CA2494417A1 - Estimation and resolution of carrier wave ambiguities in a position navigation system - Google Patents

Estimation and resolution of carrier wave ambiguities in a position navigation system Download PDF

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Publication number
CA2494417A1
CA2494417A1 CA002494417A CA2494417A CA2494417A1 CA 2494417 A1 CA2494417 A1 CA 2494417A1 CA 002494417 A CA002494417 A CA 002494417A CA 2494417 A CA2494417 A CA 2494417A CA 2494417 A1 CA2494417 A1 CA 2494417A1
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CA
Canada
Prior art keywords
ambiguities
elevation angle
mobile unit
resolving
laser
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA002494417A
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French (fr)
Other versions
CA2494417C (en
Inventor
Vernon Joseph Brabec
Clyde C. Goad
Alexander A. Khvalkov
Lev Borisovich Rapoport
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Topcon GPS LLC
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Topcon GPS LLC
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Filing date
Publication date
Application filed by Topcon GPS LLC filed Critical Topcon GPS LLC
Publication of CA2494417A1 publication Critical patent/CA2494417A1/en
Application granted granted Critical
Publication of CA2494417C publication Critical patent/CA2494417C/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/782—Systems for determining direction or deviation from predetermined direction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

Abstract

A method and apparatus for resolving floating point and integer ambiguities in a satellite position navigation system is disclosed. A rover station is periodically positioned at unknown locations and has a satellite receiver capable of receiving the navigation signals. By calculating relative position coordinates between a base station in a known location and the rover station, and by calculating other position parameters relative to the satellite position, a geometric constraint based on a measured elevation angle between the rover and base station can be incorporated into data computations and processing to help resolve carrier phase ambiguities.
The elevation angle is measured by transmitting multiple laser beams to an optical sensor on the rover station. This technique results in greater precision in determining the location of the rover.

Claims (29)

1. Apparatus for resolving ambiguities in a satellite position navigation system comprising:
a base station located at a known location comprising:
a first satellite receiver capable of receiving navigation satellite signals including carrier signals;
a laser transmitter;
a mobile station comprising:
a second satellite receiver capable of receiving navigation satellite signals including carrier signals;
a photodetection device for receiving laser beams generated by said laser transmitter;
an arithmetic processing unit for processing the laser beams in order to calculate an elevation angle between said laser transmitter on said base station and said mobile station; and a data processing unit in communication with said first and second satellite receivers for determining the location of said mobile station based at least on part on carrier signals, said processing unit configured to resolve carrier phase ambiguities based at least in part on said elevation angle.
2. The apparatus of claim 1 wherein said data processing unit is configured to resolve carrier phase floating point ambiguities based at least in part on said elevation angle.
3. The apparatus of claim 1 wherein said data processing unit is configured to resolve carrier phase integer ambiguities based at least in part on said elevation angle.
4. The apparatus of claim 1 wherein said laser transmitter comprises a laser device for generating multiple beams having different geometric characteristics.
5. The apparatus of claim 4 wherein said multiple beams are shaped into two or more beams that diverge vertically.
6. The apparatus of claim 5 wherein said arithmetic processing unit for processing the laser beams computes a control signal from time delay between detections of the two or more beams by said photodetection device.
7. The apparatus of claim 1 wherein said data processing unit resolves carrier phase ambiguities as part of a repeated iterative procedure.
8. The apparatus of claim 1 wherein said arithmetic processing unit or said data processing unit calculates a geometric cone having a vertex at said laser transmitter wherein a reference point location for said mobile unit is estimated to be on the surface of said cone.
9. The apparatus of claim 1 wherein said data processing unit estimates first a floating point ambiguity, and then uses said estimated floating point ambiguity at least in part for estimating an integer ambiguity.
10. A method for resolving ambiguities during position determination of a mobile unit in a satellite navigation system comprising the steps of:
receiving a laser beam generated by a laser transmitter at a known location;
calculating an elevation angle between said mobile unit and said laser transmitter;
and resolving ambiguities in carrier waves received by the mobile unit based at least in part on geometric constraint generated from said elevation angle.
11. The method of claim10 wherein said laser beam is N shaped.
12. The method of claim 10 wherein said laser beam comprises two or more fan-shaped beams that diverge vertically.
13. The method of claim 10 wherein said ambiguities are carrier phase integer ambiguities.
14. The method of claim 10 wherein said ambiguities are carrier phase floating point ambiguities.
15. The method of claim 10 wherein said step of resolving comprises the steps of:
generating a geometric cone having a vertex at said laser transmitter wherein a reference point location for said mobile unit is estimated to be on the surface of said cone.
16. The method of claim 10 further comprising the steps of generating multiple laser beams from the laser transmitter, said beams respectively having different characteristics taken from the following: different frequencies, different polarizations, different wavelengths, different geometric forms, different intensities.
17. Apparatus for resolving ambiguities in a satellite position navigation system having a base station at a known location capable of receiving navigation satellite signals, and also having a laser transmitter, said apparatus comprising:
a mobile station;
a satellite receiver on said mobile station;
an optical sensor on said mobile station capable of receiving laser beams generated from the laser transmitter;
processor means for analyzing the laser beams to calculate an elevation angle between said mobile station and the base station, and for resolving location ambiguities based at least in part on said elevation angle.
18. The apparatus of claim 17 wherein said processor means estimates phase integer ambiguities and floating point ambiguities based at least in part on said elevation angle.
19. The apparatus of claim 17 wherein said processor means estimates phase integer ambiguities as part of an initialization process.
20. The apparatus of claim 17 wherein said mobile station is associated with a construction machine.
21. The apparatus of claim 17 wherein said processor means calculates a geometric cone having a vertex at the laser transmitter wherein a reference point location for said mobile unit is estimated to be on the surface of said cone.
22. A method for resolving ambiguities during position determination of a mobile unit having an optical sensor to receive multiple laser beams and having an antenna to receive navigation satellite signals, comprising:
processing the satellite signals received by the antenna of the mobile unit in order to detect cycle and phase parameters;
analyzing the laser beams received by the optical sensor of the mobile unit in order to calculate an elevation angle between the mobile unit and a base station located at a known location; and resolving ambiguities in an estimated location of the mobile unit based on calculations incorporating the elevation angle.
23. The method of claim 22 which further comprises resolving integer cycle ambiguities based in part on said elevation angle.
24. The method of claim 22 which further comprises resolving floating point ambiguities based in part on said elevation angle.
25. The method of claim 22 which further comprises resolving ambiguities during an initialization process.
26. The method of claim 22 which further comprises calculating a geometric cone based on the elevation angle wherein a reference point location for said mobile unit is estimated to be on the surface of said cone.
27. A computer readable medium storing computer program instructions which are executable on a computer processor for resolving ambiguities during position determination of a mobile unit having an optical sensor to receive multiple laser beams and having an antenna to receive navigation satellite signals, said computer program instructions defining the following steps:
processing the satellite signals received by the antenna of the mobile unit in order to detect cycle and phase parameters;
analyzing the laser beams received by the optical sensor of the mobile unit in order to calculate an elevation angle between the mobile unit and a base station located at a known location; and resolving both floating point and integer carrier ambiguities using geometric constraint based on calculations incorporating the elevation angle.
28. The computer readable medium of claim 27 which further includes program instructions for calculating a geometric cone based on the elevation angle wherein a reference point location for said mobile unit is estimated to be on the surface of said cone.
29. The computer readable medium of claim 27 which further includes program instructions for first estimating floating point ambiguities, and then using said estimated floating point ambiguities at least in part for estimating integer ambiguities.
CA2494417A 2004-03-26 2005-01-25 Estimation and resolution of carrier wave ambiguities in a position navigation system Expired - Fee Related CA2494417C (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US10/810,247 US7002513B2 (en) 2004-03-26 2004-03-26 Estimation and resolution of carrier wave ambiguities in a position navigation system
US10/810,247 2004-03-26

Publications (2)

Publication Number Publication Date
CA2494417A1 true CA2494417A1 (en) 2005-09-26
CA2494417C CA2494417C (en) 2011-09-13

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Family Applications (1)

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CA2494417A Expired - Fee Related CA2494417C (en) 2004-03-26 2005-01-25 Estimation and resolution of carrier wave ambiguities in a position navigation system

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US (2) US7002513B2 (en)
EP (1) EP1580570B8 (en)
JP (1) JP2005283576A (en)
CA (1) CA2494417C (en)

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Also Published As

Publication number Publication date
JP2005283576A (en) 2005-10-13
CA2494417C (en) 2011-09-13
US7002513B2 (en) 2006-02-21
EP1580570B8 (en) 2013-08-21
EP1580570A3 (en) 2006-09-27
EP1580570B1 (en) 2013-06-19
US20050212697A1 (en) 2005-09-29
US7221314B2 (en) 2007-05-22
EP1580570A2 (en) 2005-09-28
US20050264445A1 (en) 2005-12-01

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