System and method of collaborative positioning calibration, and method of deploying reference station

• US 10,001,564 B2
• Filed: 10/24/2013
• Issued: 06/19/2018
• Est. Priority Date: 12/27/2012
• Status: Active Grant

• Current Assignee: Industrial Technology Research Institute
• Original Assignee: Industrial Technology Research Institute
• Inventors: Hwu, Jing-Shyang, Chiu, Kuan-Lin, Chao, Yung-Cheng
• Primary Examiner(s): McGue, Frank J
• Application Number:
  US14/062,444
• Publication Number:
  US 20140184441A1
• Time in Patent Office: 1,699 Days
• Field of Search: 34235724
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]

Abstract

An embodiment disclosed a system for collaborative positioning calibration, comprising at least one reference station and at least one client. The reference station uses a known position and a satellite signal transmitted by at least one satellite to compute a pseudo-range difference of the reference station position and the satellite position, and then broadcasts an area calibration data including at least one pseudo-range difference to at least one client. Based on the area calibration data, the client computes at least one pseudo-range calibration data and outputs a calibrated position of global positioning system.

Claims

1. A collaborative positioning calibration method, the method comprising the steps of:

receiving a satellite signal of at least one satellite and a known position of each of a plurality of reference stations;

computing a plurality of pseudo-range differences, each of which is computed based on the known position and a computed position of each of the reference stations computed according to the satellite signal;

broadcasting an area calibration data to at least one client;

computing a calibrated pseudo-range between each of the client and the satellite according to a pseudo-range correction value of the client, wherein the pseudo-range correction value is a linear combination of a plurality of weights and the pseudo-range differences, and each of the weights is negatively related to a difference between a signal-to-noise ratio (SNR) value of each of the reference stations and a SNR of the client; and

outputting a calibrated position.

2. The method as claimed in claim 1,

wherein the area calibration data further comprises at least one satellite number.

3. The method as claimed in claim 1, wherein each of the pseudo-range differences is a distance obtained by subtracting a pseudo-range from a true distance between one of the reference stations and the satellite.

4. The method as claimed in claim 1, wherein each of the pseudo-range differences is a difference obtained by adding together an atmospheric difference, an ephemeris difference and a multipath difference.

5. The method as claimed in claim 1, wherein each of the pseudo-range differences is a distance between the client and the satellite, and the distance is computed by a global positioning system.

6. The method as claimed in claim 3, wherein each of the true distances is a distance between the known position of one of the reference stations and the satellite.

7. The method as claimed in claim 1, wherein each of the reference stations is a server.

8. The method as claimed in claim 1, wherein the client is a vehicle terminal.

9. A client device, comprising:

a global positioning system (GPS) module configured to receive a satellite signal of at least one satellite;

a communication module configured to receive a plurality of pseudo-range differences from a plurality of reference stations and an area calibration data, wherein each of the pseudo-range differences is computed based on a known position of each of the reference stations and a computed position of each of the reference stations computed according to said satellite signal; and

a computation module configured to compute a calibrated pseudo-range between each of the client device and the satellite according to a pseudo-range correction value of the client device, wherein the pseudo-range correction value is a linear combination of a plurality of weights and the pseudo-range differences, and each of the weights is negatively related to a difference between a signal-to-noise ratio (SNR) value of each of the reference stations and a SNR of the client device.

10. The client device as claimed in claim 9, wherein the client device is a vehicle terminal.

11. The client device as claimed in claim 10, wherein the area calibration data further comprises at least one satellite number.

12. The client device as claimed in claim 9, wherein each of the reference stations is a server.

13. The client device as claimed in claim 9, wherein the area calibration data further comprises at least one satellite number.

14. One of the reference stations for calibrating the client device as claimed in claim 9, each of the reference stations comprising:

a GPS module configured to receive a satellite signal of at least one satellite;

a computation module configured to compute each of the pseudo-range differences based on a known position of each of the reference stations and a computed position of each of the reference stations computed according to the satellite signal; and

a communication module configured to broadcast the pseudo-range differences to the client device.