CA2551416C - Position determination using carrier phase measurements of satellite signals - Google Patents

Position determination using carrier phase measurements of satellite signals Download PDF

Info

Publication number
CA2551416C
CA2551416C CA2551416A CA2551416A CA2551416C CA 2551416 C CA2551416 C CA 2551416C CA 2551416 A CA2551416 A CA 2551416A CA 2551416 A CA2551416 A CA 2551416A CA 2551416 C CA2551416 C CA 2551416C
Authority
CA
Canada
Prior art keywords
increments
mobile unit
carrier phase
coordinate
determining
Prior art date
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.)
Expired - Fee Related
Application number
CA2551416A
Other languages
French (fr)
Other versions
CA2551416A1 (en
Inventor
Mark I. Zhodzishsky
Victor A. Veitsel
Alexey Zinoviev
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Topcon GPS LLC
Original Assignee
Topcon GPS LLC
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Topcon GPS LLC filed Critical Topcon GPS LLC
Publication of CA2551416A1 publication Critical patent/CA2551416A1/en
Application granted granted Critical
Publication of CA2551416C publication Critical patent/CA2551416C/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining 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
    • G01S19/42Determining position
    • G01S19/51Relative positioning
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining 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
    • G01S19/42Determining position
    • G01S19/43Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry

Abstract

Disclosed is a method and apparatus for determining the relative position of a mobile unit that moves from an initial location to a plurality of successive positions. The mobile unit receives signals from a plurality of navigation satellites and tracks the carrier phases of the signals during movement. For each of the received signals, carrier phase increments are calculated over a plurality of epochs. Anomalous carrier phase increments are determined and eliminated from further calculations. The non- eliminated carrier phase increments are then used to calculate coordinate increments for each of the time epochs. If, after elimination, the remaining number of carrier-phase increments is less than a threshold for a particular epoch, then coordinate increments for the particular epoch may be extrapolated using data from prior epochs. In various embodiments, least squares method and Kalman filtering may be used to calculate the coordinate increments. The coordinate increments may then be summed over a plurality of time epochs in order to determine a position of the mobile unit relative to its initial position.

Description

Docket No. 1010-0014-CAN
POSITION DETERMINATION USING CARRIER PHASE MEASUREMENTS OF
SATELLITE SIGNALS
BACKGROUND OF THE INVENTION
[0001] The present invention relates generally to position determination using satellite signals, and more particularly to relative position determination using carrier phase measurements of satellite signals.
[0002] Satellite positioning systems, such as GPS (USA) and GLONASS
(Russia), are well known in the art and are intended for highly accurate self-positioning of users possessing special navigation receivers. A navigation receiver receives and processes radio signals transmitted by satellites located within line-of sight distance of the receivers. The satellite signals comprise carrier signals that are modulated by pseudo-random binary codes. The receiver measures the time delay of the received signal relative to a local reference clock or oscillator. These measurements enable the receiver to determine the so-called pseudo-ranges between the receiver and the satellites. The pseudo-ranges are different from the ranges (distances) between the receiver and the satellites due to various noise sources and variations in the time scales of the satellites and receiver. If the number of satellites is large enough, then the measured pseudo-ranges can be processed to determine the user location and coordinate time scales. This type of system uses a single satellite receiver and is referred to herein as a stand alone system. These stand alone systems provider meter-level accuracy.
[0003] The requirement of accurately determining user location with a high degree of precision, and the desire to improve the stability and reliability of measurements, have led to the development of differential navigation (DN). In differential navigation, the task of finding the user position, also called the Rover, is performed relative to a Base station (Base). The precise coordinates of the Base station are known and the Base station is generally stationary during measurements.
The Base station has a navigation receiver which receives and processes the signals of the Page 1 of 34 Docket No. I 010-0014-CAN
satellites to generate measurements. These signal measurements are transmitted to the Rover via a communication channel (e.g., wireless). The Rover uses these measurements received from the Base, along with its own measurements taken with its own navigation receiver, in order to precisely determine its location. The location determination is improved in the differential navigation mode because the Rover is able to use the Base station measurements in order to compensate for the major part of the strongly correlated errors in the Rover measurements.
[0004] Various modes of operation are possible while using differential navigation. In post-processing (PP) mode, the Rover's coordinates are determined by co-processing the Base and Rover measurements after all measurements have been completed. This allows for highly accurate location determination because more data is available for the location determination. In real-time processing (RTP) mode, the Rover's coordinates are determined in real time upon receipt of the Base station information received via the communication channel.
[0005] The location determination accuracy of differential navigation may be further improved by supplementing the pseudo-range measurements with measurements of the phases of the satellite carrier signals. If the carrier phase of the signal received from a satellite in the Base receiver is measured and compared to the carrier phase of the same satellite measured in the Rover receiver, measurement accuracy may be obtained to within several percent of the carrier's wavelength. Real-time carrier signal based differential navigation is often referred to as real-time kinematic (RTK). The practical implementation of these advantages, which might otherwise be guaranteed by the measurement of the carrier phases, runs into the problem of ambiguity resolution for phase measurements.
[0006] The ambiguities are caused by two factors. First, the difference of distances from any satellite to the Base and Rover is usually much greater than the carrier's wavelength. Therefore, the difference in the phase delays of a carrier signal received by the Base and Rover receivers may substantially exceed one cycle.
Second, it is not possible to measure the integer number of cycles from the incoming satellite signals; one can only measure the fractional part. Therefore, it is necessary to Page 2 of 34 Docket No. 1010-0014-CAN
determine the integer number of cycles, which is called the "ambiguity". More precisely, we need to determine the set of all such integer parts for all the satellites being tracked, one integer part for each satellite. One has to determine this set along with other unknown values, which include the Rover's coordinates and the variations in the time scales.
[0007] At a high level, the task of generating highly-accurate navigation measurements is formulated as follows: it is necessary to determine the state vector of a system, with the vector containing n~ unknown components. Those include three Rover coordinates (usually along Cartesian axes X, Y, Z) in a given coordinate system (sometimes time derivatives of coordinates are added too); the variations of the time scales which is caused by the phase drift of the local main reference oscillator in the receiver; and n integer unknown values associated with the ambiguities of the phase measurements of the carrier frequencies. The value of n is determined by the number of different carrier signals being processed, and accordingly coincides with the number of satellite channels actively functioning in the receiver. At least one satellite channel is used for each satellite whose broadcast signals are being received and processed by the receiver. Some satellites broadcast more than one code-modulated carrier signal, such as a GPS satellite which broadcasts a carrier in the L1 frequency band and a carrier in the L2 frequency band. If the receiver processes the carrier signals in both of the L1 and L2 bands, a so-called dual-frequency receiver, the number of satellite channels (n) increases correspondingly. Dual-frequency receivers allow for ionosphere delay correction an make ambiguity resolution easier.
[0008] Two sets of navigation parameters are measured by the Base and Rover receivers, respectively, and are used to determine the unknown state vector.
Each set of parameters includes the pseudo-range of each satellite to the receiver, and the full (complete) phase of each satellite carrier signal. Each pseudo-range is obtained by measuring the time delay of a code modulation signal of the corresponding satellite. The code modulation signal is tracked by a delay-lock loop (DLL) circuit in each satellite tracking channel. The full phase of a satellite's carrier signal is tracked by a phase-lock-loop (PLL) in the corresponding satellite tracking channel. An observation vector is Page 3 of 34 Docket No. 1010-0014-CAN
generated as the collection of the measured navigation parameters for specific (definite) moments of time.
[0009) The relationship between the state vector and the observation vector is defined by a well-known system of navigation equations. Given an observation vector, the system of equations may be solved to find the state vector if the number of equations equals or exceeds the number of unknowns in the state vector.
Conventional statistical methods are used to solve the system of equations. the least squares method, the method of dynamic Kalman filtering, and various modifications of these methods.
[0010) Practical implementations of these methods in digital form may vary widely. In implementing or developing such a method on a processor, one usually must find a compromise between the accuracy of the results and speed of obtaining results for a given amount of processor capability, while not exceeding a certain amount of loading on the processor.
[0011) One general scheme comprises the following steps. The measured values of the pseudo-ranges and full phases at specific (definite) moments of time, along with an indication of the satellites to which these measurements belong and the time moments of the measurements, are transmitted from the Base to the Rover.
Corresponding values are measured in the Rover receiver. The processing includes the determination of the single differences of the pseudo-ranges and full phases between the Base and Rover measurements for each satellite. The strongly correlated errors are compensated (i.e., substantially cancelled) in the single differences. Then, the residuals of the single differences are calculated by subtraction of calculated values from the measured results. The processing of residuals allows one to linearize the initial system of navigation equations (sometimes several subsequent iterations are necessary), which makes possible the use of the well developed body of mathematics for solving systems of linear equations. The components of the state vector, with the n ambiguities included, are found as a result of the solution. But the calculated values of the ambiguities are not necessarily integer numbers. Because of this, they are called float ambiguities, or floating ambiguities, at this stage of the solution. To find true values of the integer ambiguities one uses the procedure of rounding off the float ambiguity vector to the Page 4 of 34 Docket No. 1010-0014-CAN
nearest set of integers. This process is called the ambiguity resolution. Only after the ambiguity resolution has been done is it possible to determine the true values of residuals and then, by solving the system of equations again, to find the coordinate values for the baseline connecting the Base and Rover, and consequently to determine the exact coordinates of the Rover and the correction to its clock drift.
[0012] The above described general scheme of computations is well known in the art and is described in further detail, for example, in, Bradford W.
Parkinson and James J. Spilker Jr., Global Positioning Theory and Applications, Volume 163 of Progress In Astronautics and Aeronautics, published by the American Institute of Aeronautics and Astronautics, Inc, Washington D.C., 1996.
[0013] In most cases the Rover receiver operates in a complicated environment in which various external influences cause measurement errors. For example, external signals may interfere with the satellite signals, and structures and terrain may result in multipath errors. We distinguish now between two types of errors, normal errors and abnormal errors. Normal errors are normally distributed white noise errors which may be compensated for during the location calculation. Abnormal errors are large systematic errors which may prevent the system from calculating an accurate location.
Such abnormal errors are rarely a consequence of occasional spikes of intrinsic noise.
More often, they are the result of severe exposure of the receiver. For example, strong reflected signals that interfere with the direct satellite signal would cause an abnormal error. Similarly, extreme radio interference may also result in abnorrrrai errors. Partial or complete shading of the Rover receiver may also result in errors due to radio wave diffraction. If the shading is partial and minor, the measurement error may be minimal.
However, if a satellite is completely shaded (i.e., blocked), all that remains is the multipath signal. As a result, tracking in the channel is interrupted and the measured phase is lost resulting in an abnormal error. Dynamic effects on the receiver (i.e., certain motion of the Rover) may also cause abnormal errors. Impulse accelerations impact both the receiving antenna and the quartz of the local reference oscillator resulting in drift of the intermediate carrier frequency and measured phase.
Page 5 of 34 Docket No. 1010-OOl4-CAN
[0014] One specific type of abnormal error is a PLL cycle slip which is a cycle slip in the PLL circuits which are tracking the satellite carrier signal.
After a cycle slip occurs, the PLL circuit transits to a new point of steady balance, after which it goes on with tracking the satellite carrier signal. As a result of a cycle slip, an abnormal error equal to several integer number of semi-cycles (half-cycles) is introduced into the full phase measurements. A cycle slip is characterized by two parameters, value and duration. The slip's value (in cycles) is determined by either 0.5K or K
dependent on the PLL discriminator's type, where K is a random integer number. The duration of the cycle slip is also random. Minimal duration is defined by the PLL band while maximal duration depends upon the cause bringing about the cycle slip and can last up to several seconds. When the duration is long enough, tracking is lost.
[0015] There are various known techniques for detecting and correcting for cycle slip. For example, U.S. Pat. No. 5,502,641 discloses a method of detecting and correcting cycle slips caused by short-term blocking of satellite signals using phase extrapolation. In addition, S. Bisnath, D. Kim, and R.B. Langley, A new Approach to an Old Problem: Carrier-Phase Cycle Slips, GPS World, Vol. 12, No. 5 (2001 ), pp.
46-51, discloses a technique of post-processing the recorded code and phase measurements at two frequencies (the L1 and L2 bands) and detecting cycle slips based on the spikes of time derivatives in the corresponding combinations of the recorded measurements.
[0016] Normal errors are caused by intrinsic receiver noise and comparatively weak signals reflected from local objects. In addition, normal errors may result from additional delays in radio waves propagating through the atmosphere, inaccurate knowledge of satellite trajectory, and drift of a satellite's onboard clock.
[0017] Much of the advancements in satellite positioning has been directed to suppressing various types of errors. Differential navigation, for example, mitigates errors caused by the atmosphere, inaccurate knowledge of satellite trajectory, and the drift of a satellite's onboard clock. Other techniques have been developed to reduce the influence of abnormal errors. These techniques detect and eliminate incorrect and inaccurate measurements (for example when the parameters of received signals are deteriorated by heavy interference).
Page 6 of 34 Docket No. 1 O10-0014-CAN
[0018] When considering the use of the above technologies, there is a trade-off between accuracy and cost. The most accurate technique is RTK, which can generally provide centimeter-level accuracy. However, this mode of operation requires a Rover and Base station both having a dual-frequency receiver, a radio for communicating corrections from the Base to the Rover via a communication link, and an algorithm for solving the ambiguities of the carrier phase measurements. Thus, while providing accurate positioning results, this mode of operation is also the most expensive, in terms of equipment cost, processing power, and complexity.
[0019] Alternatively, the least accurate technique is the stand alone system described above, which provides only meter-level accuracy. While less accurate, this type of system is also the least expensive and least complex, as it requires only a single satellite receiver and no base station.
[0020] Various techniques exist for improving the accuracy of satellite positioning systems. For example, U.S. patent number 6,397,147 discloses a technique for determining the relative position between two points, in real-time, using a single GPS
receiver that makes measurements of signals transmitted from GPS satellites.
That patent discloses a technique where differential correction terms are computed as a location at an instant of time, and then applied to further times, so that the position of the GPS receiver is determined accurately relative to the position at the original instant of time. In the technique of '147 patent, a single receiver acts both as the reference base station, producing the original set of differential correction terms, and then as the rover receiver using that set of differential correction terms to accurately determine the location of the rover.
[0021] Another technique for improving the accuracy of satellite positioning systems is disclosed in R. Hatch, R. Sharpe, and Y. Yang, An innovative Algorithm for Carrier-Phase Navigation, ION GNSS 17t" International Technical Meeting of the Satellite Division, 21-24 Sept. 2004, Long Beach, CA. This technique uses the change in the carrier-phase measurements to propagate the position and clock states forward in time with a minimum of computational burden. Specifically, rather than treat the change in the phase measurements as range difference measurements, they are treated as Page 7 of 34 Docket No. 1 O 10-0014-CAN
range error measurements. One stated limitation of this technique is that it can provide accurate positioning measurements over only relatively short time intervals (e.g., 10-30 seconds).
BRIEF SUMMARY OF THE INVENTION
[0022] The present invention is a new technique which provides improved relative position determination accuracy, without the cost and complexity of RTK
systems. In accordance with an embodiment of the invention, the relative position of a mobile unit that moves from an initial location to a plurality of successive positions may be determined. The mobile unit receives signals from a plurality of navigation satellites, and tracks the carrier phases of the signals during movement. For each of the received signals, carrier phase increments are calculated over a plurality of epochs.
Anomalous carrier phase increments are determined and eliminated from further calculations. The non-eliminated carrier phase increments are then used to calculate coordinate increments for each of the time epochs. If, after elimination, the remaining number of carrier-phase increments is less than a threshold for a particular epoch, then coordinate increments for the particular epoch may be extrapolated using data from prior epochs.
In various embodiments, least squares method and Kalman filtering may be used to calculate the coordinate increments. The coordinate increments may then be summed over a plurality of time epochs in order to determine a position of the mobile unit relative to its initial position.
[0023] Various embodiments utilize various techniques for determining which of the carrier phase increments are anomalous. In one embodiment, residuals of carrier phase increments are calculated, and these residuals are compared to a threshold. If the residual of at least one of the satellite channels is greater than a threshold, then the carrier phase increment associated with the satellite channel having the maximum residual is considered anomalous. In an alternate embodiment, a sum of residuals squares is calculated from the residuals and this sum is compared to a threshold. If the Page 8 of 34 Docket No. 1010-0014-CAN
sum is greater than a threshold, then the carrier phase increment associated with the satellite channel having the maximum residual is considered anomalous. Upon a determination of maximum residual as described above, a channel weight for the satellite associated with the maximum residual may be set to zero so as to remove the anomalous signals from further computations. In a particular embodiment, the channel weight may be set to zero for two consecutive epochs.
[0024] In yet other embodiments, carrier phase increments may be determined to be anomalous based on detecting a large difference between carrier phase increments for neighboring epochs or by alarm signals of satellite channel indicators.
[0025] If the mobile unit traverses a closed loop during a motion interval, then an error of calculated coordinate increments may be calculated by determining a starting position and a finishing position of the mobile unit, and calculating the difference between the finishing position and stating position. The difference may be used as an error of calculated coordinate increments. In a particular embodiment, the difference is divided by a number of elapsed epochs to determine an average error of coordinate increments, and the average error of coordinate increments is used as the correction for measured coordinate increments during the motion interval.
[0026] These and other advantages of the invention will be apparent to those of ordinary skill in the art by reference to the following detailed description and the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0027] Fig. 1 illustrates the use of a rover satellite receiver in order to determine a position relative to a fixed point;
[0028] Fig. 2 is a high level block diagram of the components of a rover navigation unit;
[0029] Fig. 3 shows a high level functional block diagram illustrating an overview of processing in accordance with an embodiment;
Page 9 of 34 Docket No. 1010-0014-CAN
[0030] Fig. 4 shows a functional block diagram illustrating the algorithm for determining a rover navigation unit's local coordinates in accordance with one embodiment;
[0031] Fig. 5 shows a functional block diagram illustrating the algorithm for determining a rover navigation unit's coordinate increments using LSM over several iterations;
[0032] Fig. 6 is a flowchart showing the steps utilized by the indicator of anomalies in accordance with one embodiment; and [0033] Fig. 7 is a flowchart showing the steps utilized by the indicator of anomalies in accordance with one embodiment.
DETAILED DESCRIPTION
[0034] In certain positioning applications, it is unnecessary to determine the absolute location of a moving rover receiver. Instead, what is required is an accurate determination of the position of the rover relative to some fixed point on the ground. The present invention is a novel technique for processing measurements of a navigation receiver in order to provide coordinates of a moving rover receiver using a local coordinate system having an initial point of origin fixed to a random point on the ground.
It is unnecessary to know the absolute coordinates of this initial point, and the present invention will provide accurate positions relative to the initial point.
[0035] Fig. 1 illustrates the use of a rover satellite receiver in order to determine a position relative to a fixed point. Fig. 1 shows a user 102 utilizing a single receiver stand-alone rover satellite receiver 104. Also shown in Fig. 1 is an absolute coordinate system having an X axis 108, Y axis 110, and Z axis 112. For example, the absolute coordinate system X, Y, Z may be based on the Cartesian coordinate system.
Fig. 1 also shows a local coordinate system having an x axis 114, y axis 116, and z axis 118, having an origin at a point A 106. Knowledge of the absolute coordinates of point A 106 is not required. All that is required is that point A 106 is an initial starting point of rover Page 10 of 34 Docket No. 1010-0014-CAN
104, and point A 106 should be marked on the ground with some type of identifiable marker.
[0036] The rover 104 starts at the initial point A 106 and moves in a random trajectory 120. The present invention provides a method for accurately determining the location of the rover 104 relative to point A 106 (i.e., relative coordinates x,y,z). (Of course, if the absolute coordinates of point A are accurately known, then the absolute coordinates of the rover may be determined as well.) [0037] The technique in accordance with the present invention will now be described at a high level, with further details of the present invention to be described further below. For each satellite in the observed constellation, the rover 104 satellite receiver generates pseudorange and full carrier phase measurements for each of multiple discrete time intervals, called epochs. Messages with information about satellite coordinates, predicted ionosphere parameters (ionosphere induced delay), satellite health and other data are also generated.
[0038] The rover 104 processes the full phase and pseudorange measurements, applying corrections for troposphere offset and ionosphere induced delay obtained from the information messages. The full phase measurements enable the rover to evaluate increments of ranges to satellites over an epoch, which increments depend on the velocity of satellites relative to the rover. These increments may be referred to herein as increments of radial ranges to satellites. Processing these increments with the least squares method (LSM) (or Kalrnan filtering) results in three components of corresponding increments of the rover's coordinates per epoch in the Cartesian coordinate system. An indicator of anomalies detects those epochs during which abnormal errors in full phase measurements took place and the LSM
processing is repeated while eliminating the anomalous measurements from the LSM
computation.
The rover's coordinate increments are summed up over multiple epochs in order to determine the rover local coordinates. It is noted that such summing of coordinate increments does not cause a monotonic increase in the variance of errors in local coordinates as these increments are strongly correlated for successive epochs.
Page 1 I of 34 Docket No. 1010-0014-CAN
[0039] Referring again to Fig. 1, processing in accordance with the present invention allows for determination of a rover's local coordinates relative to an initial starting point A 106. In addition, the length of the path Li traversed by the rover, the distance between two points DAB or DBC traversed by the rover, and the area enclosed by the trajectory AR may also be determined.
[0040] A high level block diagram of the components of a rover navigation unit 202 is shown in Fig. 2. The rover navigation unit 202 includes an antenna 204 for receiving satellite signals from a constellation of visible navigation satellites. The signals are processed by a signal receiver 206 and the output of the signal receiver 206 may be provided to a processor 208 for further processing. The rover navigation unit 202 also includes a communication interface 214 for communicating with other devices via a communication channel. Rover navigation unit 202 may also contain user interface 212 elements (e.g., keypad, display, etc.) in order to allow interaction with a user of the rover navigation unit 202. The processor 208 controls the overall functioning of the rover navigation unit under the control of computer program instructions stored in memory/storage 210. It is to be understood that Fig. 2 is meant to show a high level functional block diagram of a rover navigation unit for purposes of illustrating the principles of the present invention. There are, of course, other elements not shown which would be present in a rover navigation unit. Given the description herein, one skilled in the art would readily understand how to modify a well known rover navigation unit in order to implement the principles of the present invention.
[0041] Prior to describing the functioning of a rover receiver in accordance with the principles of the present invention, a description of the notation used herein will be provided. Such notation is as follows.
j is the satellite number in the constellation of N satellites;
t is the epoch number from the beginning of observation;
X;[j), Y;[j], Z;[j] are satellites' Cartesian coordinates in the geocentric coordinate system.
Page 12 of 34 Docket No. 1010-0014-CAN
dX;[j], dY;[j], dZ;[j] are the increments of Cartesian coordinates from (i-1 )th to i-th epochs;
x;~ , Y;~ , z;~ are the rover's Cartesian coordinates that are obtained from processing pseudoranges (by code measurements) in geocentric coordinate system (rover's code coordinates);
R;[j], R;_~ [j] are satellite ranges for i-th and (i-1 )-th epochs;
c~;[j] are satellites' full phases transmitted on the carrier frequency;
d~;[j] are the carrier-phase increments (i.e., increments of radial ranges to satellites expressed in meters) measured by phases from (i-1 )-th to i-th epochs;
dx; , dy; , dz; are the increments of rover s Cartesian coordinates from (i-1 )-th to i-th epochs, which are obtained by phase measurements; and x; , y; , z; are the rover's local coordinates obtained from phase measurements.
[0033]
[0042] Fig. 3 shows a high level functional block diagram illustrating an overview of processing in accordance with an embodiment of the present invention.
Further details of this processing, in accordance with an embodiment of the invention, are described below in conjunction with Figs. 4-7. Referring to Fig. 3, block represents satellite pseudoranges, which were obtained by satellite code delays. Block 304 represents satellite carrier-phases for all visible satellites. Block 306 represents satellite information messages containing information about satellite coordinates, weight coefficients, and radio wave propagation delays. Carrier-phase increments over a short time interval (epoch) are derived from the carrier phases 304, and in processing block 308 these values are re-calculated in terms of length units based on the wavelength of the carrier signal. In processing block 314, measurements with environmentally-induced abnormal errors (errors which were caused by external effects on the receiver) are detected and eliminated from further processing, using a set of different indications characterizing the signal quality, the redundancy of observed satellite number, and the rover's motion pattern. In processing block 310 the rover's coordinate increments (also in length units) are determined using the information obtained in processing block 314.
The operation in processing block 310 may be performed using various techniques.
Page 13 of 34 Docket No. 1010-0014-CAN
Advantageous techniques include LSM and Kalman filtering. Processing blocks and 310 work together by successive approximations in which all the abnormal measurements are gradually eliminated while rover coordinate increments are made more precise. Processing block 312 determines local rover coordinates, which may be used for various geodetic purposes. Further details of the processing described in connection with Fig. 3 is described below in connection with an embodiment of the invention which utilizes LSM.
[0043] Fig. 4 shows a functional block diagram illustrating the algorithm for determining the rover's local coordinates in accordance with one embodiment of the invention. It is noted that functional block diagrams (e.g., Figs. 4 & 5) herein are meant to describe high level functioning. One skilled in the art would readily recognize that some of the blocks represent input parameters, others represent output parameters, while others represent some function or operation. The functions and operations may be performed by hardware circuits, software instructions executing on a processor, or some combination of hardware and software. Given the description herein, those skilled in the art would be able to implement the described functionality using various combinations of hardware and software. As such, implementation details of the functions described herein will not be described in detail as such implementation details would be readily known to one skilled in the art.
As is well known in the art, the signal receiver 206 (Fig. 2) outputs satellite coordinates 402 3~;[j], Y;[j], Z;[j], measured pseudoranges 412, and full phases 414 during each epoch and for each of its received satellite signals. Matrix G
is computed in block 404 using satellite channel weights generated by weight correction block 406 (described in further detail below) and the satellite coordinates 402 X;[j], Y;[j], Z;[j) and a priori rover coordinates. The computation of the matrix G is well known in the art, and consists of the following steps. First" the directional cosines matrix for the rover-satellite vector is computed. The reported satellite coordinates and a priori rover coordinates (which are gradually being made more precise) are used for this.
The resulting matrix is supplemented with the unit matrix column and further designated as matrix H;[j]. Next, the matrix of weights for all satellite channels W;[j] is computed.
Page 14 of 34 Docket No. 7 Ol 0-0014-CAN
Satellite weight is determined by its elevation angle and takes into account the reported messages about satellite health. Next, matrix G;[j] is computed for the i-th epoch and j-th satellite using the following equation:
G~Li) _ ( H~LiIT W~LiI 1 H~Li) ) 1 H~LiIT W~L7-1 The rover's code coordinates x;~, Y;~, z~~ are computed in block 408 using the least squares method (LSM).
j0045] The satellites' carrier phase increments d~;[j] are computed in block using full phases cp;[jj 414. Provided that phases are determined in cycles and wave length (A) in meters, the carrier phase increments at the i-th epoch may be computed in block 410 as:
d~iLil = (~~Lil - ~~-ILiD* ~.
Corrections 416 for troposphere, ionosphere and Earth rotation are applied to the i carrier-phase increments d~;[j]. Block 418 receives as input the satellite coordinates 402 X;[j], Y;[j), Z;[j), matrix G; from block 404, the rover's code coordinates x~~, y;~, z;~ from block 408, and the satellites' carrier-phase increments d~;[j] from block 410. These inputs are processed in block 410 to generate dx; , dy; , dz;, which are the increments of the rover's Cartesian coordinates from the (i-1 )-th to i-th epochs.
Further details of block 418 and the generation of the increments of the rover's Cartesian coordinates will now be described in further detail in conjunction with Fig. 5 which illustrates the algorithm for determining the rover's coordinate increments using LSM over several iterations. Satellite coordinates 506 X;[j), Y;[j], Z;[j] and the rover's code coordinates x;~, y~~, z;~ 504 are provided to processing block 502 to be used in the computation of the satellite ranges for i-th and (i-1 )-th epochs: R;[j], R;_~[j]. These ranges are computed as:
RiUJ = ( (XiU] - xic)2 + (YiU) - Yfc)2 + (ZiU] - Zic)2 )0.5 Ri-1 kU] - ( (Xi-1 ~) - xic - dX;k)2 '~ (Y;_1 ~) - Yic ' dyik)2 + (Zi-1 ~) -zic - dZik)2 )0.5 Page 15 of 34 Docket No. 1010-0014-CAN
where dx;k, dy;k, dz;k are the increments of the rover's coordinates at the k-th iteration (note that original increments of rover's coordinates may be considered equal to 0, and k>_1.) Corrections for the drift of the rover's clock at the k-th iteration (q;k) and corrections for Earth rotation E;[j] are represented as 508 and are computed as follows:
Ei~l] = Ce * ( Xi~J] * dYik + dXi~l] * Yic - Yi~J] * dx;k - dYi~l] * xic )~
where Ce = 2.432387791 e-13.
Residuals of increments NEV;k[j] are then calculated in block 509 as a difference between measured and computed increments of radial pseudoranges as follows:
Nev;k~j] = d~i~Jl - ( Ri(j] - Ri-1~l] ) + Ei~l] - qik Using matrix G 510 and the residuals of increments 509, corrections for the increments of the rover's coordinates and clock drift are calculated 511 using LSM as follows:
A;k = G; * Nev;k, where Nev;k is the N-dimensional vector of residuals increments at the k-th iteration, 4;k is the four-dimensional vector of corrections for the three increments of rover's coordinates and clock drift with the following components Ox;k , Dy;k , Az;k , ~q;k at the k-th iteration; and G; is the transformation matrix for the LSM.
The rover's expected coordinate increments are corrected in block 512 as:
dX;k = dXik 1 + ~ik dyik = dyik_1 + DYik dZ;k = dZ;k 1 + OZik dqik = dqik _1 + Oqik Absolute values of the corrections for coordinate increments are compared with a threshold. If a correction exceeds the threshold, a next iteration is carried out, k increments by one, and the algorithm goes back to block 502. If all of the corrections Page 16 of 34 Docket No. 1010-0014-CAN
are below the threshold, then the iterations stop and the obtained values dx;k, dy;k, dz;k are the measured increments of the rover's coordinates dx;, dy;, dz; as the first approximation.
[0046] The extrapolation correction is defined when the rover is stationary for a long enough time interval (at the marker point, for instance) and it is further applied.
During stops the local coordinates do not change, the switch 514 is closed, and average measured coordinate increments are considered to be corrections 516. When the rover is moving, the switch 514 is opened and the correction 516 is applied to the measurement.
[0047] Returning now to Fig. 5, during operation, the rover may produce inaccurate satellite signal measurements due to certain abnormal errors. Such errors are detected by the indicator of anomalies block 420. According to one aspect of the invention, anomalous measurements are removed from computations by resetting weight coefficients of some of the satellites for specific epochs. Thus, the output of the indicator of anomalies is an input to weight correction block 406. More particularly, the weights at the epoch during which there was an anomalous measurement, as well as the following epoch, are set to 0. Further, matrices G;, G;+1 employed in the LSM are re-computed for i-th and (i+1 )-th epochs. Further details of the indicator of anomalies block will be described in further detail below in conjunction with Figs. 6 and 7.
[0048] After anomalous measurements have been eliminated, local coordinates (x;, y;, z;) of the moving rOVer are calculated in block 422. The local coordinates are calculated by successive summation of coordinate increments as follows:
x; = x;_1 + dx; , Y. = Yi-1 + dY~ , Z. = Z.-1 + dzi.
The origin of the local coordinate system coincides with the rover's original position (at i=1 x1 - ~~ Y1 - 0~ Z1 [0049] If it is necessary, one can determine the coordinates of the origin (xo yo zo) in the geocentric coordinate system. There are several ways of doing so.
For example, code measurements may be used during stops of the rover at the starting point. Alternatively, the coordinates of the origin point may be found using RTK (or other geodetic techniques). The absolute coordinates of the moving rover may be obtained by Page 17 of 34 Docket No. I OI 0-0014-CAN
adding the obtained local coordinates to the coordinates of the original point. The accuracy of such data will substantially depend on the accurate determination of the original coordinates.
[0050] In some cases these coordinates can be used in the procedure of determining local coordinates of the moving rover to compute expected ranges in block 402 by replacing x~~ , y~~ , z;~ with (x o + x; ), (y o + y; ), (z o + z; ) respectively.
[0051] With reference again to Fig. 1, in addition to generating local coordinates, the principles of the present invention may be used to determine the path length of the path L; traversed by the rover, the distance between two points DAB or Dec traversed by the rover, and the area AR enclosed by the trajectory may also be determined.
[0052] In order to measure a distance between two points A and B on the ground, the rover moves along a random trajectory from point A, which is the origin of the local coordinate system to point B. While moving, the receiver tracks the satellites and measures pseudoranges and full phases. Upon arrival at point B, the distance between the points DAB is calculated 424 (Fig. 4) as a modulo of the vector of point B
local coordinates (xB , yB , zB ) as follows:
DAB = (xg2 + yB2 + ZB2)0.5 [0053] In order to measure the length of a random trajectory (similar to the operation of an odometer), increments of the three coordinates for each i-th epoch and modulo V; of Coordinate increffi~ents for the current epoch are computed. The length of trajectory (L;) for i epochs is determined 423 (Fig. 4) by a successive summation of the magnitudes as follows:
V;=(dx;2+ dy;2+ dz;2)o.5 L. = L.-~ + V; , (at i>_2) L~ =0 It is important to take into account a sampling error which depends on the rover's trajectory and velocity. If the time interval between neighboring epochs is small enough, then the rover's motion is considered to be straight-line and the sampling error is minimal.
Page 18 of 34 Docket No. 1010-0014-CAN
If the rover stops from time to time, then the magnitudes of coordinate increments should not be added during stops in order not to accumulate errors.
[0054] In order to measure the area 428 (Fig. 4) of a site marked with reference points on the ground, the rover moves successively from one reference point to another, with local coordinates being determined. Upon returning to the starting reference point, an interpolation correction is applied to the measurements. The site area is divided into triangles which do not overlap each other and whose corners are reference points. The length of triangle sides is calculated by the fixed local coordinates of corners. Further, the area of each triangle is determined with the help of side lengths, and the areas obtained are added.
[0055] As described above, the indicator of anomalies 420 detects the epochs during which abnormal errors in full phase measurements occurred, and eliminates the measurements from those epochs. In performing this function, the indicator of anomalies 420 uses the redundancy of observed satellite signals. The indicator of anomalies 420 processes residuals of increments each epoch to isolate such satellites whose measurements contain an abnormal error. If one of the satellites (j-th) among the satellites of the constellation with N satellites (N»1 ) has abnormal measurements, its residual Nev;k[j] will exceed a threshold after completion of iterations.
Hence, comparing magnitudes of residuals with the threshold one can isolate and eliminate a channel with anomalies by resetting its weight multiplier (i.e., making its weight multiplier equal to zero. in practice, the abrmrmal error in. a channel can be so great that it affects the neighboring channels and the residuals of these channels will exceed the threshold as well. In this case we have to eliminate the two neighboring channels. To isolate the suspect channel, it would be reasonable to switch off all the channels in turn. However this would overload the processor, especially if the measurements are made in real time.
A compromise is to switch off only one channel with the greatest residual. In most cases this will be a sufficient solution to guarantee that recomputed residuals shall be lower than the threshold for all the remaining channels. It is unlikely that his procedure would need to be repeated in order to eliminate another channel as the second approximation.
Page 19 of 34 Docket No. 1010-0014-CAN
[0056] As the indicator of anomalies processes residuals of range increments, which are formed by two neighboring epochs, one has to consider the fact that the abnormal residual at i-th epoch has been caused by an abnormal full phase measurement at the same i-th epoch. But then the phase increment from i-th to (i+1 )-th epoch is abnormal too even if at epoch (i+1 ) the phase was normal. Thus, if an anomaly is detected, the increment of radial range should be also eliminated for the following (i+1 ) epoch in the given channel.
[0057] We will now describe two embodiments of the indicator of anomalies 420 in conjunction with Figs. 6 and 7.
[0058] The first embodiment is discussed in conjunction with the flowchart of Fig. 6. The algorithm computes residuals NEV;[j] in step 601 as described above in conjunction with processing block 509 (Fig. 5). In each satellite channel, the magnitudes of residuals (after completion of iterations) are compared to the threshold in step 602. If the threshold is not exceeded by the residual modulo of any channels (as determined in step 604) then the algorithm ends. If the threshold is exceeded by the residual modulo on at least one channel, then in step 606 a search is performed for the satellite channel with the maximum residual. In step 608 the channel weight for the current and following epoch is set to zero for the satellite channel identified in step 606.
(In an alternate embodiment, the channel weight for only the current epoch is set to zero if the residual of the satellite channel identified in step 606 is below another defined threshold.) Matrix G is tr~en recomputed in step 510 while eliminating the satellite channel identified in step 606. The rover's coordinate increments and residuals are computed in step 612 and step 601 respectively, and the steps of Fig. 6 are then repeated until either the residuals of all channels are less than the threshold, or the number of remaining channels becomes smaller than some predetermined allowable number (e.g., 5). If the steps are repeated until the number of remaining channels becomes smaller than the allowable number, then the epoch is considered inaccurate.
In this case, the measurements of coordinate increments are not used for the epoch and are replaced with data obtained by the extrapolation of the increments from Page 20 of 34 Docket No. 1 O10-0014-CAN
previous epochs (for the simplest case, they are replaced with the increments of the previous epoch).
[0059] The second embodiment is discussed in conjunction with the flowchart of Fig. 7. The algorithm computes residuals NEV;[j] in step 701 as described above in conjunction with processing block 509 (Fig. 5). In step 700, the sum of residuals squares (S NEV; ) over all satellite channels is computed. The sum of residuals squares is compared to the threshold in step 702. If the threshold is not exceeded (as determined in step 704) then the algorithm ends. If the threshold is exceeded, then in step 706 a search is performed for the satellite channel with the maximum residual. In step 708 the channel weight for the current and following epoch is set to zero for the satellite channel identified in step 706. (In an alternate embodiment, the channel weight for only the current epoch is set to zero if the residual of the satellite channel identified in step 706 is below another defined threshold.) Matrix G is then recomputed in step 710 while eliminating the satellite channel identified in step 706. The rover's coordinate increments and residuals are computed in step 712 and 701 respectively, and the steps of Fig. 7 are then repeated until the sum of all the residuals squares becomes smaller than the threshold. Again, if the steps are repeated until the number of remaining channels becomes smaller than the allowable number, then the epoch is considered inaccurate. In this case, the measurements of coordinate increments are not used for the epoch and are replaced with data obtained by the extrapolation of the increments from previous epochs (for the simplest case, they are replaced ~~ith the increments of the previous epoch).
[0060] The readings of the anomaly indicator 420, which analyzes increments of residuals, may also be combined with alarms of channel indicators 426 which also indicate a possible anomalous measurement in a satellite channel. Such alarms of channel indicators 426 may indicate anomalous measurements due to, for example, a sharp drop in signal amplitude or a large signal spike at the output of a PLL
phase discriminator. Various techniques for detecting inaccurate measurements, which may be used as alarm channel indicators 426, are described in U.S. patent no.
6,861,979, entitled Method And Apparatus For Detecting Anomalous Measurements In A
Satellite Page 21 of 34 Docket No. 1010-0014-CAN
Navigation Receiver, which is incorporated herein by reference. There are different ways of combining the alarm of channel indicators 426 and the indicator of anomalies 420. For example, the signals of the anomaly indicator 420 and alarms 426 can be combined in series, that is, a suspected channel identified by the alarm signals of channel indicators 426 is eliminated, while the indicator of anomalies 420 works with the remaining channels. In parallel operation the indicator of anomalies 420 works with all the channels, and a channel which is identified as anomalous by both the indicator of anomalies 420 and the alarm of channel indicators 426, is eliminated. One skilled in the art will recognize that other combinations are also possible. For example, the alarm of channel indicators 426 and the indicator of anomalies 420 each identifies a least reliable channel, but final decision-making with respect to eliminating the identified channels may be based on some weighting algorithm, thus potentially giving greater weight to either the alarm of channel indicators 426 or the indicator of anomalies 420.
[0061] As shown in Fig. 4, the alarm signals of channel indicators 426 and the indicator of anomalies 420 generate alarm signals when an abnormal measurement arises in a satellite channel. These alarm signals may be provided to the rover's coordinate increments computation 418 and/or the weight correction 406 in order to improve the accuracy of calculations. These alarm signals may be used in different ways in order to improve the accuracy of the calculations.
[0062] One way to use the alarm signals is to eliminate a measured carrier-phase incr ement in the satellite Channel and epoch for which an alarm signal was generated. Using this technique, the goal is to eliminate from LSM processing those phase increments that could impair the rover coordinate calculations. This technique is based on the satellite redundancy in the constellation over a corresponding epoch.
However, a decrease in the number of satellites reduces geometric dilution of precision (GDOP) and increases the error effects of the remaining satellites on the increment error of rover coordinates.
[0063] Another way to use the alarm signals is to eliminate the rover coordinate increment measured over the identified epoch and substitute the increment obtained by extrapolation of the previous epoch's measurements in determining local coordinates.
Page 22 of 34 Docket No. I 010-0014-CAN
This technique is based on the assumption that the parameters of the rover in motion are slowly changing. The goat is to remove the increments with abnormal errors from the sum of increments that define the local coordinates. This may be done by extrapolation, although the efficiency of this depends on the correlation of coordinate increments for neighboring epochs, i.e., the real model of the rover motion. Note that such a substitution might increase the resulting error.
(0064] One embodiment of an advantageous anomaly indicator, utilizing the above described parameters, is as follows. A review of satellite measurements indicates that during motion of the rover, interruptions in satellite measurements occur.
These interruptions frequently occur with rising and setting satellites, but sometimes satellites at high elevation may become shaded by a local object as well. The carrier phase increments for these boundary epochs must be measured. However, the first calculated increment is very large and can distort indicator values.
Therefore, the anomaly indicator should first consider the information about missing measurements according to channel indicators and then reset the weights of the satellites over the marked and following epochs. The following conditions are to be met for each epoch: 1 ) the average weighed residual is greater than one fourth of wavelength (around 5 cm);
and 2) number of satellites (whose weight is non-zero) is greater than 5. If the two conditions are met, then a satellite (from the satellites in operation) is chosen whose modulo of residual is maximum and it is determined whether this modulo is greater than wavelength (about 20 cm). Then the weight of the corresponding channel is reset, matrix G is recalculated, and the procedure above is repeated until at least one of the two conditions is not satisfied. The average weighted residual is calculated as the square root of the sum, over all the operating satellites, of the residual square of each satellite channel multiplied by its weight coefficient. The weight coefficients are formed from satellite weights and are subject to normalization.
[0065] Since both satellites and the rover unit generally move smoothly, a large difference between carrier phase increments for neighboring epochs for a satellite may also indicate an anomalous measurement. This, characteristic (as well as others) may be used to detect and eliminate anomalous phase increments.
Page 23 of 34 Docket No. 1010-0014-CAN
[0066] After all iterations are complete the following steps are performed. If the average weighed residual for this epoch is greater than '/ wavelength (around 5 cm), the rover coordinate increment over the epoch is substituted for an extrapolated value, where the extrapolation is performed using two previous epochs. If the coordinate increment vector is denoted by dX; (it was calculated at i-th epoch), it is replaced by extrapolated value (2dX;_~ + dX;_2 ).
[0067) There are further additional techniques which allow for increasing the accuracy of local coordinates. Various components contribute to the total budget of local coordinate errors, with each of these components having different origins and different statistical parameters. For example, certain errors are caused by slow changes of additional delays of the satellite signal and these errors can be processed by polynomial approximation over a considerable time interval. The cause of such delays can be related to slow changes in atmosphere, instability in receiver channels, etc. The additional delays, which do not change during the observation interval, never affect the accuracy of local coordinates. Nevertheless, the first derivative of the error - change rate of the additional delay - will result in increasing the errors in local coordinates.
[0068] It is possible to partially reduce the above mentioned error component if one starts measuring coordinate increments before the rover begins its motion.
When the rover is stationary, the true coordinate increment is equal to zero. Thus, the error in measurements of coordinate increments can be extrapolated to the following movement interval and used as an extrapolation correction for coordinate increments. If the rover stops from time to time, then the extrapolation correction can change from one stop to another and can be determined by previously measured points considering the derivatives of higher orders. Such a technique may be used to improve the accuracy of the measured local coordinates in real time. The efficiency of the extrapolation correction depends on the weight of the slow changing delay among the other error components, the number and duration of stops, as well as the duration of motion intervals on which the extrapolation correction has been applied.
[0069] In some applications local coordinates are used not in real time, but in a post processing mode. if the rover passes over points with known coordinates, this Page 24 of 34 Docket No. 1010-0014-CAN
information may be used to determine the interpolation correction. (It is noted that the local coordinate system point of origin must remain fixed during the rover's movement.) In particular, the rover moves along a loop and returns to the origin of the local coordinate system in some time. The difference between the measured local coordinates at the original point upon return and start is a final error of coordinate measurements. Dividing the final error by the number of elapsed epochs, one obtains an average error of coordinate increments which may be used as the correction for the measured coordinate increments for the motion interval. Local coordinates may then be re-computed with this correction. Similarly, the interpolation correction is determined when the rover passes by known points several times. In this case, either linear interpolation between neighboring points can be used or a correction in the form of a polynomial based on some points processed with the LSM can be applied.
[0070] It is also possible to measure local coordinates using two receivers in differential mode. Using a stationary Base receiver and a moving rover receiver, the local coordinates of the rover can be measured more accurately, both in real time and in post processing modes. It is necessary to have a communication link between the base and rover to make measurements in real time. Post processing mode allows co-processing of the recorded measurements of the base and rover. It is not necessary to know the precise coordinates of the base.
[0071] To form single differences of measured carrier phase increments, the increments of base carrier phases are sUbtraCted from the increments Cf rover Carrier phases respectively. Similarly, single differences are generated using the coordinates of satellites measured according to the local clock of the rover. The indicator of anomalies eliminates measurements of those satellites and epochs for which large errors were detected either at the base or the rover, or in the communication link between them.
[0072] Residuals of single differences increments may be obtained by subtracting expected single differences from measured ones and considering the clock drift. Utilizing the LSM procedure, similar to as described above, enables rover's coordinate increments and local coordinates to be determined on the basis of phase Page 25 of 34 Docket No. 1010-0014-CAN
measurements in the differential mode, in which highly-correlated components of base and rover errors are eliminated.
[0073] The foregoing Detailed Description is to be understood as being in every respect illustrative and exemplary, but not restrictive, and the scope of the invention disclosed herein is not to be determined from the Detailed Description, but rather from the claims as interpreted according to the full breadth permitted by the patent laws. It is to be understood that the embodiments shown and described herein are only illustrative of the principles of the present invention and that various modifications may be implemented by those skilled in the art without departing from the scope and spirit of the invention. Those skilled in the art could implement various other feature combinations without departing from the scope and spirit of the invention.
Page 26 of 34

Claims (33)

1. A method for determining relative positions of a mobile unit, wherein said mobile unit moves from an initial location to a plurality of successive positions, said method comprising the steps of:
receiving a plurality of signals from a corresponding plurality of navigation satellites and tracking carrier phases of said signals during movement;
calculating carrier phase increments for each of said signals for each of a plurality of time epochs;
determining which of said carrier phase increments are anomalous and eliminating them from further calculations ;
calculating coordinate increments for each of said plurality of time epochs using non-eliminated carrier phase increments; and summing said coordinate increments over a plurality of time epochs to determine a position of said mobile unit relative to said initial location.
2. The method of claim 1 wherein said step of calculating coordinate increments further comprises the steps of:
generating a transformation matrix G using satellite coordinates for navigation satellites whose carrier phase increments were not determined to be anomalous;
and calculating said coordinate increments using said transformation matrix G and a least squares method.
3. The method of claim 1 wherein said step of determining which of said carrier phase increments are anomalous further comprises the steps of:
calculating residuals of carrier-phase increments; and comparing said residuals to a threshold.
4. The method of claim 3 wherein said step of eliminating anomalous carrier phase increments from further calculations further comprises the steps of:
determining a maximum residual; and setting a channel weight for a satellite associated with said maximum residual to zero.
5. The method of claim 4 wherein said step of setting a channel weight for a satellite associated with said maximum residual to zero further comprises the step of:
resetting said channel weight to zero during two consecutive epochs.
6. The method of claim 4 wherein said step of setting a channel weight for a satellite associated with said maximum residual to zero further comprises the step of:
resetting said channel weight to zero during one epoch.
7. The method of claim 1 wherein said step of determining which of said carrier phase increments are anomalous further comprises the steps of:
calculating residuals of carrier-phase increments;
calculating a sum of residuals squares; and comparing said sum of residuals squares to a threshold.
8. The method of claim 7 wherein said step of eliminating anomalous carrier phase increments from further calculations further comprises the steps of:
determining a maximum residual; and setting a channel weight for a satellite associated with said maximum residual to zero.
9. The method of claim 8 wherein said step of setting a channel weight for a satellite associated with said maximum residual to zero further comprises the step of:
resetting said channel weight to zero during two consecutive epochs.
10. The method of claim 8 wherein said step of setting a channel weight for a satellite associated with said maximum residual to zero further comprises the step of:
resetting said channel weight to zero during one epoch.
11. The method of claim 1 wherein said step of determining which of said carrier phase increments are anomalous further comprises the step of:
calculating an average weighted residual.
12. The method of claim 11 wherein said step of determining which of said carrier phase increments are anomalous further comprises the step of:
detecting a large difference between carrier phase increments for neighboring epochs.
13. The method of claim 1 further comprising the step of:
after said step of eliminating, determining whether the remaining number of carrier-phase increments is less than a threshold for a particular epoch; and if the remaining number of carrier-phase increments is less than a threshold for a particular epoch, then extrapolating coordinate increments for said particular epoch using data from prior epochs.
14. The method of claim 1 wherein said step of determining which of said carrier phase increments are anomalous is based at least in part on alarm signals of satellite channel indicators.
15. The method of claim 1 further comprising the step of:
using coordinate increments calculated during a period of time when said mobile unit is stationary as a correction extrapolation during later periods of time when said mobile unit is moving.
16. The method of claim 1 wherein, during a motion interval, said mobile unit traverses a closed loop and returns to said initial location, said method further comprising the steps of:
determining a starting position of said mobile unit at said initial position prior to said traversal;
determining a finishing position of said mobile unit when it returns to said initial location after said traversal; and calculating the difference between said finishing position and said starting position; and using said difference as an error of calculated coordinate increments.
17. The method of claim 16 wherein said step of using said difference as an error of calculated coordinate increments further comprises the steps of:
dividing said difference by a number of elapsed epochs to determine an average error of coordinate increments; and using said average error of coordinate increments as a correction for measured coordinate increments during said motion interval.
18. The method of claim 1 further comprising the step of:
receiving data from a base station via a communication channel;
wherein said step of calculating coordinate increments is further based upon said received data from said base station utilizing differential processing mode so that highly correlated components of base and rover errors are eliminated.
19. A mobile unit comprising:
means for receiving a plurality of signals from a corresponding plurality of navigation satellites and tracking carrier phases of said signals during movement;
means for calculating carrier phase increments for each of said signals for each of a plurality of time epochs;

means for determining which of said carrier phase increments are anomalous and eliminating them from further calculations;
means for calculating coordinate increments for each of said plurality of time epochs using non-eliminated carrier phase increments; and means for summing said coordinate increments over a plurality of time epochs to determine a position of said mobile unit relative to said initial location.
20. The mobile unit of claim 19 wherein said means for calculating coordinate increments further comprises:
means for generating a transformation matrix G using satellite coordinates for navigation satellites whose carrier phase increments were not determined to be anomalous; and means for calculating said coordinate increments using said transformation matrix G and a least squares method.
21. The mobile unit of claim 19 wherein said means for determining which of said carrier phase increments are anomalous further comprises:
means for calculating residuals of carrier-phase increments; and means for comparing said residuals to a threshold.
22. The mobile unit of Claim 21 wherein said means for eliminating anomalous carrier phase increments from further calculations further comprises:
means for determining the maximum residual; and means for setting a channel weight for a satellite associated with said maximum residual to zero.
23. The mobile unit of claim 22 wherein said means for setting a channel weight for a satellite associated with said maximum residual to zero further comprises:
means for resetting said channel weight to zero during two consecutive epochs.
24. The mobile unit of claim 22 wherein said means for setting a channel weight for a satellite associated with said maximum residual to zero further comprises:
means for resetting said channel weight to zero during one epoch.
25. The mobile unit of claim 19 wherein said means for determining which of said carrier phase increments are anomalous further comprises:
means for calculating residuals of carrier-phase increments;
means for calculating a sum of residuals squares; and means for comparing said sum of residuals squares to a threshold.
26. The mobile unit of claim 25 wherein said means for eliminating anomalous carrier phase increments from further calculations further comprises:
means for determining a maximum residual; and means for setting a channel weight for a satellite associated with said maximum residual to zero.
27. The mobile unit of claim 26 wherein said means for setting a channel weight for a satellite associated with said maximum residual to zero further comprises:
means for resetting said channel weight to zero during two consecutive epochs.
28. The mobile unit of claim 20 wherein said means for setting a channel weight for a satellite associated with said maximum residual to zero further comprises:
means for resetting said channel Weight to zero during one epoch.
29. The mobile unit of claim 19 wherein said means for determining which of said carrier phase increments are anomalous further comprises:
means for calculating an average weighted residual.
30. The mobile unit of claim 19 wherein said means for determining which of said carrier phase increments are anomalous further comprises:

means for detecting a large difference between carrier phase increments for neighboring epochs.
31. The mobile unit of claim 19 further comprising:
means for using coordinate increments calculated during a period of time when said mobile unit is stationary as a correction extrapolation during later periods of time when said mobile unit is moving.
32. The mobile unit of claim 19 further comprising:
means for determining a starting position of said mobile unit at an initial position prior to a traversal;
means for determining a finishing position of said mobile unit when it returns to said initial location after said traversal; and means for calculating the difference between said finishing position and said starting position; and means for using said difference as an error of calculated coordinate increments.
33. The mobile unit of claim 32 wherein said means for using said difference as an error of calculated coordinate increments further comprises:
means for dividing said difference by a number of elapsed epochs to determine an average error of coordinate increments; and means for using said average error of coordinate increments as a correction for measured coordinate increments during said motion interval.
CA2551416A 2005-09-08 2006-06-30 Position determination using carrier phase measurements of satellite signals Expired - Fee Related CA2551416C (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US11/222,119 US7522099B2 (en) 2005-09-08 2005-09-08 Position determination using carrier phase measurements of satellite signals
US11/222,119 2005-09-08

Publications (2)

Publication Number Publication Date
CA2551416A1 CA2551416A1 (en) 2007-03-08
CA2551416C true CA2551416C (en) 2010-11-30

Family

ID=37649567

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2551416A Expired - Fee Related CA2551416C (en) 2005-09-08 2006-06-30 Position determination using carrier phase measurements of satellite signals

Country Status (6)

Country Link
US (1) US7522099B2 (en)
EP (1) EP1762824B1 (en)
JP (2) JP4880397B2 (en)
AT (1) ATE471496T1 (en)
CA (1) CA2551416C (en)
DE (1) DE602006014915D1 (en)

Families Citing this family (63)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9002565B2 (en) 2003-03-20 2015-04-07 Agjunction Llc GNSS and optical guidance and machine control
US8634993B2 (en) 2003-03-20 2014-01-21 Agjunction Llc GNSS based control for dispensing material from vehicle
US8686900B2 (en) 2003-03-20 2014-04-01 Hemisphere GNSS, Inc. Multi-antenna GNSS positioning method and system
US8190337B2 (en) 2003-03-20 2012-05-29 Hemisphere GPS, LLC Satellite based vehicle guidance control in straight and contour modes
US8140223B2 (en) 2003-03-20 2012-03-20 Hemisphere Gps Llc Multiple-antenna GNSS control system and method
US8271194B2 (en) * 2004-03-19 2012-09-18 Hemisphere Gps Llc Method and system using GNSS phase measurements for relative positioning
US8583315B2 (en) 2004-03-19 2013-11-12 Agjunction Llc Multi-antenna GNSS control system and method
US7706976B1 (en) * 2006-07-26 2010-04-27 Trimble Navigation, Ltd. Position based velocity estimator
US8400353B2 (en) 2006-08-31 2013-03-19 Sige Semiconductor (Europe) Limited Apparatus and method for use in global position measurements
US8311696B2 (en) 2009-07-17 2012-11-13 Hemisphere Gps Llc Optical tracking vehicle control system and method
USRE48527E1 (en) 2007-01-05 2021-04-20 Agjunction Llc Optical tracking vehicle control system and method
US9651667B2 (en) * 2007-06-22 2017-05-16 Trimble Inc. Combined cycle slip indicators for regionally augmented GNSS
WO2009100463A1 (en) 2008-02-10 2009-08-13 Hemisphere Gps Llc Visual, gnss and gyro autosteering control
JP5056578B2 (en) * 2008-05-19 2012-10-24 トヨタ自動車株式会社 Position detection device for moving body and vehicle control device using position detection device
US7979344B2 (en) * 2008-05-23 2011-07-12 Bny Convergex Group, Llc Systems, methods, and media for automatically controlling trade executions based on percentage of volume trading rates
EP2283641B1 (en) * 2008-06-06 2020-08-12 Skyhook Wireless, Inc. Method and system for determining location using a hybrid satellite and wlan positioning system by selecting the best wlan-ps solution
US8155666B2 (en) 2008-06-16 2012-04-10 Skyhook Wireless, Inc. Methods and systems for determining location using a cellular and WLAN positioning system by selecting the best cellular positioning system solution
RU2008151749A (en) 2008-12-26 2010-07-10 Андрей Владимирович Вейцель (RU) METHOD OF CONSTRUCTING VIBRATION-RESISTANT NAVIGATION RECEIVER OF SATELLITE SIGNALS
US9322918B2 (en) 2009-02-22 2016-04-26 Trimble Navigation Limited GNSS surveying methods and apparatus
JP5600882B2 (en) * 2009-03-10 2014-10-08 富士通株式会社 GPS receiver carrier phase measurement quality monitoring apparatus, method and program
US8373593B2 (en) * 2009-07-15 2013-02-12 Topcon Gps, Llc Navigation receiver for processing signals from a set of antenna units
US8063820B2 (en) * 2009-07-16 2011-11-22 Skyhook Wireless, Inc. Methods and systems for determining location using a hybrid satellite and WLAN positioning system by selecting the best SPS measurements
US8022877B2 (en) 2009-07-16 2011-09-20 Skyhook Wireless, Inc. Systems and methods for using a satellite positioning system to detect moved WLAN access points
US8401704B2 (en) 2009-07-22 2013-03-19 Hemisphere GPS, LLC GNSS control system and method for irrigation and related applications
US8174437B2 (en) * 2009-07-29 2012-05-08 Hemisphere Gps Llc System and method for augmenting DGNSS with internally-generated differential correction
US8334804B2 (en) 2009-09-04 2012-12-18 Hemisphere Gps Llc Multi-frequency GNSS receiver baseband DSP
US8638256B2 (en) * 2009-09-29 2014-01-28 Skyhook Wireless, Inc. Accuracy and performance of a hybrid positioning system
US8279114B2 (en) * 2009-10-02 2012-10-02 Skyhook Wireless, Inc. Method of determining position in a hybrid positioning system using a dilution of precision metric
US20110080318A1 (en) * 2009-10-02 2011-04-07 Skyhook Wireless, Inc. Determining A Dilution of Precision Metric Using Two or Three GPS Satellites
WO2011041430A1 (en) * 2009-10-02 2011-04-07 Skyhook Wireless, Inc. Determining position in a hybrid positioning system using a dilution of precision metric
US8548649B2 (en) 2009-10-19 2013-10-01 Agjunction Llc GNSS optimized aircraft control system and method
JP5760001B2 (en) * 2009-11-17 2015-08-05 トプコン ポジショニング システムズ, インク. Detection and correction of anomalous measurements and determination of ambiguity in a global navigation satellite system receiver.
CN101750620A (en) * 2009-12-25 2010-06-23 三一重工股份有限公司 Positioning method and device of cantilever crane system and concrete pump truck
US8583326B2 (en) 2010-02-09 2013-11-12 Agjunction Llc GNSS contour guidance path selection
IT1406752B1 (en) * 2010-06-14 2014-03-07 Univ Roma MEASUREMENT SYSTEM OF REAL-TIME MOVEMENTS, IN PARTICULAR OF COSISMIC MOVEMENTS AND STRUCTURE VIBRATIONS
KR101972606B1 (en) 2010-11-03 2019-04-25 스카이후크 와이어리스, 인크. Method of system for increasing the reliability and accuracy of location estimation in a hybrid positioning system
US9612342B2 (en) * 2011-09-20 2017-04-04 Novatel Inc. GNSS positioning system including an anti-jamming antenna and utilizing phase center corrected carrier
EP2815253B1 (en) 2012-02-17 2018-11-21 Topcon Positioning Systems, Inc. Improving the positioning quality of global navigation satellite system receivers
US9664792B2 (en) 2012-02-17 2017-05-30 Topcon Positioning Systems, Inc. Positioning quality of global navigation satellite system receivers
WO2014168504A1 (en) 2013-04-11 2014-10-16 Llc "Topcon Positioning Systems" Common coordinate-quartz loop for reducing the impact of shock and vibration on global navigation satellite system measurements
CN103488156B (en) * 2013-10-11 2017-02-01 广州南方测绘仪器有限公司 Novel measurement controller and measurement control system
US9971037B2 (en) * 2013-10-29 2018-05-15 Northrop Grumman Systems Corporation Anomaly detection using an antenna baseline constraint
JP6234550B2 (en) * 2014-03-28 2017-11-22 三菱電機株式会社 Positioning device
AU2014388688A1 (en) * 2014-03-28 2016-11-03 Mitsubishi Electric Corporation Positioning device and positioning method
US9313619B2 (en) * 2014-04-24 2016-04-12 At&T Mobility Ii Llc Facilitating estimation of mobile device presence inside a defined region
EP2985631B1 (en) * 2014-08-14 2019-08-07 Trimble Inc. Navigation satellite system based positioning involving the generation of receiver-specific or receiver-type-specific correction information
JP2016142595A (en) 2015-01-30 2016-08-08 富士通株式会社 Mobile entity terminal, position specification method, position specification program, and position specification device
FR3038067B1 (en) * 2015-06-24 2017-08-18 Inst Mines-Telecom METHOD FOR LOCATING A RECEIVER WITHIN A POSITIONING SYSTEM
EP3384317A1 (en) 2015-12-02 2018-10-10 Husqvarna AB Improved navigation for a robotic work tool
US10261194B2 (en) * 2016-01-06 2019-04-16 Honeywell International Inc. Systems and methods for vehicle attitude determination
WO2017131548A1 (en) * 2016-01-25 2017-08-03 Limited Liability Company "Topcon Positioning Systems" Methods and apparatus for estimating motion parameters of gnss receiver
EP3665508A1 (en) * 2017-08-11 2020-06-17 Telefonaktiebolaget LM Ericsson (Publ) Methods and apparatuses for estimating a position of a wireless device using global navigation system signals
CA3071876C (en) 2017-08-11 2022-10-04 Telefonaktiebolaget Lm Ericsson (Publ) Wireless device, network node and methods therein for reporting a measurement
US11067703B2 (en) 2017-11-02 2021-07-20 Topcon Positioning Inc. Shadow recovery of a single satellite signal in a GNSS receiver
US11019459B1 (en) * 2020-01-07 2021-05-25 Here Global B.V. Method, apparatus, and system for base station selection for differential positioning
CN113568014B (en) * 2020-04-28 2023-07-18 千寻位置网络有限公司 Doppler cycle slip detection method and system
CN113671551B (en) * 2020-05-13 2023-12-08 千寻位置网络有限公司 RTK positioning calculation method
US11821998B2 (en) 2020-05-21 2023-11-21 Honeywell International Inc. Three-dimensional attitude determination system with multi-faceted integrity solution
EP4187285A1 (en) * 2021-11-29 2023-05-31 Trimble Inc. Methods and systems for processing time-differenced navigation satellite system observables
CN116125495A (en) * 2022-12-14 2023-05-16 北京六分科技有限公司 Ionosphere correction determination method, ionosphere correction determination device, ionosphere correction determination storage medium, and ionosphere correction determination program product
CN115790589B (en) * 2023-01-09 2023-05-02 西北工业大学 Error-free strapdown inertial navigation method for transmitting system
CN116108319B (en) * 2023-04-10 2023-08-11 中国人民解放军32035部队 Orbit forecasting method for constant thrust mode continuous maneuvering satellite
CN116413757B (en) * 2023-04-13 2024-03-05 中国民航大学 Ship heave measurement method based on time differential carrier phase technology

Family Cites Families (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3881096A (en) * 1971-11-10 1975-04-29 Interstate Electronics Corp Apparatus for determining position location based on range differences
US4114155A (en) * 1976-07-30 1978-09-12 Cincinnati Electronics Corporation Position determining apparatus and method
US4984186A (en) * 1989-08-25 1991-01-08 Titan Linkabit Corporation Phase accumulator with dithered incrementing of accumulation due to fine phase components
US5266958A (en) * 1992-11-27 1993-11-30 Motorola, Inc. Direction indicating apparatus and method
JPH07190769A (en) 1993-12-27 1995-07-28 Sokkia Co Ltd Interference position measurement method for gps
US5519620A (en) * 1994-02-18 1996-05-21 Trimble Navigation Limited Centimeter accurate global positioning system receiver for on-the-fly real-time kinematic measurement and control
JP3095973B2 (en) * 1995-03-24 2000-10-10 ケイディディ株式会社 Earth station position detection method in satellite communication system
JPH09145816A (en) * 1995-11-27 1997-06-06 Furuno Electric Co Ltd Cycle slip detecting method in relative gps position measurement of moving body and device therefor
JP3851376B2 (en) * 1996-05-15 2006-11-29 日本無線株式会社 Positioning system satellite signal receiver
US5812087A (en) * 1997-02-03 1998-09-22 Snaptrack, Inc. Method and apparatus for satellite positioning system based time measurement
US6104338A (en) * 1998-05-04 2000-08-15 Snaptrack, Inc. Method and apparatus for operating a satellite positioning system receiver
US6313789B1 (en) * 1998-06-10 2001-11-06 Topcon Positioning Systems, Inc. Joint tracking of the carrier phases of the signals received from different satellites
US6268824B1 (en) * 1998-09-18 2001-07-31 Topcon Positioning Systems, Inc. Methods and apparatuses of positioning a mobile user in a system of satellite differential navigation
US6337657B1 (en) * 1999-03-12 2002-01-08 Topcon Positioning Systems, Inc. Methods and apparatuses for reducing errors in the measurement of the coordinates and time offset in satellite positioning system receivers
JP3522581B2 (en) * 1999-04-22 2004-04-26 富士通株式会社 GPS positioning device, GPS positioning method, and computer-readable recording medium recording GPS positioning program
US6469663B1 (en) 2000-03-21 2002-10-22 Csi Wireless Inc. Method and system for GPS and WAAS carrier phase measurements for relative positioning
US6397147B1 (en) 2000-06-06 2002-05-28 Csi Wireless Inc. Relative GPS positioning using a single GPS receiver with internally generated differential correction terms
EP1322973B1 (en) * 2000-09-23 2009-05-27 Nxp B.V. A method of generating a time shifted signal
US6377889B1 (en) * 2000-10-13 2002-04-23 Trimble Navigation Limited Non-linear method of guiding to arbitrary curves with adaptive feedback
JP2004053312A (en) * 2002-07-17 2004-02-19 Furuno Electric Co Ltd Azimuth measuring instrument
PL375314A1 (en) * 2002-08-13 2005-11-28 Drs Communications Company, Llc Method and system for determining absolute positions of mobile communications devices using remotely generated positioning information
US6950059B2 (en) * 2002-09-23 2005-09-27 Topcon Gps Llc Position estimation using a network of a global-positioning receivers
JP2005164395A (en) * 2003-12-02 2005-06-23 Toyota Motor Corp Carrier wave phase type gps positioning apparatus and method
US6861979B1 (en) * 2004-01-16 2005-03-01 Topcon Gps, Llc Method and apparatus for detecting anomalous measurements in a satellite navigation receiver
US7002513B2 (en) * 2004-03-26 2006-02-21 Topcon Gps, Llc Estimation and resolution of carrier wave ambiguities in a position navigation system
US7222035B1 (en) * 2004-11-17 2007-05-22 Topcon Gps, Llc Method and apparatus for determining changing signal frequency

Also Published As

Publication number Publication date
US20070052583A1 (en) 2007-03-08
ATE471496T1 (en) 2010-07-15
JP2007071869A (en) 2007-03-22
EP1762824A1 (en) 2007-03-14
DE602006014915D1 (en) 2010-07-29
EP1762824B1 (en) 2010-06-16
JP2012002820A (en) 2012-01-05
US7522099B2 (en) 2009-04-21
CA2551416A1 (en) 2007-03-08
JP4880397B2 (en) 2012-02-22

Similar Documents

Publication Publication Date Title
CA2551416C (en) Position determination using carrier phase measurements of satellite signals
US8624779B2 (en) Global navigation satellite system (GNSS) reference station integrity monitoring and assurance
EP2502091B1 (en) Detection and correction of anomalous measurements and ambiguity resolution in a global navigation satellite system receiver
US6861979B1 (en) Method and apparatus for detecting anomalous measurements in a satellite navigation receiver
US7501981B2 (en) Methods and apparatus to detect and correct integrity failures in satellite positioning system receivers
US7710316B1 (en) Method and apparatus for determining smoothed code coordinates of a mobile rover
CA2494417C (en) Estimation and resolution of carrier wave ambiguities in a position navigation system
US7498979B2 (en) Fast decimeter-level GNSS positioning
EP2864809B9 (en) Selection of a subset of global navigation satellite system measurements based on prediction of accuracy of target parameters
US8358242B2 (en) GNSS post positioning with elongated dither sequence
US9244174B2 (en) Mitigation of scintillations in signals of global navigation satellite systems caused by ionospheric irregularities
US7567208B2 (en) Position and time determination under weak signal conditions
AU2005226022A1 (en) Method for back-up dual-frequency navigation during brief periods when measurement data is unavailable on one of two frequencies
WO2015020551A1 (en) Detection of scintillations in signals of global navigation satellite systems caused by lonospheric irregularities
EP2864810A1 (en) Selection of a subset of global navigation satellite system measurements based on relation between shifts in target parameters and sum of residuals
WO2019203679A1 (en) High performance positioning system.
CN112731496B (en) GNSS precise single-point positioning data quality control method for intelligent terminal
US8319683B2 (en) Base data extrapolator to operate with a navigation receiver in real-time kinematic (RTK) and differential global positioning system ( DGPS) modes
WO2020104594A1 (en) Method and system for recreating unavailable gnss measurements
RU2614039C2 (en) Method for determining reliability index associated with rolling stock movement trajectory of object
Sulaiman et al. Global Positioning System Performance Assessment with Precise Point Positioning and Relative Positioning
US11067703B2 (en) Shadow recovery of a single satellite signal in a GNSS receiver
Uwineza et al. Characterizing GNSS Multipath at Different Antenna Mounting Positions on Vehicles
RU2208809C1 (en) Method of single-frequency determination of delay of signals of navigation satellite system in ionosphere
Park et al. Carrier Phase-Based Gps/Pseudolite/Ins Integration: Solutions Of Ambiguity Resolution And Cycle Slip Detection/Identification

Legal Events

Date Code Title Description
EEER Examination request
MKLA Lapsed

Effective date: 20170630