal) and the fourth carrier phase of a fourth carrier signal (for example, GLONASS G2 (K) or "G2 signal (K) "). The third carrier signal (for example, G1 (K)) is received at frequencies other than two or more secondary satellites.
The fourth carrier signal (for example,
155 GO (K) is received at different frequencies from two or more secondary satellites that result in an inter-channel polarization between carrier signals from the different secondary satellites observable at the location determination receiver.
A real-time kinematic mechanism estimates a first whole set of ambiguities associated with the first measured carrier phase, and a second whole set of ambiguities associated with the second measured carrier phase.
The real-time kinematic mechanism estimates a third set of ambiguities (for example, a third whole set of ambiguities) associated with the third measured carrier phase and a fourth set of ambiguities (for example, a whole fourth set of ambiguities) associated with the fourth carrier phase measured.
A compensator is able to compensate for inter-channel polarization in at least one of the third set of ambiguities and the fourth set of ambiguities by modeling a predictive filter (eg Kalman filter) according to the following inputs or filter states: motion data (for example, position data, speed data and acceleration data) of the object; troposphere data (for example, residual troposphere data); ionosphere data; a set of unique difference reference ambiguities associated with third carrier signals received at the location determination receiver and a reference station from different secondary satellites (for example, GLONASS G1 (K) Reference Satellite Unique Difference Ambiguity or G1 SD Ambiguity from GLN Reference Satellite), and a set of unique difference reference ambiguities associated with four carrier signals received at the location determination receiver and a reference station from different secondary satellites (for example, Difference Ambiguity GLONASS G2 (K) Reference Satellite or Ambiguity G2 SD of GLN Reference Satellite). An estimator is able to determine an object position based on the first measured carrier phase, the second measured carrier phase, the first estimated whole ambiguity set, the second estimated whole ambiguity set, and at least one of the third carrier phase measure and the fourth measured carrier phase, and at least one of the third compensated ambiguity set (for example, third compensated whole ambiguity set) and the fourth compensated ambiguity set (for example, fourth compensated whole ambiguity set). Brief Description of the Drawings Figure 1 is a block diagram of a first embodiment of a system for estimating position with polarization compensation.
Figure 2 is a block diagram of a second embodiment of a system for estimating position with polarization compensation.
Figure 3 is a block diagram of a third embodiment of a system for estimating position with polarization compensation.
Figure 4 is a block diagram of a fourth embodiment 5 of a system for estimating position with polarization compensation.
Figure 5 is a flow chart of a first example of a method to estimate position with polarization compensation.
Figure 6 is a flow chart of a second example of a method for estimating position with polarization compensation.
Figure 7 is a flow chart of a third example of a method for estimating position with polarization compensation.
Figure 8 is a flowchart of a fourth example of a method for estimating position with polarization compensation.
Figure 9 is a flow chart of a fifth example of a method to estimate position with polarization compensation.
Figure 10 is a flow chart of a sixth example of a method to estimate position with polarization compensation.
Figure 11 is a flow chart of a seventh example of a method for estimating position with polarization compensation.
Figure 12 is a flow chart of an eighth example of a method for estimating position with polarization compensation.
Figure 13 is a flowchart of a ninth example of a method for estimating position with polarization compensation.
Figure 14 is a flow chart of a tenth example of a - method for estimating position with polarization compensation.
Figure 15 is a flowchart of an eleventh example of a method for estimating position with polarization compensation.
Figure 16 is a flow chart of an twelfth example of a method for estimating position with polarization compensation.
Description of the Preferred Embodiment Figure 1 illustrates a location determining receiver 10 that includes a primary receiver front terminal 12 coupled to a primary receiver data processing system 14 and a secondary receiver front terminal 13 associated with a data processing system secondary receiver data 16. In one embodiment, the primary receiver front terminal 12 and the secondary receiver front terminal 13 can be coupled to an antenna 15 by a splitter 11 (e.g., hybrid or filter) or other device. The determination receiver —depression 10 is associated with a correction receiver 36. The correction receiver 36 can be integrated into the location determination receiver 10 or can communicate with the location determination receiver 10 over a data port. The correction receiver 36 receives correction data (e.g., reference carrier phase correction data) from at least one from a reference station 40 and a second reference station 41.
Reference station 40 communicates wirelessly or electromagnetically to the correction receiver 36 via communications path A (44), for example. The second reference station 41 communicates wirelessly or with electromagnetic signals to the correction receiver 36 via a satellite communication device 42 via communication path B (46), for example. The satellite communication device 42 may include a communication satellite equipped with an upper link receiver and a lower link transmitter for communication with one or more - ground stations (e.g., mobile or fixed).
Although the correction receiver 36 is illustrated as a single receiver in Figure 1, in practice, the correction receiver can include a dual receiver for GPS and GLONASS signals that support FDMA and CDMA decoding, or two separate receivers for GPS and GLONASS .
The primary receiver data processing system 14 may include any of the following: one or more hardware modules, one or more electronic modules, one or more software modules, an electronic data processor, an electronic data processor and storage of - associated electronic data, and a general purpose computer to execute instructions for software, logic or program.
Similarly, the secondary receiver data processing system 16 may include any of the following: one or more hardware modules, one or more electronic modules, one or more software modules, an electronic data processor, an - electronic data processor and associated electronic data storage, and a general purpose computer to execute software, logic or program instructions.
The electronic data processor (ie, data processor) may include one or more of the following: a microprocessor, a programmable logic arrangement, a digital signal processor, an application-specific integrated circuit, a logic circuit, or other device for execute software, logic, arithmetic, or program instructions.
In Figure 1, the primary receiver data processing system 14 includes a primary decoder 48 (e.g., code division multiple access decoder (CDMA)), a primary phase measurement device 18, a kinematic time mechanism (RTK) 20, and a data storage device 28. The real-time kinematic mechanism (RTK) includes a data processor 22, an error reduction filter 24 (for example, a predictive filter or —Kalman filter ), and an estimator 26 (for example, a position estimator or a position and attitude estimator). The primary decoder 48, the primary phase measurement device 18, the real-time kinematic mechanism 20, the data processor 22, the error reduction filter 24, the estimator 26, the data storage device 28, and the primary receiver front terminal 12 can communicate with each other and secondary receiver data processing system 16 via data interface 38. In Figure 1, secondary receiver data processing system 16 includes a secondary decoder 50 (for example , - frequency division multiple access decoder (FDMA)), a secondary phase measuring device 30, a polarization compensator 32, and a polarization estimator 34. The secondary receiver data processing system 16 includes a decoder secondary 50 (for example, frequency division multiple access decoder (FDMA)), a secondary phase measurement device 30, a polarization compensator 32, and a p estimator communication interface 34 that can communicate with each other, the secondary receiver front terminal 13, and the primary receiver data processing system 14 via the data interface 38.
The data interface 38 may include one or more of the following: a data bus, electronic memory, shared memory, static links between software modules of the primary receiver data processing system 14, of the secondary receiver data processing system 16, or both; links - dynamics between software modules of the primary receiver data processing system 14, the secondary primary receiver data processing system 16, or both; data bus transceivers, or other software or hardware that supports communication, sending or receiving data between different modules or components (48, 18, 20, 22, 24, 26, 28, 50, 30, 32, and 34) the primary receiver data processing system 14 and the secondary receiver data processing system 16.
The lines that connect or interconnect (directly or indirectly) the front terminal of the primary receiver 12, the primary decoder 48, the primary phase measuring device 18, the real-time kinematic mechanism 20, the data processor 22, the filter error reduction 24, the estimator 26 and the data storage device 28, the secondary terminal of the secondary receiver 13, the secondary decoder 50, the secondary phase measuring device 30, the polarization compensator 32.80 polarization estimator 34 in Figure 1 illustrate logical data paths, physical data paths, or both.
A logical data path means a virtual data path or data communication between software modules or between one or more software programs, for example.
A physical data path means a transmission line or one or more data buses that support data communications, logic level signals, electrical signals, or electromagnetic signals, for example.
The primary receiver front terminal 12 may include any circuit suitable for receiving satellite signals transmitted by 155 one or more satellites (e.g., GPS navigation satellites). The front receiver terminal 12 can include a spread spectrum receiver or code division multiple access (CDMA) receiver that is capable of receiving multiple carriers transmitted by one or more satellites within a constellation of satellites.
For example, the front receiver terminal 12 can include a preamplifier or amplifier to amplify satellite signals, a mixer and a reference oscillator, where the amplifier input is coupled to an antenna (for example, antenna 15 or splitter 11 ), the amplifier output is coupled to a mixer input, the reference oscillator is coupled to another mixer input, and the mixer output is coupled to the primary receiver data processing system 14 or primary phase measurement device 18. In an illustrative embodiment, an analog to digital converter provides an interface between the front receiver terminal 12 and the primary receiver data processing system 14. In another illustrative embodiment, an analog to digital converter output is additionally coupled to the temporary memory and a data port transceiver.
Primary decoder 48 includes a demodulator (for example, CDMA demodulator) or another device for demodulating the pseudo-random noise code (for example, course acquisition code (C / A) or other more accurate civil or military coding) that modulates one or more carriers. The GPS carrier signal L1 is modulated with the course acquisition code (C / A) and the precise coded code P (Y), while the GPS signal L2 is modulated with the coded code P (Y). In one embodiment, the decoder 48 may include a code generator coupled to an input delay module, where an output from the delay module is coupled to a correlator to measure the correlation between a reference pseudo-random noise code, which é can be delayed by increments known to the delay module, and a pseudo-random noise code received from a front receiver terminal 12. The primary decoder 48 can also facilitate the decoding of navigation information that modulates a carrier signal, such as as ephemeris data. The primary receiver data processing system 14 includes primary phase measuring device 18. The primary phase measuring device 18 includes any device, integrated circuit, electronic module, or data processor for measuring the phase of a carrier signal. . The primary phase measuring device 18 measures or estimates the observed phase of one or more carrier signals provided by the receiver front terminal 12. The measured phase can be expressed in whole wavelengths of the carrier signal, fractional wavelengths of the carrier signal, and / or degrees of the carrier signal. The primary phase measuring device 18 can determine one or more of the following: (1) a first phase component measured at fractional wavelengths of the first carrier signal, the second carrier signal, or both, and (2) a second phase component measured of entire wavelengths of the first carrier signal, the second carrier signal, or both. The second measured phase component - can be determined by a counter (for example, zero crossing counter) that counts transitions from a received, reconstructed or processed carrier signal that crosses an X axis at a reference magnitude (for example , voltage 0) in the time domain, where X represents time and the Y axis represents magnitude of the carrier signal. However, the primary phase measuring device 18 relies additionally on processing at the location determination receiver 10 to determine or solve an entire cycle-wide ambiguity that can cause the second measured phase component to be in error or shifted by an integer of wavelength cycles (for example, estimating a distance or range between a corresponding satellite and the location determination receiver 10).
The real-time kinematic (RTK) engine 20 includes a search engine, an ambiguity resolution module, or other software instructions for searching or determining an entire ambiguity solution for the phase of one or more carrier signals received — multiple satellites. The data processor 22 can perform software instructions, mathematical operations, logical operations, or other commands provided by the disambiguating module, for example. In one embodiment, the RTK engine 20 can define or limit the search space for the entire ambiguity solution set to limit the candidate ambiguity solution sets that are evaluated. For the RTK 20 engine, whole ambiguity solution sets refer to whole cycle phase ambiguities in the received carrier phase of the received carrier signals (for example, 1.57542 GHz GPS L1 signal, the L2 GPS at 1,22760 GHz or similar signals) transmitted by one or more satellites, for example. The search engine can use least squares or Kalman filtering techniques to reduce the search space or achieve one or more ambiguity solutions for the full cycle phase ambiguities of carrier signals transmitted from satellites.
The front terminal of secondary receiver 13 may include any circuit suitable for receiving satellite signals transmitted by one or more satellites (for example, GLONASS navigation satellites). The secondary receiver front terminal 13 may include a frequency division multiple access (FDMA) receiver, which is capable of receiving multiple carriers transmitted by one or more satellites within a constellation of satellites. For example, the front terminal of secondary receiver 13 can include a preamplifier or amplifier to amplify satellite signals, a mixer and a reference oscillator, where the amplifier port is coupled to an antenna (for example, antenna 15 or splitter 11) , the amplifier output is coupled to a mixer input, the reference oscillator is coupled to another mixer input, and the mixer output is coupled to the secondary primary receiver data processing system 16 or secondary phase measurement device 30. In an illustrative embodiment, an analog to digital converter provides an interface between the secondary receiver front terminal 13 and the secondary primary receiver data processing system 16 or data interface 38. In another illustrative embodiment, an output analog to digital converter is - additionally coupled to temporary memory and a data port transceiver. Secondary decoder 50 includes a demodulator (e.g., FDMA demodulator) or other device for demodulating GLONASS satellite signals that modulate one or more carriers. Each GLONASS satellite is capable of transmitting GLONASS signals that include the third carrier transmitted within a certain subchannel of a GLONASS LI band centered around 1.602 GHz, and the fourth carrier transmitted with a certain subchannel of the GLONASS L2 band centered around 1.246 GHz, where the subchannels are generally different for all satellites within the receiver's location determination view according to a frequency reuse plan. The third carrier is modulated with a pseudo-random range code, a navigation message, and an auxiliary meander sequence. The fourth carrier is modulated with a pseudo-random range code and auxiliary meander sequence. The secondary decoder 50 can also facilitate decoding the navigation information that modulates a carrier signal, such as ephemeris data.
The secondary receiver data processing system 16 includes the secondary phase measuring device 30. The secondary phase measuring device 30 includes any device, integrated circuit, electronic module, or data processor for measuring the phase of a signal. carrier. The secondary phase measuring device 30 measures or estimates the observed phase of one or more carrier signals provided by the front terminal of secondary receiver 13. The measured phase can be expressed in - entire wavelengths of the carrier signal, wavelengths fractions of the carrier signal, and / or degrees of the carrier signal.
The secondary phase measuring device 30 can determine one or more of the following: (1) a first phase component measured at fractional wavelengths of the third carrier signal, —the fourth carrier signal, or both, and (2) one second phase component measured of entire wavelengths of the third carrier signal, the fourth carrier signal, or both. The second measured phase component can be determined by a counter (for example, zero crossing counter) that counts transitions from a received, reconstructed or processed carrier signal that crosses an X axis at a reference magnitude (for example, voltage 0) in the time domain, where X represents time and the Y axis represents magnitude of the carrier signal. However, the secondary phase measuring device 30 relies additionally on processing in the location determination receiver 10 to determine or resolve an entire cycle-wide ambiguity that can cause the second measured phase component to be in error or shifted an entire number of wavelength cycles (for example, estimating a distance or range between a corresponding satellite and the location determination receiver 10). The real-time kinematic (RTK) mechanism 20 includes a search engine, disambiguating module, or other software instructions to search or determine an entire ambiguity solution for the phase of one or more carrier signals received from multiple satellites (GLONASS and GPS). In one embodiment, the RTK engine 20 can define or limit the search space for the entire ambiguity solution set to limit the candidate ambiguity solution sets that are evaluated. For the real-time kinematic mechanism 20, whole ambiguity solution sets refer to whole cycle phase ambiguities in the carrier phase received from the carrier signals received (for example, from the GLONASS satellite carrier signals) transmitted by one or more satellites, for example. The search engine can use a least-squares technique or Kalman filtering to reduce the search space or achieve one or more sets of ambiguity solutions for the full-cycle phase ambiguities of carrier signals transmitted from satellites.
The data processor 22 includes a data processor or other data processing device for controlling the primary receiver data processing system 14, the secondary receiver data processing system 16, or both.
Data processor 22 can perform any executable instructions, arithmetic operations, logical operations, or perform other tasks required by the location determination receiver (eg 10), the primary receiver data processing system (eg 14) , or by the secondary receiver data processing system (for example, 16). In one configuration, data processor 22 includes a mode selection module that determines whether the location determination receiver operates in a primary mode, a secondary mode, or a hybrid mode.
In primary mode, the primary receiver data processing system 14 is active and the location determination receiver 10 determines its position with reference to the GPS satellite constellation.
In the secondary mode, the secondary receiver data processing system 16 and a support portion of the primary receiver data processing system 14 are active, and the location determination receiver 10 determines its position with reference to the satellite constellation of GLONASS.
In hybrid mode, both the primary receiver data processing system 14 and the secondary receiver data processing system 16 are active and the location determination receiver 10 estimates its position with reference to the GPS satellite constellation and the constellation of GLONNASS satellites for increased accuracy that would otherwise not be available in the absence of GLONNASS satellite signals.
In one embodiment, data processor 22 may prohibit one or more operating modes depending on a subscription purchased by
—A final user of the location determination receiver 10. In one embodiment, data processor 22 may include a signal reliability detector that provides one or more of the following: the number of satellite signals received from the GPS constellation above an intensity of threshold signal, the number of satellite signals received from the GLONASS satellite constellation above a threshold signal strength, a precision dilution (DOP), bit error rate, word error rate, or error rate of frame of the course acquisition code decoded from the L1 signal of the GPS signal or the standard decoded code from the GLONASS signal, or another figure of merit or level of reliability of one or more received satellite signals.
The data processor 22 may determine (for example, by reference to a look-up table stored on the data storage device 28, or by a Boolean logic function or other program instructions executable by the - data processor 22) whether to operate in primary, secondary or hybrid mode based on the reliability of one or more received satellite signals (for example, GPS signals, GLONASS signals, or both). In one configuration, the data processor 22 further comprises controlling the kinematic mechanism in real time 20, or the "kinematic mechanism output in real time 20. The data processor 22 can send control data to activate, deactivate, reset, reset, start, or stop one or more of the following: GLONASS-related states and inputs, GPS-related states and inputs, or all primary real-time kinematic mechanism inputs and states 20. Data processor 22 manages restart, reset, partial restart, partial reset, stop and start the kinematic mechanism in real time 20 based on whether the data processor 22 selects the primary mode, the secondary mode or the hybrid mode.
In a restart or partial reset, the RTK 20 mechanism preserves entries and states related to GPS, while only starting or resetting entries and states related to GLONASS, or vice versa.
Partial reset can be used to clear corrupted states or inputs associated with phase measurements of GPS signals, phase measurements of GLONASS signals, while full reset can be used to clear corrupted states or inputs associated with both GPS signals. and the GLONASS signals.
In an alternate embodiment, the previous partial reset or reset can be performed using separate predictive filters, where a first predictive filter is used only for GPS signal processing and a second predictive filter is used for combined GPS and GLONASS signal processing to avoid interruption, where GLONASS ambiguity solutions are corrupted or reception of GLONASS satellite signals is not sufficiently reliable over a certain period of time (for example, one or more epochs of GPS).
The error reduction filter 25 includes a Kalman filter or a variant thereof to reduce or decrease errors, such as measurement error. A Kalman filter can include a predictive filtering device or circuit that uses signal addition, delay, and feedback to process data and compensate for the effects of noise and uncertainty on measured data or otherwise. Reset or reset can refer to resetting the states of the error reduction or Kalman filter.
Polarization Estimator 34 can estimate a polarization, which may include, but is not limited to, one or more of the following —polarizations: (a) an inter-channel polarization between different carrier frequencies transmitted from two or more secondary satellites (for example, GLONASS satellites) and received at the location determination receiver (eg 10) or a reference station (eg 40 or 41), (b) phase measurement bias between different carrier phase measurements in GLONASS observable at the location determination receiver (eg 10) or a reference station (eg 40 or 41), (c) pseudocode polarization between different pseudo-range measurements at GLONASS observable at the location determination receiver location (eg 10) or a reference station (eg 40 or 41), (d) satellite clock biases associated with different GLONASS satellites, (e) a hardware bias or polarization receiver processing (eg receiver clock bias) between different hardware configurations (eg different manufacturers) of GLONASS receivers, and (f) hardware bias and receiver processing between the primary receiver front terminal 12 and the front terminal of secondary receiver 13, for example.
The bias compensator 32 prepares bias compensation data for the error reduction filter 24, the data processor 22, or the real-time kinematic mechanism 20 to handle the bias estimates provided by the bias estimator 34. For example, bias compensation data can include input data or states for the error reduction filter 24, limits in the search space of the real-time kinematic engine search utility 20, or modification of output solutions of estimator 26, of the error reduction filter 24, or both.
Reference station 40 includes a reference location determination receiver at a known or fixed location, a reference data processing system, and a transmitter or transceiver. In one embodiment, the reference location determination receiver detects carrier phase data associated with one or more carrier signals and determines an initial ambiguity solution or ambiguity solution set for multiple received satellite signals, where the initial ambiguity or ambiguity solution set can be applied to the location determination receiver 10. The reference data processing system of the reference station 40 receives carrier phase data and the initial ambiguity solution corrects it using the location known or fixed location of the reference location determination receiver to determine an enhanced ambiguity solution. In one example, corrected carrier phase data includes the estimated carrier phase and the enhanced ambiguity solution, or other data derived therefrom. In return, the corrected carrier phase data is transmitted by a wireless signal or electromagnetic signal to the correction receiver 36. The correction receiver 36 receives the corrected carrier phase data that is available for use by at least one of the mechanism real-time kinematic 20, from the error reduction filter 24, or by estimator 26 to determine a position of the vehicle or object associated with the location determination receiver 10.
Estimator 26 includes a data processor or other data processing device to estimate a position, attitude, or both of an object or vehicle associated with the location determination receiver 10. Estimator 26 communicates with a rest of the kinematic mechanism real-time 20, bias compensator 32, bias estimator 34, and data processor 22. Once the entire ambiguity solution set is determined, estimator 26 or location determination receiver 10 can use the data carrier phase measurement to provide an accurate estimate of the distance or range between each satellite and the location determination receiver 10 based on the known propagation speed (i.e., speed of light). In return, the ranges between three or more satellites and the location determination receiver 10 can be used to estimate the position or attitude of the receiver. Four satellites (for example, GPS navigation satellites) are needed to determine a three-dimensional position that includes elevation with respect to the Earth's surface. To determine the attitude of the vehicle or object associated with the location determination receiver 10, two vehicle positions are estimated in close proximity in time or two separate antennas are used for the location determination receiver
10.
Estimator 26 can use one or more of the following data sources to determine an estimated position or antenna attitude of the location determination receiver or an associated object or vehicle: the decoded pseudo-random noise code of the GPS satellite signals, the decoded pseudo-random range code of the GLONASS satellite signals, the carrier phase measurement data of the GPS satellite signals, the GLONASS satellite signals, or both; the precise coded code (for example, P (Y code)) of GPS satellite signals (where authorized by applicable government authorities), the precise code of GLONASS satellite signals (where authorized by applicable government authorities), the code of course acquisition of GPS satellite signals, the standard precision code for GLONASS satellite signals, navigation information, and ambiguity data for the entire cycle phase, polarization compensation data (for example, the polarization compensation 32), and reference station carrier phase data (for example, from reference station 40 or 41), where reference station carrier phase data can be integrated into the entire cycle phase ambiguity data. In one embodiment, estimator 26 or data processor 20 can delay GPS coordinate solutions (for example, by time delay circuits or data processing techniques) to align with corresponding GLONASS coordinate solutions to account for differences processing time in the location determination receiver 10, such that the solutions apply substantially to the same position of the object or vehicle in real time.
The second embodiment of the location determination receiver 110 of Figure 2 is similar to the first embodiment of the location determination receiver 10 of Figure 1, except that in the second embodiment of Figure 2, the location determination receiver 110 includes a processing system of secondary receiver data 116 with a bias estimator 134, which further comprises a code bias controller 52 and a phase bias controller 54. Same reference numbers in Figure | and Figure 2 indicate the same elements.
The code bias controller 52 manages or controls the execution of one or more equations that are applied to estimate or determine code bias or corresponding code compensation data to combine primary decoded position data associated with the pseudo-random noise code (for example, course acquisition code) of the GPS satellite system with secondary decoded position data associated with pseudo-random range code (for example, standard encoded position data) of the GLONASS satellite system.
In an alternating non-civil configuration (for example, military configuration), code bias controller 52 manages or controls the execution of one or more equations that are applied to determine or estimate code bias or corresponding code compensation data to match primary decoded position data associated with the pseudo-random noise code (for example, accurate code or P (Y) code) of the GPS satellite system with the secondary decoded position data associated with the pseudo-random range code (eg encoded high-precision position data) from the GLONASS satellite system.
The phase bias controller 54 manages or controls the execution of one or more equations that are applied to estimate or determine phase bias or corresponding phase compensation data to combine primary phase measurement data (for example, from the measuring device primary phase 18) from the GPS satellite system with secondary phase measurement data (eg from secondary phase measuring device 30) from the GLONASS satellite system. For example, the phase bias controller 54 can manage the use of single difference or double difference phase measurements to improve the accuracy of position determination by supporting the integration or use of both GPS satellite signals and satellite signals of GLONASS by estimator 26 to determine at least one of the position or attitude of the location determination receiver 110, its antenna, or a vehicle or object attached to it.
The third embodiment of the location finder 210 of Figure 3 is similar to the second embodiment of the location finder 110 of Figure 2, except that the location finder 210 of Figure 3 includes a bias estimator 234. Same numbers reference figures in Figure 1, Figure 2 and Figure 3 indicate the same elements.
The polarization estimator 234 includes a code polarization controller 52, a phase polarization controller 54, an initiation / reset module 60, a calibrator 64 and a quality evaluator 68.
The initiation / reset module 60 includes instructions or logic - to establish initial polarization data according to a polarization initiation procedure that operates in a first mode or a second mode, where in the first mode, stored polarization data is accessed or retrieved from a look-up table stored on a data storage device (non-volatile RAM) associated with the location determination receiver to populate a primary real-time kinematic mechanism, where in the second mode, stored polarization data provides initial course data including a prefixed - preprogrammed polarization associated with corresponding location determination receiver hardware.
The polarization estimator 234 includes instructions or software to designate time stamps for corresponding single difference carrier phase measurements or pseudo-random noise code measurements associated with secondary satellites and for associated variances.
The calibrator 64 including a software module, a hardware module, or a combination thereof to calibrate the compensation for inter-channel polarization according to a single differentiated calibration to allow changes in the satellites received or available to the location determination receiver converting the waste double difference post-adjusted values for single difference residues. For example, the calibrator can be performed by the arithmetic logic unit of a data processor, such as data processor 22.
A quality assessor 68 includes a software module, an electronic module, or both to monitor a quality level of the compensation factor. In one configuration, the quality assessor bases the quality level on whether there is a significant jump or an abrupt change in the magnitude of the compensation factor over a sample time period. In another configuration, the quality assessor bases the quality level on a significant leap occurrence and whether a —RAIM algorithm signals a single difference code solution or a single difference carrier phase solution as uncertain.
The fourth embodiment of the location determination receiver 310 of Figure 4 is similar to the third embodiment of the location determination receiver 210 of Figure 3, except that the secondary receiver data processing system 316 of Figure 4 further comprises a filter 70 (for example, low-pass filter). Same reference numbers in Figure 1 to Figure 4, inclusive, indicate the same elements.
The filter 70 has an input coupled to the polarization estimator 234 (or the polarization compensator 32) and an output communicating to at least one of the RTK mechanism 20, the data processor 22, the error reduction filter 24, the estimator 26, and the data storage device 28.
Figure 5 shows a flowchart as a first example of estimating position, attitude, or both of an object or vehicle with polarization compensation to support combined use of Global Positioning System (GPS) satellite transmissions and GLONASS (System Global Navigation Satellite). The —Figure5 method starts at step S500.
In step S500, a primary receiver data processing system 14 or primary phase measurement device 18 measures a first carrier phase (for example, GPS signal L1) and a second carrier phase (for example, GPS L2) received by the location determination receiver (for example, 10, 110, 210 or 310), where carriers are received from two or more primary satellites (for example, GPS satellites). The location determination receiver (for example, 10, 110, 210 or 310) is mounted on or associated with an object or vehicle, or an instrument associated with the vehicle.
In step S502, a secondary receiver data processing system 16 or the secondary phase measurement device 30 measures a third carrier phase of a third carrier signal (e.g., subband signal G1 (K) or GLONASS LI) and a fourth carrier phase of a fourth carrier signal (for example, G2K subband signal) or GLONASS L2) received by the location determination receiver (10, 110, 210 or 310), where the third and fourth carriers are received from secondary satellites at frequencies other than two or more to determine location (10, 110, 210 or 310). secondary satellites that result in an inter-channel polarization between carrier signals from the different secondary satellites observable at the receiver. Satellites in the GLONASS and GPS constellations transmit signals in two different bands called L1 and L2. The subbands for the LI and L2 bands can be called Gl and G2 for the GLONASS constellation. In the GLONASS system, each satellite is usually allocated a particular frequency or sub-band within a band, given by the following expressions: G1 (K) = 1602 MHz + K * 9/16 MHz in the L1 band, and G2 (K ) = 1246 MHz + K * 7/16 MHz in the L2 band, where K is a frequency number (frequency channel) of the signals transmitted by GLONASS satellites in the G1 and G2 sub-bands correspondingly. As of the time of writing this document, GLONASS satellites used frequency channels in the K = range (-7 to +6). GLONASS satellites launched since 2005 use filters that limit out-of-band emissions to the limit of harmful interference contained in Recommendation CCIR 769 for the 1610.6 MHz-1613.8 MHz and 1660 MHz-1670 MHz bands.
If GLONASS observation is included to improve the performance of GPS RTK in the location determination receiver (10, 110,210or310), significant inter-channel polarizations of GLONASS may exist in both pseudo-range and GLONASS carrier phase observations. Inter-channel polarizations result from differences in signal propagation, hardware variations, differences in signal processing, and other factors that are impacted by different signal frequencies - received from GLONASS satellites. Because of inter-channel polarizations, instantaneous ambiguity resolution of GLONASS carrier phase observations with state-of-the-art GPS techniques is quite difficult, and may even fail if GLONASS inter-channel polarizations are ignored. Additional complications result where the reference station (eg 40 or 41) and the location determination receiver (eg 10, 110, 210 or 310) are made by different manufacturers (or even when different models from the same manufacturer they're used). A location determination receiver (eg 10, 110, 2100u310) and the reference station (40 or 41) may contain receiver circuits (eg microwave filters or amplifiers) that differ or may not respond with uniform delay across an entire bandwidth of the GLONASS LI and L2 signals, for example. Sometimes the receiver circuits use different reference clocks for the GPS and GLONASS receiver circuits, which can be considered through self-processing.
In step S504, the data processor 22 or the real-time kinematic mechanism 20 estimates a first whole set of ambiguities associated with the first measured carrier phase, and a second whole set of ambiguities associated with the second measured carrier phase. Step S504 can be performed according to several alternating techniques that can be applied individually or cumulatively. Under a first technique, in one embodiment, the data processor or RTK mechanism 20 can estimate the first integer set of ambiguities and the second whole set of ambiguities, if the signal quality of the GPS carrier signals received at the location (for example, 10, 110, 210 or 310) is greater than a threshold signal quality level (for example, determined at the primary receiver front terminal 12, primary decoder 48, or primary phase 18) for at least a minimum number of satellites in the GPS constellation.
Under a second technique, a data processor 22 or real-time kinematic mechanism 20 estimates the first whole set of ambiguities and the second whole set of ambiguities by a process (for example, a search process, a least squares solution process , or a weighted least squares solution process) and calculating the set of double difference reference ambiguities associated with first carrier signals from different primary satellites (for example, GPS Ambiguity LI DD). In addition, data processor 22 or real-time kinematic mechanism 20 estimates first whole ambiguity set and second ambiguity set by calculating the double difference reference ambiguity set associated with different second secondary satellite carrier signals (for example , GPS L2 DD ambiguity). "Double difference", "DD" or "double differentiated" refers to a mathematical operation that can be applied to carrier phase or pseudo-range measurements. Here, in step S504, double difference operations can be applied to floating GPS carrier phase ambiguities or fixed carrier phase ambiguities. The double difference can be determined by subtracting two single difference GPS carrier phase measurements between a location determination receiver and a reference location determination receiver (for example, reference station 40 or 41) with respect to the same two satellite signals from two different satellites. Dual difference operation is used to reduce or improve GPS satellite clock error and atmospheric signal propagation bias.
In step S506, the data processor 22 or the real-time kinematic mechanism 20 estimates a third set of ambiguities (for example, a third whole set of ambiguities) associated with the third measured carrier phase, and a fourth set of ambiguities (for example, example, fourth whole ambiguity set) associated with the fourth measured carrier phase. Step S506 can be performed according to several alternating techniques that can be applied individually or cumulatively. Under a first technique, the data processor or RTK mechanism 20 can estimate the third set of ambiguities and the fourth set of ambiguity, if the signal quality of the GLONASS carrier signals received at the location determination receiver (10, 110, 210 or 310) is greater than a signal quality level threshold (for example, determined at the secondary receiver front terminal 13, secondary decoder 50, or secondary phase measuring device 30) for at least one number minimum number of satellites in the GLONASS constellation. In step S506, the data processor 22 or real-time kinematic mechanism 20 is well suited for resolving ambiguities (for example, whole ambiguities) in the third measured carrier phase and fourth carrier phase, where inter-channel polarization is considered before, after or simultaneously with the solution of ambiguities along with step S508, for example.
Under a second technique for performing step S506, data processor 22 or real-time kinematic mechanism 20 estimates the third set of ambiguities (for example, whole set of ambiguities) and the fourth set of ambiguities (for example, fourth set of whole ambiguities) in a process (for example, solution or research process) that includes applying single difference operations, double difference operations, or both to the third measured carrier phase and the fourth measured carrier phase. The third set of ambiguities and the fourth set of ambiguities of step S506 can represent partial solutions, iterative solutions, intermediate solutions or complete solutions for the entire third set of ambiguities and the entire fourth set of ambiguities of the third carrier phase and the fourth phase carrier. For example, an initial or partial ambiguity set solution can rely on a partial solution (for example, half-whole solution or an inter-channel polarization solution) or GPS carrier phase measurements to define the survey space for an optimal solution of the third entire ambiguity and the fourth entire GLONASS ambiguity. If the result of step S506 is a partial solution, iterative solution or intermediate solution, the solution compensated in complete polarization for a period of time (for example, an epoch) is finally determined in real time by the data processor 22 or by the kinematic mechanism in real time along with step S508, for example. The complete polarized compensated solution that accounts for inter-channel polarization can be called the third compensated whole set of ambiguities and the fourth compensated whole set of ambiguities. The data processor 22 or real-time kinematic mechanism 20 is well suited for resolving ambiguities (for example, whole ambiguities) the third measured carrier phase and the fourth real-time carrier phase, where inter-channel polarization (for example, the step S508) is considered before, after or simultaneously with the solution of the ambiguities (for example, in step S506).
Inter-channel polarization in carrier phase measurement is often performed because of the FDMA modulation scheme, in which each GLONASS satellite transmits from a different frequency or sub-band within the GLONASS LI and L2 band. The location determination receiver (10, 110, 210 or 310) is susceptible to inter-channel polarization, which refers to the frequency-dependent polarization of the previous third and fourth carrier phase measurements. In addition, inter-channel polarization can also include a pseudo-range code polarization that is not - discussed in the method of Figure 5, but is referred to elsewhere in this document.
In step S508, the error reduction filter 24 (for example, a predictive filter or Kalman filter) or real-time kinematic mechanism compensates for inter-channel polarization in at least one of the entire third set of ambiguities and the fourth set of whole ambiguities by modeling the error reduction filter 24 according to one or more of the following inputs or filter states: motion data (for example, object position data, object speed data, object acceleration data), data troposphere data (eg residual troposphere data), ionosphere data, a set of unique difference reference ambiguities associated with a third carrier signal from different secondary satellites (eg, GLONASS Gl reference satellite unique difference ambiguity (K)) observed at the location determination receiver (10, 110, 210 or 310) and at the reference station (for example, 40 or 41), and a set of reference ambiguities that of signal difference associated with four different secondary satellite carrier signals (for example, single difference ambiguity of GLONASS G2 (K) reference satellite) observed at the location determination receiver (10, 110, 210 or 310) and at the reference station (for example, 40 or 41).
"Unique Difference", "SD" or "Unique Differential" should refer to a mathematical operation of unique difference that can be applied to carrier phase or pseudo-range measurements observed at the location determination receiver (10, 110, 210 or 310) and at the reference station (40 or 41). With respect to GLONASS measurements, the single difference is determined by subtracting measurements (for example, third carrier phase measurements or fourth carrier phase measurements) between a location determination receiver and a reference station (ie receiver - reference location determination) with respect to the same satellite signal. In general, the unique difference is based on a first measurement (for example, carrier phase measurement of the first carrier, second carrier, third carrier or fourth carrier) of a particular satellite signal (for example, from a particular satellite) at location determination receiver (10, 110, 210 or 310) and second measurement (for example, of a carrier phase measurement of the same first carrier, second carrier, third carrier or fourth carrier) of the particular satellite signal at a station reference point (for example, 400oud4l reference station), the first measurement is subtracted from the second measurement, or vice versa. The first measurement and the second measurement are taken normally during the same time or through another applicable period of time in which the carrier phase measurements of the same carrier signal are sufficiently correlated. The single differentiated carrier phase observable between two receivers tracking the same satellite can be expressed as: AA, = AP, + A, AN, + c: AdT, + ACB, —AI / f, + Adf "+ Ex, O) where x is the observable unique differentiated carrier phase expressed in units of cycles; * + and f + are the wavelength and frequency of the carrier wave; Nx is the unique differentiated whole ambiguity; c is the speed of light; a / 2 is the unique differentiated ionospheric delay, where I is a function of the Total Electron Content; A is the unique differentiated tropospheric delay; and "** is the carrier phase observation noise; Air is the unique differentiated geometry distance; adm; is the difference between the two —receiver clock polarizations; and ACB, is the inter-channel polarization for unique differentiated carrier phase (SD) measurements; ek represents the L2 or G1 frequency of GPS L1 or G2 of GLONASS. 2B : it is not the same for different GLONASS satellites or when receivers of different manufacturers or types different from the same manufacturer are used for RTK base and nomadic receivers.
In one embodiment, single difference phase measurements can be used to cancel satellite clock error and atmospheric signal propagation bias (for example, ionosphere bias, but not necessarily troposphere bias). In another embodiment, if the polarization estimator (34, 134, or 234) can estimate inter-channel polarization reliably, the data processor 22, the error reduction filter 24, or the real-time kinematic mechanism 20 can use the single difference phase measurements as a primary source of information for determining reliable carrier phase ambiguity solution sets for the entire third ambiguity set and the entire fourth ambiguity set (for example, in step S506 or otherwise) . The current state of the art hardware design of the GPS portion of the location determination receiver tends to provide - substantially identical (for example, almost identical) inter-channel carrier polarizations for different GPS satellites at the LI frequency, and substantially identical inter-channel carrier phase polarizations for different GPS satellites at the L2 frequency. However, the L2 polarizations of GPS are different from the L1 polarizations of GPS.
In contrast, the current state-of-the-art hardware design of the GLONASS portion of the location receiver is typically loaded with different inter-channel biases for different GLONASS Gl (K) frequencies which are denoted as ACBeei (k) for code, and .
There are different inter-channel biases for different GLONASS G2 frequencies (and different from the inter-channel bias for GLONASS G1 (K) frequencies) which are denoted as ACBave2 (k) for code.
When the location determination receiver (10, 110, 210 or 310) and the base receivers (for example, reference stations 40 or 41) are from different manufacturers or of different types, the APBaxci inter-channel polarizations (h) and —APBanc2 (h) will not remain zero.
Typically, inter-channel GLONASS polarizations exhibit different constant polarization behavior for different GLONASS satellites over a short period of time.
GLONASS inter-channel polarizations can vary slowly for the same type of receiver due to component variations, aging,
temperature change, or other factors.
Because of the different signal frequencies for GLONASS satellites, the double difference procedure generally used for processing GPS carrier phase data cannot be implemented in its direct form for third carrier and fourth phase measurements. GLONASS carrier. Step S508 can support double difference procedures, where inter-channel polarization, receiver clock polarization, cycle jump, and other technical considerations are handled correctly. The method of Figure 7 describes several illustrative techniques for applying double difference procedures in step S507, which can be applied in conjunction with step S508, or otherwise, for example.
In step S510, estimator 26 or primary receiver data processing system 14 estimates an object position based on the first measured carrier phase, the second measured carrier phase, the first calculated whole ambiguity set, the second ambiguity set calculated integer, and at least one of the third measured carrier phase and the fourth measured carrier phase, and at least one of the third matched whole ambiguity set and the fourth matched whole ambiguity set.
The method of Figure 6 is similar to the method of Figure 5, except that the method of Figure 6 further comprises step S512. Step S512 can be performed before, after or simultaneously with step S510, for example. The same reference numbers in Figure 5 and Figure 6 indicate the same steps or procedures.
In step S512, a secondary decoder 50 decodes a pseudo-random range code encoded in the third carrier signal and the fourth carrier signal; wherein the compensation further comprises - compensating for an inter-channel bias (e.g., inter-channel coding bias) associated with at least one of the decoded pseudo-random range code associated with the third carrier signal or the fourth carrier signal . In one example, single difference pseudo-range code measurements are determined to estimate inter-channel code bias.
The functional model of pseudo-range measurement has a similar shape to the carrier phase model (note that similar notation is used, but code biasing may have a different meaning than in the case for carrier phase measurements): AP, = Ap, + c- AdT, + APB, + AI / f / + Ad / "te, where 9PB represents inter-channel code polarization and far is pseudo-range noise.
More description is needed for the terms of ACB, it is APB, because they both represent the difference between the GPS and GLONASS systems and the inter-channel or frequency polarizations between different frequencies. It should be noted that all satellite dependent polarizations such as satellite clock error are canceled after differentiation between two receivers.
For state-of-the-art location-determining receivers, there are nearly identical inter-channel code polarizations for different GPS satellites at the LI frequency. Similarly, there are nearly identical inter-channel code polarizations for different GPS satellites at the L2 frequency. However, the polarizations of L2 are different from the polarizations of L1. If the GPS L1 and L2 frequencies are chosen as reference frequencies, the receiver clock polarization is then - determined using pseudo-range measurements at these frequencies, and denoted as 2%; ACB, it is AP 8 for GPS frequencies L1 and L2 will then remain zero.
However, inter-channel polarizations have to be considered for pseudo-range measurements of GLONASS, especially for different manufacturers and / or types of receiver.
There are different inter-channel biases for different GL frequencies of GLONASS which are denoted as ACBamwo () for code.
There are different inter-channel biases for different GLONASS G2 frequencies (and different from the inter-channel bias for - GLONASS GI frequencies) which are denoted as ACBenve2 (k) for code.
The method of Figure 7 is similar to the method of Figure 5, except that the method of Figure 7 further comprises step S507. Step S507 can be performed later or simultaneously with step S506, for example.
The same reference numbers in Figure 5 through Figure 7 indicate the same steps or procedures.
In step S507, the bias estimator (for example, 34, 134 or 234) estimates double difference carrier inter-channel polarization of the third carrier signal or the fourth double difference carrier and pseudo-range signal of the third carrier signal and the fourth carrier signal, where the estimate remains valid until a cycle jump. "Double difference" or "double difference" refers to a mathematical operation that can be applied to carrier phase or pseudo-range measurements.
Double difference operations can be applied to floating carrier phase ambiguities or fixed carrier phase ambiguities.
The double difference can be determined by subtracting two single difference measurements between a location determination receiver and a reference location determination receiver (for example, reference station 40 or 41) with respect to the same two satellite signals from two satellites many different.
Dual difference operation is used to reduce or improve satellite clock error and atmospheric signal propagation bias.
In an alternate embodiment, the double difference can be determined by subtracting two single difference measurements between a location determination receiver and a reference location determination receiver with respect to two satellite signals from the same satellite measured during different times.
In step S507 and more generally, double difference ambiguity solutions and inter-channel bias estimates may be vulnerable to multipath propagation and cycle jumps. A cycle jump refers to a discontinuity in the carrier phase measurement of the carrier signal caused by a loss of lock in signal tracking within the location determination receiver. For example, the cycle hop can include a full cycle loop or partial cycle jump — in carrier phase stillness. A cycle jump can be caused by obstructions that obstruct the propagation and reception of signal from one or more satellite signals at the location determination receiver. The location determination receiver detects a lockout loss by detecting an abrupt jump or transition in the carrier phase ambiguity or discrepancy between phases measured at the location determination receiver and the reference receiver. In the case of a cycle jump, the real-time kinematic mechanism 20 or the error reduction filter 24 can reset and readjust the ambiguity estimate, which can result in a data gap that can be treated with position determination data dead from - supplementary sensors (for example, accelerometers, pedometers or otherwise) until the location determination receiver regains the carrier phase ambiguity solution and / or its precise position.
The double difference phase determinations of step S507 can be performed according to various techniques that can be applied - individually or cumulatively.
Under a first technique, the data processor 22 or real-time kinematic mechanism 20 estimates inter-channel polarization associated with the third set of ambiguities (for example, the third whole set of ambiguities) and the fourth set of ambiguities (for example, fourth whole set of ambiguities), or a precursor to it, by calculating the set of double difference ambiguities associated with a pair of different secondary satellite carrier signals (Satellite Ambiguity GLN Gl DD), and calculating the set of —ambiguities of double difference associated with a pair of fourth carrier signals from different secondary satellites (GLN G2 DD Satellite Ambiguity). The estimated double difference ambiguity sets, or the estimated precursors therefor, are then compared with a third estimated SD-based whole ambiguity set, and a fourth set of estimated SD-based whole ambiguities, derived from single difference measurements carrier phase reference values (for example, GLONASS G1 Reference Satellite Unique Difference Ambiguity and GLONASS Reference Satellite G2 Unique Difference Ambiguity) to provide an inter-channel bias estimate that is supplemented by polarization data additional inter-channel. Additional inter-channel polarization data includes, but is not limited to, a fixed inter-channel polarization term associated with the location-determining receiver hardware and time-varying satellite-specific polarization terms associated with a specific frequency list GLONASS satellite signals received at the location determination receiver at any given time. Satellite-specific polarization terms can be referenced to a reference satellite frequency within the G1 and G2 bands (for example, central frequencies Glou G2) which is used for the previous single reference difference determinations, for example.
Under a second technique, for GLONASS double difference determinations (for example, phase or carrier code), receiver clock errors or other inter-channel polarization (for example, between the location determination receiver (10, 110 , 210 or 310) and the reference station (40 or 41)) may not cancel or be trivial and may no longer be modeled or approximated as integer multiples. The clock errors (between different GLONASS satellites) are not canceled because of the different transmission frequencies of the GLONASS satellites and the differential hardware delays peculiar to each satellite frequency. Therefore, the GLONASS double difference determination can be completed with a clock polarization term or another inter-channel polarization term. The clock bias term may include additional inter-channel bias data that can be used in conjunction with the first technique.
If the four reference satellites for GPS L1, GPS L2, GLONASS GI and GLONASS G2 are chosen, the observable double differential in units of meters can be formed as in Equation (3): A, 06, - ANG, = VAO,; + A, AN, = A - AN, + VAPB,; + AI / f = AI / fi + E & oag ,, 3) where% IS; is a first phase of single observable differentiated carrier expressed in units of cycles, º * + is a second phase of single observable differentiated carrier expressed in units of cycles; tielision the wavelength and frequency, respectively, of the carrier signal associated with the first observable single differentiated carrier phase; * + and f + are the wavelength and frequency, respectively, of the carrier signal associated with the second observable single differentiated carrier phase; MWNi is the first unique differentiated whole ambiguity associated with the first observable unique differentiated carrier phase; Nk is the second unique differentiated whole ambiguity associated with the second observable unique differentiated carrier phase; a Us the unique differentiated ionospheric delay for the first phase of observable single differentiated carrier, a / s is the unique differentiated ionospheric delay for the second phase of an observable unique differentiated carrier, where I is a function of the Total Electron Content; and “is carrier phase observation noise; MPi.j is the unique differentiated geometry distance; and APBr 6 inter-channel polarization for single differentiated carrier (SD) phase measurements, and k represents the L1 or L2 frequency of GPS or G1 or G2 of GLONASS. In Equation 3 above, the four receiver clock terms and inter-system biases can be removed, except for GLONASS inter-channel biases (for example, GLONASS clock biases between different satellites).
Entire ambiguity terms can also be rearranged as follows to produce Equation 4 as follows: 2.06, - ANG = VAP ,; + A, - VAN,; + (2, =): AN, + VAPB,, + AI / 5 = AI / f + E & vag ,, a For GPS carrier phase measurements, the fourth term (YAPB, 4) on the right side of Equation (4) will disappear because the inter-channel phase polarization is the same for different GPS satellites. For GLONASS carrier phase measurements, the third term is called the unique differentiated whole ambiguity for the reference satellite (or b A) AN ”and can be estimated. If the unique differentiated GLONASS reference satellite ambiguity for carrier phase is estimated from the GLONASS pseudo-range polarization for the same GLONASS satellite, the remaining errors (for example, satellite reference error or other inter-channel polarization ) associated with the third term could still - cause systematic model errors and could result in an incorrect double differentiated ambiguity resolution, and consequently degraded positioning accuracy. It should be noted that the maximum wavelength difference is 0.85 mm for the GLONASS GI frequency and 1.10 mm for the GLONASS G2 frequency. It is impossible to fix Nk to an integer because its coefficient is very small. For the same reason, the error in Nx will have little effect on system accuracy. For example, 1 cycle in Nx will introduce 1.1 mm less error in the measurement on the right side of Equation (4). The term Nx is constant until a cycle jump occurs at the location determination receiver with respect to the reference satellite. Therefore, it is desirable to model the term ANx as one or more satellite-specific polarization terms (for example, satellite polarization term G1 and a satellite polarization term G2 for each GLONASS satellite received) in the error reduction filter 24 (eg Kalman filter) to handle inter-channel polarization in double difference processing.
According to the third technique to perform step S507, data processor 22, RTK mechanism 20, or polarization estimator 34 estimates the ambiguity of GLONASS from single-reference satellite and the ambiguity of GLONASS from double difference (or the ambiguity of GLONASS difference data), along with motion data (for example, position data and / or velocity data), ionosphere, troposphere, and ambiguity parameters together in both double difference carrier and pseudo-phase observation equations. range in Equations (3) or (4) to determine inter-channel polarization.
Under a fourth technique, data processor 22 or RTK mechanism 20 estimates two additional ambiguity states, which can be called band-specific ambiguity states for the GLONASS reference satellites in the G1 and G2 bands. Band-specific ambiguity states apply all frequencies or sub-bands within each band. The band-specific ambiguity states remain constant until a cycle jump at the location determination receiver (10, 110, 210 or 310) occurs with respect to a reference satellite. It is desirable to model these reference satellite polarization terms as a constant or random ride on the error reduction filter 24 (for example, Kalman filter). Band-specific ambiguity states are not fixed as an integer and their coefficients are generally small compared to whole solutions for corresponding carrier phase ambiguities.
To determine band-specific ambiguity states, the measurements to be used are double difference carrier phase in Equation (3) or (4) and double difference pseudo-range.
If the following GLONASS inter-channel polarization table does not exist, they will be assumed to be zero and will be calibrated in real time.
The states of the error reduction filter 24 (for example, predictive filter or Kalman filter) are described in the following table: Status in the Predictive or Kalman filter Position XYZ Acceleration XYZ Residual troposphere Residual DD ionosphere of GPS NGPS-1 Ambiguity of DD L1 of GPS NGPS-1 Ambiguity of DD L2 of GPS NGPS-1 IT Residual DD of GLN NGLN-1 Ambiguity of DD G1 of GLN Ambiguity of SD G1 of GLN Reference Satellite Ambiguity of DD G2 of GLN NGLN-1 Reference Satellite G2 Ambiguity | 1 of GLN where NGPS is the number of GPS satellites used.
NGLN is the number of GLONASS satellites used.
The remaining single difference ambiguities for the reference GLONASS satellite will have less impact on double difference ambiguity and positioning accuracy when multiple epoch data are processed and they could be considered as the same unknown parameter for different epochs.
Some special care is required for GLONASS reference satellite ambiguity states in the error reduction filter 24 (eg Kalman filter), especially as the GLONASS code and inter-channel polarization calibration procedure as described then in more detail.
Under a fifth technique to perform step S507, an alternative approach is to form the observable double differentiator after the observable unique differentiates are expressed in units of cycles: VA; (12% Fa) (ff). AdT (Freg! * + VAN ,,; - (AN (ef,) -AlV (ef,)) + & adro —L ado +: APB, —LAaPB) In 4 ASS 6) where Tr refers to AdTorsui, AdTerst2 , AdTeivei, and AdTrryc2 respectively for GPS signals L1, GPS L2, GLONASS Gl and GLONASS G2. It can be seen that the polarization of differentiated receiver clock cannot be eliminated in Equation (5). The fourth term (ionospheric delay) and the fifth term (tropospheric delay) become slightly higher than in the case when the two frequencies are the same.
Using GPS and GLONASS pseudo-range measurements, the difference between the two receiver clock biases can be estimated.
This could be used to correct the second term for ambiguity resolution purposes.
However, this receiver clock polarization can significantly degrade positioning accuracy and ambiguity resolution.
Because of the different frequencies for the different GLONASS satellites, the relative 44T receiver clock polarization and inter-channel polarizations cannot be canceled in Equation (5) of GLONASS double differentiated carrier phase.
Under a sixth technique to perform step S507, the - data processor 22, the RTK mechanism 20 or the bias estimator (34, 134, 234) estimates a relative clock parameter (the second term on the right side of Equation ( 5) described later, which could be estimated using unique differential pseudo-range measurements in the GLONASS dual differentiated carrier phase observation of —Equation (5). It should be mentioned that the two relative clocks estimated using GLONASS PI / CI and P2 / C2 should be estimated separately, however, for purposes of ambiguity resolution and high precision positioning applications, the remaining clock bias cannot be ignored. Furthermore, this term could not be considered as the same unknown parameter for different times.
The frequency difference between GLONASS signals will be less than 7.3125 MHz for observations of Gl and 5.6875 MHz for observations of G2. If a 1 meter clock bias exists, its worst impact on the carrier phase will be 0.0244 cycles for L1 and 0.019 cycles for L2, respectively. The difference between the two receiver - clock biases can be expected to be less than 10 ns (3 meters), therefore this term could be corrected at the level of 0.06-0.075 cycles. However, for purposes of ambiguity resolution and high precision positioning applications, the remaining polarization cannot be ignored. In addition, this term cannot be considered as the same unknown parameter for different times.
If a common reference satellite is chosen for GPS L1I / L2 and GLONASS GI1 / G2 (for example, a GPS LI satellite), we can examine the impact of receiver clock polarization. The maximum frequency differences between GPS L1 and GLONASS G1, GPS L2, and GLONASS G2 are 30.52 MHz, 347.82 MHz and 326.36 MHz, respectively. If we assume that the clock polarizations are estimated within one meter, the second term could be corrected at the level of 0.10, 1.16, and 1.09 cycles for the measurements of GLONASS Gl, GPS L2, GLONASS G2, respectively. In practice, separate reference satellite measurements for GPS L1 / L2 GLONASS G1 / G2 are used in place of the common GPS L1 reference satellite.
The method of Figure 8 is similar to the method of Figure 5, except that the method of Figure 8 further comprises step S514. Step S514 can be performed before, after or simultaneously with step
S510, for example.
The same reference numbers in Figure 5 and Figure 8 indicate the same steps or procedures.
In step S514, the polarization compensator 32 provides a fixed compensation setting for a corresponding hardware configuration of the location determination receiver (for example, 10, 110, 210 or 310). A location determination receiver (eg 10, 110, 210 or 310) and reference stations (40 or 41) may contain receiver circuits (eg microwave filters or amplifiers) that differ or may do not respond with uniform delay across an entire bandwidth of the GLONASS L1 and L2 signals, for example.
Receiver circuits sometimes use different reference clocks for GPS and GLONASS receiver circuits, which can be considered through self-processing.
To minimize receiver polarizations between different designs or manufacturers, location-determining receivers can include rigid encoded polarization corrections, which are determined in the process of calibrating a given type of location-determining receiver using a simulator or a baseline approach zero.
Another method that allows you to reduce hardware bias is your own choice of hardware components.
All - mentioned methods lead to significant removal of hardware biases in GNSS receivers.
It is also important to estimate polarizations such as GPSL1I-GPS L2, GPSLI-GLNG1 and GPSLI-GLNG2 at a pre-release stage.
The method of Figure 9 is similar to the method of Figure 5, - except that the method of Figure 9 additionally comprises step S516 and step S518. The same reference numbers in Figure 5 and Figure 8 indicate the same steps or procedures.
In step S516, the bias estimator (34, 134, or 234) of the code bias controller 52 estimates a pseudocode bias between a secondary pseudocode (for example, GLONASS SP code) included in the third carrier signal or in the fourth carrier signal and the primary pseudocode (for example, C / A code) encoded in the first carrier signal.
All polarizations of —GLONASS below for real-time calibration represent unique differentiated inter-channel polarization for a given pair of receivers, that is, SD polarizations, non-zero difference or DD polarizations.
All GLONASS inter-channel code polarizations are referenced to GPS.
For any particular GLONASS satellite, three different code biases could exist: (1) CA code bias (polarization of a GLONASS CA code with respect to all GPS CA codes), (2) P1 code bias (polarization of a GLONASS PI code with respect to all GPS PI codes), and (3) P2 code polarization (polarization of a GLONASS P2 code with respect to all GPS P2 codes). The previous distinction between AC code bias and Pl code bias is very important, especially for LI band,
where we can optionally use either CA or PI codes.
Since GLONASS pseudo-range code measurements are generally not as accurate as GPS pseudo-code measurements, GLONASS code biases can be estimated outside the error reduction filter 24 (for example, Kalman). In particular, the bias estimator (34, 134, 234) estimates code bias outside of the error reduction filter 24 (for example, Kalman filter) using single differentiated GLONASS code post-adjustment residues.
Each location determination receiver (10, 110, 210 or 310) can maintain on the data storage device 28, or elsewhere, a code bias information table (bias table) including one plus the following: (1) Base station ID (if possible); (2) type of code (CA (for example, GPS course acquisition), SP (for example,
standard GLONASS precision code), GIC (for example, GLONASS CA code), C2C (for example, GLONASS CA code) (Pl (for example, accurate GPS code component), or P2 (for example, component accurate GPS code)); (3) Time tag (time of —GPS + number of weeks) for each GLONASS satellite; (4) Estimation of the polarization value (CB) for each GLONASS satellite; and (5) Estimation of polarization error variance (VAR) for each GLONASS satellite. The time tag and base station ID are useful for saving bias table information on the data storage device 28 (for example, non-volatile RAM in order to use it for the next RTK session. Note that it is usually possible to keep up to NSITE x BLOCK x NSAT polarization tables, where NSITE is the number of possible base stations and BLOCK <= 3 is the measurement number such as CA, P1, and P2. NSAT is the number of GLONASS satellites.
In step S518, the polarization estimator (34, 134, or 234) of the code polarization controller 52 stores the estimation pseudocode polarization on a data storage device 28 (for example, non-volatile electronic memory or access memory random) as part of a polarization table that is accessible by - at least to the kinematic mechanism in real time 20.
The method of Figure 10 is similar to the method of Figure 5, except that the method of Figure 10 further comprises step S520. Step S520 can be performed before, after or simultaneously with step S510, for example. Same reference numbers in Figure 5 and Figure 10 - indicate the same steps or procedures.
In step S520, the bias estimator (34, 134, or 234) or code bias controller 52, establishes a code bias information lookup table for each secondary satellite that the location determination receiver is tracking, where the lookup table includes a bias value estimate, a corresponding satellite identifier or base station associated with the bias value estimate, and one or more of the following: a code type (for example, C / A, SP , Pl, or P2) a time stamp, and variance estimate of polarization error.
Step S520 can support a polarization initiation procedure and a random walk model. For example, in GLONASS polarization processing, the polarization estimator (34, 134 or 234) or the location determination receiver can use a Random Walk model that is independent from satellite to satellite, block to block, and base to base. This model is described by parameter Qcg, which describes the maximum expected code bias deviation (for example, the pattern can be fixed to approximately 1 or another satisfactory exponential value).
In general, GLONASS polarization processing consists of 5 operations that can be facilitated by the methods of Figure 10 by Figure 16, alone or in combination with each other: (1) Initiation of polarization, (2) Time Update (apply polarization model ), (3) Polarization compensation (apply polarization information), (4) Polarization calibration (update polarization information), and (5) Polarization quality control and polarization table update.
Figure 11 shows a flowchart as a first example of estimating the position, attitude, or both of an object or vehicle with polarization compensation to support combined use of Global Positioning System (GPS) satellite transmissions and GLONASS satellite transmissions. Global Navigation Satellite). The method in Figure 11 starts at step S500.
In step S500, a primary receiver data processing system 14 or primary phase measurement device 18 measures a first carrier phase (for example, GPS signal L1) and a second carrier phase (for example, GPS L2) received by the location determination receiver (10, 110, 210 or 310), where carriers are received from two or more primary satellites (for example, GPS satellites).
In step S502, a secondary receiver data processing system 16 or the secondary phase measurement device 30 measures a third carrier phase of a third carrier signal (for example, G1 (K) or subband signal of GLONASS LI) and a fourth phase - carrier of a fourth carrier signal (for example, G2 (K) or GLONASS L2 subband signal) received by the location determination receiver (10, 110, 210 or 310) , where the third and fourth carriers are received from secondary satellites (for example, GLONASS satellites) at frequencies other than two or more secondary satellites that result in an inter-channel bias between carrier signals from different secondary observable satellites at the determination receiver location (10, 110, 210 or 310). In step S504, the data processor 22 or the real-time kinematic mechanism 20 estimates a first whole set of ambiguities associated with the first measured carrier phase, and a second whole set of ambiguities associated with the second measured carrier phase. For example, in one embodiment, the data processor or RTK engine 20 can estimate the first whole set of ambiguities and the second whole set of ambiguities, if the signal quality of the GPS carrier signals received at the location (for example, 10, 110, 210, or 310) is greater than a threshold signal quality level (for example, determined at the primary receiver front terminal 12, primary decoder 48, or the phase measurement device 18) for at least a minimum number of satellites in the GPS constellation.
In step S506, the data processor 22 or the real-time kinematic mechanism 20 estimates a third integer set of ambiguities associated with the third measured carrier phase, and a fourth whole set of ambiguities associated with the fourth measured carrier phase. For example, in one embodiment, the data processor or RTK 20 engine can estimate the entire third ambiguity set and the entire third ambiguity set, if the signal quality of the GLONASS carrier signals received at the determination receiver - delocalization (10, 110, 210 or 310) is greater than a threshold signal quality level (for example, determined at the front terminal of secondary receiver 13, secondary decoder 50, or secondary phase measuring device 30) for at least a minimum number of satellites in the GLONASS constellation.
In step S600, a polarization estimator (34, 134 or 234) establishes initial polarization data according to a polarization initiation procedure that operates in a first mode or a second mode, where in the first mode, stored polarization data is accessed or retrieved from a look-up table stored on a data storage device 28 (eg, non-volatile electronic memory) associated with the location determination receiver (10, 110, 210 or 310) to populate the kinematic mechanism in real time 20 , and where in the second mode, stored polarization data includes a polarization - prefixed - preprogrammed - associated with hardware - corresponding to the location determination receiver 600.
In another example to perform step S600, polarization information is started with RTK initiation. It can be either coarse initiation when there is no prior information about available polarizations or normal initiation when there is some prior information about polarizations that can be loaded from the polarization table in NVRAM. If a priori polarization information is available, then initial values are as follows: ACB ,,,., (Svld) = NVRAM. BIAS & VAR, ico (Id) = (NVRAM VAR) where NVRAM BIAS and NVRAM VAR are code bias and GLONASS variance information stored in the NVRAM table; ACB ,,, (svld) and VAR, (svld) are polarization of GLONASS code ,; and variance for a given satellite (svId). It is important to ensure that the station ID in the bias table matches the one in use if the bias table information is used. If IDs are not available or do not match, a prefixed hard coded polarization or zero polarization should be used, along with a prefixed variance of 25 m . Also note that the polarizations will be less if the receivers are of the same type and manufacturer. With prefixed initiation, the time update for the same first season should not be performed.
In step S602, a bias estimator (34, 134 or 234) or bias compensator 32 compensates for inter-channel bias (for example, inter-channel code bias, inter-channel carrier phase bias, or both between sub - GLONASS channels in the L1 band or —L2deGLONASS band) estimating a compensation factor based on subtracting the inter-channel polarization from a double difference code preset residue. Once the GLONASS inter-channel polarization calibration process is running in real time, the inter-channel polarization in Equation (3) can be subtracted simply from the preset residue of - corresponding DD code and the variance of this difference can be adjusted by VAR,, ... (svId) in the measurement covariance matrix R.
In step S510, the primary receiver data processing system 14 or the estimator 26 determines an object position based on the first measured carrier phase, the second measured carrier phase, the first calculated whole ambiguity set, the second set of calculated integer ambiguities, and at least one of the third measured carrier phase and the fourth measured carrier phase, and at least one of the third compensated whole ambiguity set and the fourth compensated whole ambiguity set.
The method of Figure 12 is similar to the method of Figure 11, except that the method of Figure 12 further comprises step S606. The same reference numbers in Figure 11 and Figure 12 indicate the same steps or procedures. Step S606 can be performed before, after or simultaneously with step S510.
In step S606, data processor 22 or bias estimator (34, 134 or 234) designates time stamps for corresponding single difference carrier phase measurements or pseudo-random range code measurements associated with secondary satellites and for associated variances.
The method of Figure 13 is similar to the method of Figure 11, except that the method of Figure 13 further comprises step S608. The same reference numbers in Figure 11 and Figure 13 indicate the same steps or procedures. Step S608 can be performed before, after or simultaneously with step S510.
In step S608, a calibrator 64 or a polarization estimator 234 calibrates the compensation for inter-channel polarization according to a single difference calibration to allow changes in - satellites received or available at the location determination receiver (10, 110, 210 or 310) converting double difference post adjustment wastes into single difference wastes.
Having processed all epoch data, we can obtain the residual SD RES post-tuning vector for each code block
(ie CA, P1 and P2) with their associated measurement covariance R used in the measurement covariance update. Each CA / P1 / P2 block is processed independently and similarly. As mentioned earlier, the proposed RTK algorithm is a DD-based approach. However, it may be desirable to use a unique differentiated GLONASS inter-channel polarization calibration in order to make it easier to deal with a change of reference satellite. The basic idea is to convert the original DD post-adjustment residues into single difference post-adjustment residues if the DD approximation is used. First, we store the preset - GPS / GLONASS SD code residues Z and project matrix H, which is computed using the projected location determination receiver coordinates (for example, nomadic RTK coordinates). The SD receiver clock is contained within the SD preset residues. After the RTK group updates (CA / PI / L1 / P2 / L2), the error reduction filter 24 (for example, Kalman filter) state corrections are accumulated in the% X variables of filter states, which can be used to compute the post-adjustment SD residues GPS RES for GPS and GLN RES for GLONASS are as shown in the following equations: GPS RES = 2Z-HX 8) GLN RES = 2Z-H & X - weight mean (GPS RES) ( 9) The term weight mean (GPS RES) means to take a weighted average value (using vector R) of the GPS block through all the block residues (CA / P1 / P2 respectively) of the GPS SD receiver clock. It should be noted that the% includes the three coordinate updates, and - may include some remaining ionospheric and tropospheric contributions in cases of long reach.
GLN RES contains inter-channel polarizations of GLONASS relative to the associated variance of GPS R, where R is the covariance used in updating the GLONASS code for a given satellite. The polarization update routine can be described in Equations (10-13): K = TR DAR (ao) VAR joco (SVIA) = VAR 15 ,, (sVIA) (1— K) av ACB ,,. Es (svId ) = ACB ,,,., (Svld) + K-GLN. RES (svld) (12) where K is the gain for the GLONASS code bias.
The method of Figure 14 is similar to the method of Figure 11, except that the method of Figure 12 further comprises step S606. The same reference numbers in Figure 11 and Figure 14 indicate the same steps or procedures. Step S606 can be performed before, after or - simultaneously with step S510.
In step S606, data processor 22 or bias estimator (34, 134 or 234) designates time stamps for corresponding single difference carrier phase measurements or pseudo-random range code measurements associated with secondary satellites and for —Associated variances. For example, for a GLONASS SD code measurement in time T (now), it is assumed that a GLONASS polarization estimate ACB ,,,., (Svld) with time variance associated with VAR ,,,, (svld) is labeled in time Tí (pre) is available. The GLONASS polarization time update from time T (pre) to T (now) can be done if ACB ,,,., (Svld) is left unchanged, but its VAR ,,,, (svld) variance is projected as shown in Equation (7) as follows: VAR, 16eo (SVIA) = VAR 1 ... (svId) + (T (now) - T (pre)): Qcz (7) where Qcg is defined by constant values. After Equation (7), variance update is performed, the polarization of —GLONASS ACB ,,, (svld) and variance are labeled at time T (now).
In step S612, after processing all epoch data as verified by the time stamps, data processor 22, polarization estimator 234, or calibrator 64 calibrates the compensation for inter-channel polarization according to a single difference calibration to allow changes in satellites received or available at the location determination receiver (10, 110, 210, 310) converting double difference post-adjustment residues into single difference residues.
The method of Figure 15 is similar to the method of Figure 11, except that the method of Figure 15 further comprises step S614, step S616 and step S618. Same reference numbers in Figure 11 and Figure 15 indicate the same steps or procedures. Step S614 can be - performed before, after or simultaneously with step S510.
In step S614, a bias estimator 234 or quality evaluator 68 monitors a quality level of the compensation factor.
All polarization information can be readjusted either by user command or quality control check in the software.
A restart, for example, may be needed in cases such as changing the base station identifier (ID) or a significant jump in a polarization of GLONASS inter-channel code. The polarization information for a particular satellite could also be readjusted when a given GLONASS SD code was present in the input data, but was flagged as questionable (for example, by a RAIM algorithm) and not used in the block update.
In step S616, the bias estimator 234 or the quality evaluator 68 determines whether there is a significant jump (for example, material) or an abrupt change in the magnitude of the compensation factor over a - sample time period. For example, in a configuration, a significant jump or abrupt change may include a five percent or greater change in the magnitude of the compensation factor across one or more sample periods. If there is a significant jump or abrupt change in the magnitude of the compensation factor over a sample time period, the method continues with step S618. However, if there is no significant jump or abrupt change in the magnitude of the compensation factor, the method returns to step S614, where the level of quality of the compensation factor is monitored for the next sampling period.
The method of Figure 16 is similar to the method of Figure 11, except that the method of Figure 16 further comprises step S614, step S616 and step S619. Same reference numbers in Figure 11 and Figure 16 indicate the same steps or procedures. Step S619 can be performed before, after or simultaneously with step S510.
In step S619, calibrator 64 or bias estimator 234 calibrates the estimated inter-channel bias or compensation for the inter-channel bias associated with secondary satellite carrier phases according to a single difference calibration to allow for changes in the received satellites or available to the location determination receiver (10, 110, 210 or 310) determining residues according to Equation 18 or an equivalent or similar calculation that uses substantially a majority of the same variables or variables with values correlated therewith.
Unlike the inter-channel code polarization estimate, the single difference GLONASS receiver clock needs to be determined precisely in order to estimate GLONASS inter-channel carrier phase polarizations. GLONASS receiver clock bias estimation needs to be sufficiently accurate or otherwise treated as a source of possible error. Here, an innovative approach is proposed to estimate carrier phase inter-channel polarization. Single phase carrier measurements of GPS and GLONASS between two receivers can be written as follows: AGE AP = ApºS + c-AdTop, + ANÇÕ AT - A + Adf ”+ Es, / (13)
AGP AT = ApCO + AdT9O + ANGEN ABIN Ao + Adi ”HABEAS ve, fe AdTº” = AdT + AdTresinema (15) In these three equations and elsewhere in this document, where: ap is the GPS carrier phase measurement, single difference, either L1 or L2; EV SARA; AAA is the theoretical single difference range (this can be calculated based on the estimated receiver locations); Mer is the unique difference GPS receiver watch; NA is the ionospheric effect of a single difference; Adr ”is the tropospheric effect of a single difference; fa is the carrier phase measurement noise; ago is the single difference GLONASS carrier phase measurement, either G1 or G2; AdTº is the unique difference GLONASS receiver watch; ABr is the single difference carrier inter-channel polarization for GLONASS; AdTrsimma It is the inter-system polarization between GPS and GLONASS; Subtracting (14) from (13), we obtain the following: Ag ”ag = Ap [4 + ad APS + ANCION - Do, A + Adi [AT + ess AO Í (16) (Ap A + c-AdT9S AS + A + ANÇ - a VA + Adi [AGO + ABES + el APS) The previous equation can be reorganized as follows: Ag Ago = Ap “/ AS Apt IA + c AdTops Gs and + ANÉO - GEE 14- to 12255 ( 17) + TATA AO E 1 RA ANÇo AB coupon
As the GPS wavelength is very close to the GLONASS wavelength at the same frequency, the impact of the receiver clock polarization contribution to inter-channel polarization is significantly reduced in the previous equation. System polarization can be determined precisely by filtering single difference code measurements. The residual ionospheric and tropospheric effects are assumed to be negligible after applying the empirical models and residual estimates to the error reduction filter (eg Kalman filter). The single difference GPS carrier phase ambiguity and GLONASS carrier phase ambiguity can be removed easily by rounding the entire part in Equation (17). The GLONASS carrier phase inter-channel polarization can be determined using the following equation: AB = Ap "[AS Apt IA + c-MTsps Gs geo Gs 1X" o AO) as) + (8d 1 AS Ad KO + e IA ce AS if Fu ANfo (AGE Aug) Carrier phase measurement noise can be decreased by filtering the calculated phase polarization.The real-time calibration for GLONASS carrier phase polarizations is very similar to the procedure for code polarizations A low-pass filter is used for real-time carrier phase polarization estimation. Similar to GLONASS code polarization processing, carrier phase code polarization processing consists of 5 operations as with the same processing code polarization The main difference is in the polarization calibration In this process, Equation 18 is used to calculate the residuals.
In step S620, a filter 70 (for example, a low-pass filter) filters the estimated inter-channel bias associated with carrier phases to support real-time carrier phase bias estimation.
The centimeter accuracy of kinematic GPS positioning can be achieved theoretically in real time due to the millimeter resolution of the carrier phase observable with the ambiguities - unknown recovered. In practice, however, safe and correct ambiguity resolution depends on observations from a large number of satellites, which constrains their applications, making it difficult to deal with positioning applications in areas where the number of visible satellites is limited. The method and system for estimating position with polarization compensation is well suited to increase the number of available satellites, facilitating the combined observations of the GPS and GLONASS satellite constellations.
The method and system for estimating position with polarization compensation is suitable for real-time GPS RTK and GLONASS applications. The preceding method involves a 15 "GLONASS RTK algorithm and a multi-step inter-channel polarization calibration procedure for GLONASS carrier code and phase observations.
Having described the preferred embodiment, it will become apparent that various modifications can be made without departing from the scope of the invention - as defined in the accompanying claims.

权利要求:
Claims (24)
[1]
1. Method to estimate the position of an object by a location determination receiver associated with the object, characterized by the fact that it comprises: measuring a first carrier phase of a first carrier signal and a second carrier phase of a second signal carrier received by the location determination receiver, the first carrier signal received at substantially the same frequency from two or more primary satellites, the second carrier signal being received - at substantially the same frequency from two or more primary satellites; measure a third carrier phase of a third carrier signal and a fourth carrier phase of a fourth carrier signal received by the location determination receiver, the third carrier signal being transmitted at different frequencies from two or more secondary satellites, the fourth carrier signal being transmitted at different frequencies from two or more secondary satellites which results in an inter-channel polarization between carrier signals from the different secondary satellites observable at the location determination receiver; estimate a first whole set of ambiguities - associated with the first measured carrier phase, and a second whole set of ambiguities associated with the second measured carrier phase; estimate a third set of ambiguities associated with the third phase of measured carrier and a fourth set of ambiguities associated with the fourth phase of measured carrier; compensate for inter-channel polarization in at least one of the third set of ambiguities and the fourth set of ambiguities by modeling a predictive filter according to the following inputs or states of the filter: motion data about the object, troposphere data, ionosphere data, a set of unique difference reference ambiguities associated with the third different secondary satellite carrier signals, and a set of single difference reference ambiguities associated with the fourth different secondary satellite carrier signals; and determining an object position based on the first measured carrier phase, the second measured carrier phase, the first calculated whole ambiguity set, the second calculated whole ambiguity set, and at least one of the third measured carrier phase and the fourth carrier phase measured, and at least one of the third set of —ambiguates compensated and fourth set of ambiguities compensated.
[2]
2. Method according to claim 1, characterized by the fact that the compensation additionally comprises compensating in real time an inter-channel polarization associated with at least one of the measurements of the third carrier phase of third carrier signals of the secondary satellites and measurements of the fourth carrier phase of fourth carrier signals from the secondary satellites.
[3]
3. Method according to claim 1, characterized in that it further comprises: decoding a pseudo-random range code encoded in the third carrier signal and the fourth carrier signal; wherein the compensation further comprises compensating for an inter-channel coding bias associated with at least one of the decoded pseudo-random range code associated with the third carrier signal or the fourth carrier signal.
[4]
4. Method according to claim 1, characterized by the fact that the estimation of the third set of ambiguities and the fourth set of ambiguities comprises estimating a third whole set of ambiguities and a whole fourth set of ambiguities by calculating the set of reference ambiguities difference difference associated with a pair of third secondary satellite carrier signals, and calculate the set of unique difference reference ambiguities associated with a pair of fourth different secondary satellite carrier signals.
[5]
5. Method according to claim 1, characterized in that the estimate of the first whole set of ambiguities and the second set of whole ambiguities comprises calculating the set of double difference reference ambiguities associated with a pair of first carrier signs from different primary satellites, and calculate the - set of double difference reference ambiguities associated with a pair of second carrier signals from different secondary satellites.
[6]
6. Method according to claim 1, characterized by the fact that the estimate of the third set of ambiguities and the fourth set of ambiguities includes calculating the set of double difference ambiguities associated with the third carrier signals from different secondary satellites, and calculate the set of double difference ambiguities associated with the fourth carrier signals from different secondary satellites.
[7]
7. Method according to claim 1, characterized in that the compensation additionally comprises estimating an inter-channel polarization of double difference carrier phase of the third carrier signal or of the fourth carrier signal and double difference pseudo-range the third carrier signal and the fourth carrier signal, in which the estimated inter-channel polarization remains valid until a acid leap.
[8]
Method according to claim 1, characterized in that the compensation additionally comprises providing a fixed compensation placement to compensate for a corresponding hardware configuration of the location determination receiver.
[9]
9. Method according to claim 1, characterized in that it additionally comprises: estimating a pseudo-code polarization between a secondary pseudo-code encoded in the third carrier signal and the primary pseudo-code encoded in the first carrier signal; and storing the estimated pseudo-code polarization on a data storage device as part of a polarization table that is accessible at least to the kinematic mechanism in real time.
[10]
Method according to claim 1, characterized by the fact that it further comprises: estimating a first precise code bias between a secondary pseudo-code encoded in the third carrier signal and the first precise code encoded in the first carrier signal; and storing the first estimated accurate code bias in electronic memory as part of a bias table.
[11]
11. Method according to claim 1, characterized by the fact that it further comprises: estimating a second pseudo-code bias between a secondary — pseudo-code encoded in the fourth carrier signal and the second precise code encoded in the first carrier signal; and store the first estimated accurate code bias on a data storage device as part of a bias table that is accessible at least to the kinematic mechanism in real time
[12]
12. Method according to claim 1, characterized in that it further comprises: estimating a second precise code bias between a secondary pseudo-code encoded in the fourth carrier signal and the second precise code encoded in the first carrier signal; and storing the first estimated accurate code bias in electronic memory as part of a bias table.
[13]
13. Method according to claim 1, characterized by 5 - the option of further comprising: establishing a code polarization information lookup table for each secondary satellite that the location determination receiver is tracking, the lookup table comprising an estimate of bias value, a corresponding base station or satellite identifier associated with the bias value estimate and one or more of the following: a code type, a time stamp, and bias error variance estimate.
[14]
14. Method for estimating the position of an object by a location determination receiver associated with the object, characterized by the fact that it comprises: measuring a first carrier phase of a first carrier signal and a second carrier phase of a second signal carrier received by the location determination receiver, the first carrier signal received at substantially the same frequency from two or more primary satellites, the second carrier signal received at substantially the same frequency from two or more primary satellites; measuring a third carrier phase of a third carrier signal and fourth carrier phase of a fourth carrier signal received by the location determination receiver, the third carrier signal being transmitted at different frequencies from two or more secondary satellites, the fourth signal carrier received at different frequencies from two or more secondary satellites, which results in an inter-channel polarization between carrier signals from the different secondary satellites observable at the location determination receiver;
estimate a first whole set of ambiguities associated with the first measured carrier phase, and a second whole set of ambiguities associated with the second measured carrier phase; estimate a third whole set of ambiguities - associated with the third measured carrier phase and a fourth whole set of ambiguities associated with the fourth measured carrier phase; establish initial polarization data according to a polarization initiation procedure that operates in a first mode or a second mode, where in the first mode, stored polarization data is accessed or retrieved from a lookup table stored on an associated data storage device with the location determination receiver to populate a real-time kinematic mechanism, where in the second mode, stored polarization data provides rough initial data comprising a preprogrammed prefixed polarization associated with corresponding location determination receiver hardware; compensate for inter-channel bias by estimating a compensation factor based on a double difference determination associated with the third measured carrier phase and the fourth carrier phase; and determining an object position based on the first measured carrier phase, the second measured carrier phase, the first estimated whole ambiguity set, the second estimated whole ambiguity set, and at least one of the third measured carrier phase and the fourth measured carrier phase, and at least one of the third set of —ambiguated whole ambiguities and the fourth set of ambiguous whole compensated.
[15]
15. Method according to claim 14, characterized in that it further comprises: determining single difference carrier phase measurements or determining single difference pseudo-random noise code measurements associated with secondary satellites to determine associated variances, the measurements assigned to a corresponding time stamp or time indicator.
[16]
16. Method according to claim 14, characterized in that the compensation additionally comprises compensating the inter-channel polarization by estimating the compensation factor based on subtracting the inter-channel polarization from a double difference code preset residue associated with double difference determination.
[17]
17. Method according to claim 16, characterized by the fact that the preset residue of the double difference code is determined according to the following equation: 1,800, - ANG, = VAO,; + A, AN; = A, - AN, + VAPB,; + AI / f = AI / fi + & ag ,, where 4%; is a first phase of single observable differentiated carrier expressed in units of cycles, º ** is a second phase of single observable differentiated carrier expressed in units of cycles; h fission the wavelength and frequency, respectively, of the carrier signal associated with the first observable differentiated single carrier phase; 4h and ef are the wavelength and frequency, respectively, of the carrier signal associated with the second observable single differentiated carrier phase; Miéa first unique differentiated whole ambiguity associated with the first observable unique differentiated carrier phase; Nx is the second unique differentiated whole ambiguity associated with the second observable single differentiated carrier phase; a / faith the unique differentiated ionospheric delay for the first observable single differentiated carrier phase, Né the unique differentiated ionospheric delay for the second observable single differentiated carrier phase, where I is a function of the Total Electron Content; and is the carrier phase observation noise; APri is the unique differentiated geometry distance; and APBri6 the inter-channel polarization for single differentiated carrier (SD) phase measurements.
[18]
18. Method according to claim 14, characterized by the fact that it can further comprise: calibrate the inter-channel polarization estimate according to a single differentiated calibration to allow changes in the satellites received or available to the location determination receiver by converting the post-adjustment residues difference in single difference residues.
[19]
19. Method according to claim 14, characterized in that it further comprises: designating time indicators or time stamps for corresponding single difference carrier phase measurements or pseudo-random noise code measurements associated with secondary satellites and for associated variances, and after processing all epoch data as verified by the time stamps, calibrate the estimate for inter-channel polarization according to a single differentiated calibration to allow changes in the satellites received or available to the location determination receiver by converting the double difference post-adjustment wastes in single difference wastes.
[20]
20. Method according to claim 14, characterized by the fact that it additionally comprises: monitoring a quality level of the compensation factor, the quality level based on whether there is a significant jump or abrupt change in the magnitude of the compensation factor through a sample time period.
[21]
21. Method according to claim 20, characterized in that it additionally comprises:
monitor a quality level of the compensation factor, the quality level based on a significant leap occurrence and whether an RAIM algorithm signals a single difference code solution or a single difference carrier phase solution as uncertain.
[22]
22. Method according to claim 20, characterized by the fact that it additionally comprises: readjusting polarization information for a particular satellite to store in a query table or use by a kinematic mechanism in real time to estimate solutions for ambiguities.
[23]
23. Method according to claim 14, characterized in that it further comprises: calibrating the inter-channel polarization estimate associated with secondary satellite carrier phases according to a single differentiated calibration to allow changes in the satellites received or available to the determination receiver of location determining residues according to the following equation: ABI = Ap "[AS Ap IA + c-AdTops Gs - + + ANÍS Gs 1X" o 14º) + (Adfº [AO Ad A) + ES IA ces IA cc AT rmessivara, Timersitma YEAR (AGE Ag) AE frog í where “* is the single difference GPS carrier phase measurement, either L1 or L2; ap ”is the theoretical range of single difference; Mer is the unique difference GPS receiver watch; NA is the ionospheric effect of a single difference; Adi ”is the tropospheric effect of a single difference; sá is the carrier phase measurement noise; ad is the single difference GLONASS carrier phase measurement, either Gl or G2; AdTº is the single difference GLONASS receiver watch; AB arization i ans; is the single-difference carrier inter-channel polarization for GLONASS; and AdT, ersism The inter-system polarization between GPS and —GLONASS.
[24]
24. Method according to claim 23, characterized in that it further comprises: filtering the estimated inter-channel polarization associated with the carrier phases with a low-pass filter to support carrier phase polarization estimation in real time.

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AU2016238950C1|2018-09-27|

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AU2016238950B2|2018-06-28|

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US20130120187A1|2013-05-16|

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EP2539739A2|2013-01-02|

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法律状态:
2020-08-04| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|

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2020-08-04| B15K| Others concerning applications: alteration of classification|Free format text: AS CLASSIFICACOES ANTERIORES ERAM: G01S 19/23 , G01S 19/33 Ipc: G01S 19/23 (2010.01), G01S 19/33 (2010.01), G01S 1 |

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2021-11-03| B350| Update of information on the portal [chapter 15.35 patent gazette]|

优先权:

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