System and method for providing space-based precision position correlations for promoting improved availability, accuracy and integrity

• US 10,222,481 B1
• Filed: 08/04/2016
• Issued: 03/05/2019
• Est. Priority Date: 12/07/2009
• Status: Active Grant

• Current Assignee: Rockwell Collins, Inc. (Rtx Corporation)
• Original Assignee: Rockwell Collins, Inc. (Rtx Corporation)
• Inventors: Heinrich, Richard E.
• Primary Examiner(s): Gregory, Bernarr E
• Assistant Examiner(s): Mull, Fred H
• Application Number:
  US15/228,484
• Time in Patent Office: 943 Days
• CPC Class Codes: G01S 19/40 Correcting position, velocity or attitude
• CPC Class Codes: G01S 19/423 by combining or switching between position solutions derived from different satellite radio beacon positioning systems

Abstract

The present invention is directed to a system for providing precision location determination. The system includes a receiver configured for receiving both a first set of signals from a first constellation of satellites and a second set of signals from a second constellation of satellites. The system further includes a processor, which is connected to the receiver and is configured for processing the received satellite signals. The system further includes control programming for executing on the processor. The control programming is configured for determining a first location of the receiver based upon the first set of received signals and for determining a second location of the receiver based upon the second set of received signals. The control programming is further configured for correlating the first location and the second location to provide an enhanced location for the receiver.

Claims

1. A system for providing an enhanced location determination, comprising:

a receiver module configured to receive a plurality of satellite signals from a plurality of satellites in view;

an antenna associated with the receiver module, the antenna configured for receiving satellite signals from the plurality of satellites in view;

a memory associated with the receiver module;

a bus associated with the receiver module, the bus configured for operatively connecting the antenna, the memory, and a processor,

the processor configured to;

receive sets of satellite signals from a first satellite constellation, a second satellite constellation, and a third satellite constellation via the antenna;

score each satellite signal based on a signal strength, a noise level, and signal geometry;

determine a first location based on the first satellite constellation, a second location based on the second satellite constellation, and a third location based on the third satellite constellation;

score each of the first location, second location, and third location based on the scores of the corresponding satellite signals;

determine, from the received sets of satellite signals, if one of the first location, second location, or third location is based on a low quality signal;

determine, from the received sets of satellite signals, if one of the first location, second location, or third location is based on a noisy signal;

determine, from the received sets of satellite signals, if a signal of one of the plurality of satellite constellations has poor geometry based on a signal look angle;

exclude one of the first location, second location, or third location based on the excluded location being calculated from at least one signal being one or more of the low quality signal, the noisy signal, and the poor geometry signal; and

determine an enhanced location of the receiver module based on a location score weighted combination of two of the first location, second location, and third location.

2. The system of claim 1, wherein the excluded signal is the first location, and the processor is further configured to:

exclude the second location from the determined locations based on the second location being based on one or more of the low quality signal, the noisy signal, and the poor geometry signal.

3. The system of claim 1, wherein the enhanced location is a first enhanced location, and the processor is further configured to:

exclude one or more of the low quality signal, the noisy signal, and the poor geometry signal from the received sets of signals used in determining a second enhanced location of the receiver module.

4. The system of claim 3, wherein the processor is further configured to:

track an orientation of the receiver module relative to a satellite associated with the excluded location; and

include the excluded location in determining a third enhanced location when the orientation of the receiver module has changed relative to the satellite constellation sufficiently to raise a quality of the excluded location.

5. The system of claim 4, wherein the quality is determined relative to a predetermined threshold.

6. A system for providing an enhanced location determination, comprising:

a receiver module configured to receive a plurality of satellite signals from a plurality of satellites in view;

a steerable antenna associated with the receiver module, the steerable antenna configured for receiving satellite signals from the plurality of satellites in view;

a memory associated with the receiver module, the memory including a status of the plurality of satellites in view;

a bus associated with the receiver module, the bus configured for operatively connecting the steerable antenna, the memory, and a processor,

the processor configured to;

receive sets of satellite signals from a first satellite constellation, a second satellite constellation and a third satellite constellation via the steerable antenna;

score each satellite signal based on a signal strength, a noise level, and signal geometry;

determine a first location based on the first satellite constellation, a second location based on the second satellite constellation, and a third location based on the third satellite constellation;

score each of the first location, second location, and third location based on the scores of the corresponding satellite signals;

determine, from the received sets of satellite signals, if one of the first location, second location, or third location is based on a low quality signal;

determine, from the received sets of satellite signals, if one of the first location, second location, or third location is based on a noisy signal;

determine, from the received sets of satellite signals, if a signal of one of the plurality of satellite constellations has poor geometry based on a signal look angle;

direct the steerable antenna away from a satellite constellation associated with one or more of the low quality signal, the noisy signal, and the poor geometry signal; and

determine an enhanced location of the receiver module based on a location score weighted combination of two of the first location, second location, and third location.

7. The system of claim 6, wherein the received sets of satellite signals are first received sets of satellite signals, the processor is further configured to receive second sets of satellite signals, the enhanced location of the receiver module is determined based on the received second sets of satellite signals and based on at least one of the plurality of location determinations, and the received second sets of satellite signals are received after the steerable antenna is directed away from the satellite associated with one or more of the low quality signal, the noisy signal, and the poor geometry signal.

8. The system of claim 6, wherein the first satellite constellation, the second satellite constellation, and the third satellite constellation include three of:

Global Positioning System satellites, Galileo satellites, Compass satellites, Global Navigation Satellite System satellites, and Multifunctional Transport satellites.

9. The system of claim 6, wherein a first signal received from a first satellite in view has a first signal-in-space protocol and a second signal received from a second satellite in view has a second signal-in-space protocol, said second signal-in-space protocol being a different signal-in-space protocol than the first signal-in-space protocol.

10. The system of claim 6, wherein the three constellations of satellites include Global Positioning System satellites and Galileo satellites.

11. The system of claim 6, wherein the processor is further configured to:

use the status of a satellite of the plurality of satellites in view to determine when a signal from the satellite is of a quality sufficient for inclusion in determining the enhanced location; and

include the signal from the satellite in determining the enhanced location when the signal is of the sufficient quality.

12. The system of claim 6, wherein the enhanced location is a first enhanced location, and the processor is further configured to:

use the status of a satellite of the plurality of satellites in view to determine when a signal from the satellite is of a quality sufficient for inclusion in determining a second enhanced location; and

include the signal from the satellite in determining the second enhanced location when the signal is of the sufficient quality.

13. The system of claim 6, wherein the processor is further configured to determine the plurality of location determinations based on the received sets of signals, evaluate the plurality of location determinations, and exclude one or more location determinations of the plurality of location determinations to determine a second plurality of location determinations, and wherein the processor is further configured to determine the enhanced location based on relative weighting of the second plurality of location determinations.

14. The method of claim 13, wherein the received sets of satellite signals comprise first sets of satellite signals, and directing the steerable antenna away from the satellite associated with one or more of the low quality signal, the noisy signal, and the poor geometry signal further comprises excluding one or more of the low quality signal, the noisy signal, and the poor geometry signal from being used for determining the enhanced location by directing the steerable antenna away from the satellite, and wherein the processor is further configured to determine the enhanced location based on second sets of satellite signals, the second sets of satellite signals differing from the first sets of satellite signals at least with respect to the excluded one or more of the low quality signal, the noisy signal, and the poor geometry signal.

15. A system for providing a receiver module position, comprising:

a receiver module and antenna configured to receive satellite signals from a plurality of satellite constellations; and

a processor connected to the receiver module and a non-transitory computer-readable storage medium, the processor being configured to access the non-transitory computer-readable storage medium to perform a cycle comprising the following steps;

determining a solution set of a plurality of locations of the receiver module based on six or more signals received from the plurality of satellite constellations, each satellite constellation comprising a separate global navigation satellite system, each location corresponding to a separate satellite constellation;

evaluating the plurality of locations of the solution set by scoring each location of the solution set and assigning a score to a satellite based on signal quality of the satellite, the score assigned to the satellite including determining if a single signal of the six or more signals is a strong signal, determining if a single signal of the six or more signals is a noisy signal, and determining if a single signal of the six or more signals has good geometry based on a signal look angle;

correlating the plurality of locations of the solution set by comparing respective scores of two or more locations of the solution set; and

determining an enhanced location of the receiver module based on the comparing and the assigned score of the satellite to produce a weighted combination of the plurality of locations.

16. The system of claim 15, wherein the location score is a first score, the solution set is a first solution set, and the satellite has the noisy signal as indicated by the first score assigned to the satellite, the processor further configured for:

tracking an orientation of the receiver module with respect to the satellite; and

storing information identifying the satellite, wherein the stored information is used to exclude the satellite or its signal from use in determining the plurality of locations of the receiver module for a second solution set until the first score assigned to the satellite changes to a second score to indicate a quality of the signal of the satellite is above a pre-determined threshold, wherein the stored information includes a status of the satellite and the first score changes to the second score based on the status of the satellite.

17. The system of claim 15, wherein the processor is further configured for:

correlating the plurality of locations of the solution set with each other to determine an error.

18. The method of claim 17, wherein the error is used to develop a differential correction for removing the error to determine the enhanced location.

19. The system of claim 15, wherein the location score is a first score, the cycle is a first cycle, and the satellite has a poor geometry, has a low quality signal, or has the noisy signal as indicated by the first score assigned to the satellite, the processor further configured for:

excluding a satellite signal from use in a second cycle based on the first score assigned to the satellite until the first score assigned to the satellite changes to a second score.