Timer initiated convergence of a GNSS receiver

• US 10,241,213 B2
• Filed: 02/11/2015
• Issued: 03/26/2019
• 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:
  US14/619,922
• Publication Number:
  US 20160231431A1
• Time in Patent Office: 1,504 Days
• CPC Class Codes: G01S 19/34 Power consumption
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• 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 convergence of a Global Navigation Satellite System (GNSS) receiver 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. The GNSS receiver is automatically powered up at a preset time. A convergence algorithm is automatically initiated prior to start of work that utilizes the GNSS receiver.

Claims

1. A method of implementing GNSS convergence, said 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 at a first time to determine whether a net movement of the GNSS antenna, while the GNSS receiver is shut down, exceeds a threshold net movement parameter;

determining a second time based on whether the net movement of the GNSS antenna, while the GNSS receiver is shut down, exceeds the threshold net movement parameter;

automatically powering up the GNSS receiver at the second time; and

upon power up of the GNSS receiver, automatically initiating a convergence algorithm for the GNSS receiver, wherein the convergence algorithm is selected from a first convergence algorithm and a second convergence algorithm, wherein the first convergence algorithm is selected upon determining that the net movement of the GNSS antenna, while the GNSS receiver is shut down, does not exceed the threshold net movement parameter, and the second convergence algorithm is selected upon 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 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 for minimizing a cost function, wherein the cost function is based on differences between the ionosphere-free time delta phase observations and modeled parameters derived from ephemeris satellite orbit and clock data received from a network of GNSS reference receivers, and 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; and

the second convergence algorithm comprises estimating 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.

2. The method of claim 1, further comprising:

maintaining a record of previous power up times for the GNSS receiver; and

determining the first time based at least in part upon an analysis of said record of previous power up times for said GNSS receiver.

3. The method of claim 1, further comprising:

setting the second time at a location separate from a location of the GNSS antenna; and

using a wireless communication transceiver to receive the second time for powering up the GNSS receiver.

4. A non-transitory computer readable storage medium having computer readable instructions stored thereon for causing a computer system to perform a method of implementing convergence selection of a Global Navigation Satellite System (GNSS) receiver, the method comprising:

shutting down the 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 at a first time to determine whether a net movement of the GNSS antenna, while the GNSS receiver is shut down, exceeds a threshold net movement parameter;

determining a second time based on whether the net movement of the GNSS antenna, while the GNSS receiver is shut down, exceeds the threshold net movement parameter;

automatically powering up the GNSS receiver at the second time; and

upon power up of the GNSS receiver, automatically initiating a convergence algorithm for the GNSS receiver, wherein the convergence algorithm is selected from a first convergence algorithm and a second convergence algorithm, wherein the first convergence algorithm is selected upon determining that the net movement of the GNSS antenna, while the GNSS receiver is shut down, does not exceed the threshold net movement parameter, and the second convergence algorithm is selected upon 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 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 for minimizing a cost function, wherein the cost function is based on differences between the ionosphere-free time delta phase observations and modeled parameters derived from ephemeris satellite orbit and clock data received from a network of GNSS reference receivers, and 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; and

the second convergence algorithm comprises estimating 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.

5. The non-transitory computer readable storage medium of claim 4, wherein the method further comprises:

maintaining a record of previous power up times for the GNSS receiver; and

determining the first time based at least in part upon an analysis of the record of previous power up times for the GNSS receiver.

6. The non-transitory computer readable storage medium of claim 4, wherein the method further comprises:

setting the second time at a location separate from a location of the GNSS receiver; and

using a wireless communication transceiver to receive the second time for powering up the GNSS receiver.

7. A navigation system comprising:

a GNSS receiver coupled with a GNSS antenna 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, wherein the GNSS receiver is at a converged state and the GNSS antenna is at a first location at shut down;

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

monitor the movement sensor at a first time to determine whether a net movement of the GNSS antenna, while the GNSS receiver is shut down, exceeds a threshold net movement parameter;

determine a second time based on whether the net movement of the GNSS antenna, while the GNSS receiver is shut down, exceeds the threshold net movement parameter;

automatically power up the GNSS receiver at the second time; and

upon power up of the GNSS receiver, automatically initiate a convergence algorithm for the GNSS receiver, wherein the convergence algorithm is selected from a first convergence algorithm and a second convergence algorithm, wherein the first convergence algorithm is selected upon determining that the net movement of the GNSS antenna, while the GNSS receiver is shut down, does not exceed the threshold net movement parameter, and the second convergence algorithm is selected upon 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 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 for minimizing a cost function, wherein the cost function is based on differences between the ionosphere-free time delta phase observations and modeled parameters derived from ephemeris satellite orbit and clock data received from a network of GNSS reference receivers, and 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; and

the second convergence algorithm comprises estimating 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. The navigation system of claim 7, wherein the mobile machine is equipped with a telematics system and the movement sensor is not a component of the telematics system.

9. The navigation system of claim 7, wherein the mobile machine is equipped with a telematics system and the movement sensor comprises a component of the telematics system.

10. The navigation system of claim 7, further comprising:

a memory configured to maintain a record of previous power up times for the GNSS receiver, and wherein the processor determines the first time based at least in part upon an analysis of the record of previous power up times for the GNSS receiver.

11. The navigation system of claim 7 further comprising:

a wireless communication transceiver configured to receive the second time for powering up the GNSS receiver from a wireless device located separate from the GNSS receiver.