Satellite navigation receiver with improved ambiguity resolution

• US 10,222,483 B2
• Filed: 09/29/2016
• Issued: 03/05/2019
• Est. Priority Date: 03/18/2016
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Dai, Liwen, Zeitzew, Michael
• Primary Examiner(s): Liu, Harry K
• Application Number:
  US15/281,012
• Publication Number:
  US 20170269228A1
• Time in Patent Office: 887 Days
• Field of Search: 34235727
• CPC Class Codes: G01S 19/32 Multimode operation in a single same satellite system, e.g. GPS L1/L2
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

Abstract

A satellite navigation receiver and associated methods are described that can provide improved integer ambiguity resolution and more accurate positioning information. A modified BIE process may be utilized to enable the receiver to perform the integer ambiguity resolution more optimally. The output of the modified BIE process may be time-domain smoothed to provide a solution which is smoother in ambiguity space, and therefore also provide a position solution that is smoother in time. Transitions between an ambiguity-determined solution to a float solution, when necessary, may be smoothed in time. A weighting scheme may dynamically blend the ambiguity-determined solution and the float solution to leverage the advantages of both solutions, such as faster pull-in, higher accuracy, and more stable and smooth performance.

Claims

1. A method for determining a position of a satellite navigation receiver, comprising:

determining estimated float narrow lane ambiguities of measured carrier phases associated with received signals from one or more satellites, based on estimated integer wide lane ambiguities and ionospheric-free float ambiguities;

at a regular interval, determining a weighted sum of candidate narrow lane integer ambiguities for the measured carrier phases, based on the estimated float narrow lane ambiguities, using a modified best integer equivariant (BIE) process;

during a search of the candidate narrow lane integer ambiguities, generating weighted sums of the candidate narrow lane integer ambiguities and a sum of weights, based on minimizing a mean-squared error (MSE) of the candidate narrow lane integer ambiguities and real valued parameters of a float solution comprising a state vector and a covariance matrix;

calculating determined ambiguity values based on the weighted sums of the candidate narrow lane integer ambiguities and the sum of weights; and

forming a first constraint based on the determined ambiguity values, wherein the first constraint is for applying to a first copy of the float solution to calculate a first ambiguity determined position solution comprising a first ambiguity determined position estimate.

2. The method of claim 1, wherein the weighted sums of the candidate narrow lane integer ambiguities and the sum of weights are adaptively scaled with changes in a magnitude of the maximum weight of the candidate narrow lane integer ambiguities.

3. The method of claim 1, wherein weights of the sum of weights are calculated as an exponential function of the quadratic form.

4. The method of claim 1, wherein the search of the candidate narrow lane integer ambiguities continues until no candidates remain with corresponding weights above a dynamically calculated threshold.

5. The method of claim 1, further comprising:

time-domain smoothing the determined ambiguity values; and

forming a second constraint based on the time-domain smoothed ambiguity values, the second constraint for applying to a second copy of the float solution to calculate a second ambiguity determined position solution comprising a second ambiguity determined position estimate.

6. The method of claim 5, wherein the time-domain smoothing is conducted at a regular interval and comprises:

removing unavailable satellites used in the time-domain smoothing, the unavailable satellites comprising the satellites that the receiver can no longer receive signals from;

determining whether a reference satellite used in the time-domain smoothing has changed to a new reference satellite;

if the reference satellite has changed, adjusting the time-domain smoothed ambiguity values for the new reference satellite and the satellites other than the unavailable satellites;

determining whether new satellites should be used in the time-domain smoothing;

if the new satellites should be used;

adding the new satellites by initializing the time-domain smoothed ambiguity values for the new satellites, the new satellites comprising the satellites that were not utilized in a previous interval; and

adjusting the time-domain smoothed ambiguity values for the new satellites by a bias between the estimated float narrow lane ambiguities and time-domain smoothed ambiguity values from a previous interval; and

updating the time-domain smoothed ambiguity values for the satellites and the new satellites, based on the determined ambiguity values, using a recursive estimator.

7. The method of claim 5, further comprising weighting the second ambiguity determined position solution to generate a second weighted ambiguity determined position solution by blending the float solution and the second ambiguity determined position solution.

8. The method of claim 7, wherein the blending comprises minimizing an error variance of a combination of the float solution and the second ambiguity determined position solution.

9. The method of claim 7, wherein the blending is based on an acceptability factor that indicates whether the second ambiguity determined position solution is acceptable.

10. The method of claim 7, wherein the blending is based on a convergence indicator of the float solution that indicates that the float solution has achieved a steady state.

11. The method of claim 7, wherein the blending is based on values from a look-up table indexed by ranges of corresponding error variances and corresponding figures of merit of the float solution and the second ambiguity determined position solution.

12. The method of claim 7, further comprising transitioning a position solution from the second weighted ambiguity determined position solution to the float solution.

13. The method of claim 12, wherein the transitioning is conducted at a regular interval and comprises:

determining whether the transitioning is needed, based on a transition condition;

if the transitioning is not needed, storing a position difference offset between the second weighted ambiguity determined position solution and the float solution; and

if transitioning is needed, adjusting the position solution over a number of intervals from the second weighted ambiguity determined position solution to the float solution by an amount proportional to a previous difference offset until the position solution equals the float solution.

14. The method of claim 13, wherein the transition condition comprises one or more of an age of PPP corrections, an availability of the estimated integer wide lane ambiguities, a quality of the estimated float narrow lane ambiguities, an availability of the determined ambiguity values, a weighting of the second ambiguity determined position solution, or a detected jump in the second weighted ambiguity determined position solution.

15. A satellite navigation receiver, comprising:

one or more processors;

a receiver for receiving satellite navigation signals from a plurality of satellites;

a memory in communication with the one or more processors and the receiver, the memory comprising a navigation positioning estimator executable by the one or more processors to;

determine estimated float narrow lane ambiguities of measured carrier phases associated with received signals from one or more satellites, based on estimated integer wide lane ambiguities and ionospheric-free float ambiguities;

at a regular interval, determine a weighted sum of candidate narrow lane integer ambiguities for the measured carrier phases, based on the estimated float narrow lane ambiguities, using a modified best integer equivariant (BIE) process;

during a search of the candidate narrow lane integer ambiguities, generate weighted sums of the candidate narrow lane integer ambiguities and a sum of weights, based on minimizing a mean-squared error (MSE) of the candidate narrow lane integer ambiguities and real valued parameters of a float solution comprising a state vector and a covariance matrix;

calculate determined ambiguity values based on the weighted sums of the candidate narrow lane integer ambiguities and the sum of weights; and

form a first constraint based on the determined ambiguity values, wherein the first constraint is for applying to a first copy of the float solution to calculate a first ambiguity determined position solution comprising a first ambiguity determined position estimate.

16. The satellite navigation receiver of claim 15, wherein the weighted sums of the candidate narrow lane integer ambiguities and the sum of weights are adaptively scaled with changes in a magnitude of the maximum weight of the candidate narrow lane integer ambiguities.

17. The satellite navigation receiver of claim 15, wherein weights of the sum of weights are calculated as an exponential function of the quadratic form.

18. The satellite navigation receiver of claim 15, wherein the search of the candidate narrow lane integer ambiguities continues until no candidates remain with corresponding weights above a dynamically calculated threshold.

19. The satellite navigation receiver of claim 15, wherein the navigation positioning estimator is further executable by the one or more processors to:

time-domain smooth the determined ambiguity values; and

form a second constraint based on the time-domain smoothed ambiguity values, the second constraint for applying to a second copy of the float solution to calculate a second ambiguity determined position solution comprising a second ambiguity determined position estimate.

20. The satellite navigation receiver of claim 19, wherein the time-domain smoothing of the navigation positioning estimator is conducted at a regular interval and comprises:

removing unavailable satellites used in the time-domain smoothing, the unavailable satellites comprising the satellites that the receiver can no longer receive signals from;

determining whether a reference satellite used in the time-domain smoothing has changed to a new reference satellite;

if the reference satellite has changed, adjusting the time-domain smoothed ambiguity values for the new reference satellite and the satellites other than the unavailable satellites;

determining whether new satellites should be used in the time-domain smoothing;

if the new satellites should be used;

adding the new satellites by initializing the time-domain smoothed ambiguity values for the new satellites, the new satellites comprising the satellites that were not utilized in a previous interval; and

adjusting the time-domain smoothed ambiguity values for the new satellites by a bias between the estimated float narrow lane ambiguities and time-domain smoothed ambiguity values from a previous interval; and

updating the time-domain smoothed ambiguity values for the satellites and the new satellites, based on the determined ambiguity values, using a recursive estimator.

21. The satellite navigation receiver of claim 19, wherein the navigation positioning estimator is further executable by the one or more processors to weight the second ambiguity determined position solution to generate a second weighted ambiguity determined position solution by blending the float solution and the second ambiguity determined position solution.

22. The satellite navigation receiver of claim 21, wherein the blending comprises minimizing an error variance of a combination of the float solution and the second ambiguity determined position solution.

23. The satellite navigation receiver of claim 21, wherein the blending is based on an acceptability factor that indicates whether the second ambiguity determined position solution is acceptable.

24. The satellite navigation receiver of claim 21, wherein the blending is based on a convergence indicator of the float solution that indicates that the float solution has achieved a steady state.

25. The satellite navigation receiver of claim 21, wherein the blending is based on values from a look-up table indexed by ranges of corresponding error variances and corresponding figures of merit of the float solution and the second ambiguity determined position solution.

26. The satellite navigation receiver of claim 21, wherein the navigation positioning estimator is further executable by the one or more processors to transition a position solution from the second weighted ambiguity determined position solution to the float solution.

27. The satellite navigation receiver of claim 26, wherein the transitioning of the navigation positioning estimator is conducted at a regular interval and comprises:

determining whether the transitioning is needed, based on a transition condition;

if the transitioning is not needed, storing a position difference offset between the second weighted ambiguity determined position solution and the float solution; and

if transitioning is needed, adjusting the position solution over a number of intervals from the second weighted ambiguity determined position solution to the float solution by an amount proportional to a previous difference offset until the position solution equals the float solution.

28. The satellite navigation receiver of claim 27, wherein the transition condition comprises one or more of an age of PPP corrections, an availability of the estimated integer wide lane ambiguities, a quality of the estimated float narrow lane ambiguities, an availability of the determined ambiguity values, a weighting of the second ambiguity determined position solution, or a detected jump in the second weighted ambiguity determined position solution.