Fast GNSS receiver convergence by relative positioning

• US 10,234,566 B2
• Filed: 02/11/2015
• Issued: 03/19/2019
• Est. Priority Date: 02/11/2015
• Status: Active Grant

• Current Assignee: Trimble Inc.
• Original Assignee: Trimble Inc.
• Inventors: Wilson, Eric, Seeger, Stephan
• Primary Examiner(s): Magloire, Vladimir
• Assistant Examiner(s): Malley, Sr., Daniel P
• Application Number:
  US14/619,859
• Publication Number:
  US 20160231430A1
• Time in Patent Office: 1,497 Days
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
• CPC Class Codes: G01S 19/51 Relative positioning

Abstract

A method of implementing fast GNSS convergence by relative positioning is disclosed. A GNSS receiver which is coupled with a mobile machine is shut down. The GNSS receiver is in a converged state at shut down. A movement sensor is monitored to determine if net movement of a GNSS antenna coupled with the mobile machine exceeds a threshold net movement parameter while the GNSS receiver is shut down. Upon power up of the GNSS receiver, a shorter convergence algorithm is initiated in response to determining that the threshold net movement parameter has not been exceeded. The shorter convergence algorithm is also initiated upon power up of the GNSS receiver in response to determining that the threshold net movement parameter has been exceeded but information from the movement sensor has been used to update the location of the GNSS receiver since said shut down.

Claims

1. A method of implementing GNSS convergence by relative positioning, the method comprising:

shutting down a GNSS receiver, wherein the GNSS receiver is coupled with a GNSS antenna attached to a mobile machine, and wherein the GNSS receiver is in a converged state and the GNSS antenna is at a first location at shut down;

storing the first location of the GNSS antenna at shut down;

monitoring a movement sensor to determine whether a net movement of the GNSS antenna, while the GNSS receiver is shut down, exceeds a threshold net movement parameter; and

upon power up of the GNSS receiver, initiating a first convergence algorithm in response to determining that the net movement of the GNSS antenna, while the GNSS receiver is shut down, does not exceed the threshold net movement parameter, or that the net movement of the GNSS antenna, while the GNSS receiver is shut down, meets or exceeds the threshold net movement parameter but information from the movement sensor has been used to update a location of the GNSS antenna since shut down, wherein the first convergence algorithm comprises;

generating ionosphere-free phase observations based on code and phase observations received by the GNSS receiver upon power up;

generating ionosphere-free time delta phase observations based on the ionosphere-free phase observations, wherein integer ambiguity is cancelled in the ionosphere-free time delta phase observations;

generating least square estimations based on the ionosphere-free time delta phase observations and ephemeris satellite orbit and clock data received from a network of GNSS reference receivers, wherein the least square estimations result in one or more values, each value representing a change of the GNSS antenna'"'"'s position in a respective time interval of (t−

1, t); and

estimating a current location of the GNSS antenna by obtaining a sum of the one or more values resulted from the least square estimations and adding the stored first location of the GNSS antenna at shut down to the sum.

2. The method of claim 1, further comprising:

initiating a second convergence algorithm in response to determining that the net movement of the GNSS antenna, while the GNSS receiver is shut down, meets or exceeds the threshold net movement parameter and the location of the GNSS antenna has not been updated, wherein the second convergence algorithm estimates the current location of the GNSS antenna using a carrier phase ambiguity resolution procedure based on the code and phase observations received by the GNSS receiver upon power up and the ephemeris satellite orbit and clock data received from the network of GNSS reference receivers.

3. The method of claim 1 wherein the mobile machine is equipped with a telematics system, and the movement sensor is not a component of the telematics system.

4. The method of claim 1 wherein the mobile machine is equipped with a telematics system, and the movement sensor comprises a component of the telematics system.

5. The method of claim 1 further comprising:

using an image capture device, capturing a first image of an identifiable feature prior to shutting down the GNSS receiver;

using the image capture device, capturing a second image of the identifiable feature upon power up of the GNSS receiver; and

determining a change in the location of the GNSS antenna based upon a photogrammetric analysis of the first image and the second image.

6. The method of claim 5 further comprising:

receiving an indication from the movement sensor that the net movement of the GNSS antenna, while the GNSS receiver is shut down, meets or exceeds the threshold net movement parameter; and

initiating the capturing of the second image and the determining the change in the location of the GNSS antenna based upon receiving the indication.

7. The method of claim 5 further comprising:

initiating a second convergence algorithm in response to determining that the net movement of the GNSS receiver, while the GNSS receiver is shut down, meets or exceeds the threshold net movement parameter and that the identifiable feature captured in the first image cannot be detected in the second image, wherein the second convergence algorithm estimates the current location of the GNSS antenna using a carrier phase ambiguity resolution procedure based on the code and phase observations received by the GNSS receiver upon power up and the ephemeris satellite orbit and clock data received from the network of GNSS reference receivers.

8. A non-transitory computer readable storage medium having computer readable instructions stored thereon for causing a computer system to perform a method of implementing GNSS convergence by relative positioning, the method comprising:

shutting down a GNSS receiver, wherein the GNSS receiver is coupled with a GNSS antenna attached to a mobile machine, and wherein the GNSS receiver is in a converged state and the GNSS antenna is at a first location at shut down;

storing the first location of the GNSS antenna at shut down;

monitoring a movement sensor to determine whether a net movement of the GNSS antenna, while the GNSS receiver is shut down, exceeds a threshold net movement parameter; and

upon power up of the GNSS receiver, initiating a first convergence algorithm in response to determining that the net movement of the GNSS antenna, while the GNSS receiver is shut down, does not exceed the threshold net movement parameter, or that the net movement of the GNSS antenna, while the GNSS receiver is shut down, meets or exceeds the threshold net movement parameter but information from the movement sensor has been used to update a location of the GNSS antenna since shut down, wherein the first convergence algorithm comprises;

generating ionosphere-free phase observations based on code and phase observations received by the GNSS receiver upon power up;

generating ionosphere-free time delta phase observations based on the ionosphere-free phase observations, wherein integer ambiguity is cancelled in the ionosphere-free time delta phase observations;

generating least square estimations based on the ionosphere-free time delta phase observations and ephemeris satellite orbit and clock data received from a network of GNSS reference receivers, wherein the least square estimations result in one or more values, each value representing a change of the GNSS antenna'"'"'s position in a respective time interval of (t−

1, t); and

estimating a current location of the GNSS antenna by obtaining a sum of the one or more values resulted from the least square estimations and adding the stored first location of the GNSS antenna at shut down to the sum.

9. The non-transitory computer readable storage medium of claim 8 wherein the method further comprises:

initiating a second convergence algorithm in response to determining that the net movement of the GNSS antenna, while the GNSS receiver, is shut down meets or exceeds the threshold net movement parameter and the location of the GNSS antenna has not been updated, wherein the second convergence algorithm estimates the current location of the GNSS antenna using a carrier phase ambiguity resolution procedure based on the code and phase observations received by the GNSS receiver upon power up and the ephemeris satellite orbit and clock data received from the network of GNSS reference receivers.

10. The non-transitory computer readable storage medium of claim 8 wherein the mobile machine is equipped with a telematics system, and the movement sensor is not a component of the telematics system.

11. The non-transitory computer readable storage medium of claim 8 wherein the mobile machine is equipped with a telematics system, and the movement sensor comprises a component of the telematics system.

12. The non-transitory computer readable storage medium of claim 8 wherein the method further comprises:

using an image capture device, capturing a first image of an identifiable feature prior to shutting down the GNSS receiver;

using the image capture device, capturing a second image of the identifiable feature upon power up of the GNSS receiver; and

determining a change in the location of the GNSS antenna based upon a photogrammetric analysis of the first image and the second image.

13. The non-transitory computer readable storage medium of claim 12 wherein the method further comprises:

receiving an indication from the movement sensor that net movement of the GNSS antenna, while the GNSS receiver is shut down, meets or exceeds the threshold net movement parameter; and

initiating the capturing of the second image and the determining the change in the location of the GNSS antenna based upon receiving the indication.

14. The non-transitory computer readable storage medium of claim 12 wherein the method further comprises:

initiating a second convergence algorithm in response to determining that the net movement of the GNSS antenna, while the GNSS receiver is shut down, meets or exceeds the threshold net movement parameter and that the identifiable feature captured in the first image cannot be detected in the second image, wherein the second convergence algorithm estimates the current location of the GNSS antenna using a carrier phase ambiguity resolution procedure based on the code and phase observations received by the GNSS receiver upon power up and the ephemeris satellite orbit and clock data received from the network of GNSS reference receivers.

15. A navigation system comprising:

a Global Navigation Satellite System (GNSS) receiver coupled with a GNSS antenna which is attached to a mobile machine;

a movement sensor configured to monitor movement of the GNSS antenna; and

a processor configured to;

cause the GNSS receiver to transition into a shut down state from a converged state where the GNSS antenna is at a first location;

store the first location of the GNSS antenna at shut down;

upon subsequent power up of the GNSS receiver, monitor a net movement of the GNSS antenna, while the GNSS receiver is shut down, using the movement sensor to determine whether the net movement of the GNSS antenna, while the GNSS receiver is shut down, exceeds a threshold net movement parameter; and

initiate a first convergence algorithm in response to determining that the net movement of the GNSS antenna, while the GNSS receiver is shut down, does not exceed the threshold net movement parameter, or that the net movement of the GNSS antenna, while the GNSS receiver is shut down, meets or exceeds the threshold net movement parameter but information from the movement sensor has been used to update a location of the GNSS antenna since shut down, wherein the first convergence algorithm comprises;

generating ionosphere-free phase observations based on code and phase observations received by the GNSS receiver upon power up;

generating ionosphere-free time delta phase observations based on the ionosphere-free phase observations, wherein integer ambiguity is cancelled in the ionosphere-free time delta phase observations;

generating least square estimations based on the ionosphere-free time delta phase observations and ephemeris satellite orbit and clock data received from a network of GNSS reference receivers, wherein the least square estimations result in one or more values, each value representing a change of the GNSS antenna'"'"'s position in a respective time interval of (t−

1, t); and

estimating a current location of the GNSS antenna by obtaining a sum of the one or more values resulted from the least square estimations and adding the stored first location of the GNSS antenna at shut down to the sum.

16. The navigation system of claim 15, wherein the processor is further configured to:

initiate a second convergence algorithm in response to determining that the net movement of the GNSS antenna, while the GNSS receiver is shut down, meets or exceeds the threshold net movement parameter and the location of the GNSS antenna has not been updated, wherein the second convergence algorithm estimates the current location of the GNSS antenna using a carrier phase ambiguity resolution procedure based on the code and phase observations received by the GNSS receiver upon power up and the ephemeris satellite orbit and clock data received from the network of GNSS reference receivers.

17. The navigation system of claim 15 further comprising:

a telematics system, wherein the movement sensor is not a component of the telematics system.

18. The navigation system of claim 15 further comprising:

an image capture device configured to capture a first image of an identifiable feature prior to shutting down the GNSS receiver using the image capture device, and to capture a second image of the identifiable feature upon power up of the GNSS receiver, and

wherein the processor is configured to determine a change in the location of the GNSS antenna based upon a photogrammetric analysis of the first image and the second image.

19. The navigation system of claim 18 wherein the processor is further configured to:

receive an indication from the movement sensor that the net movement of the GNSS antenna, while the GNSS receiver is shut down, meets or exceeds the threshold net movement parameter; and

initiate the capturing of the second image and the determining the change in the location of the GNSS antenna based upon receiving the indication.

20. The navigation system of claim 18 wherein the processor is further configured to:

initiate a second convergence algorithm in response to determining that the net movement of the GNSS antenna, while the GNSS receiver is shut down, meets or exceeds the threshold net movement parameter and that the identifiable feature captured in the first image cannot be detected in the second image, wherein the second convergence algorithm estimates the current location of the GNSS antenna using a carrier phase ambiguity resolution procedure based on the code and phase observations received by the GNSS receiver upon power up and the ephemeris satellite orbit and clock data received from the network of GNSS reference receivers.