GNSS signal processing with ionosphere model for synthetic reference data

• US 10,338,227 B2
• Filed: 09/23/2015
• Issued: 07/02/2019
• Est. Priority Date: 02/14/2011
• Status: Active Grant

• Current Assignee: Trimble Inc.
• Original Assignee: Trimble Inc.
• Inventors: Chen, Xiaoming, Drescher, Ralf, Leandro, Rodrigo
• Primary Examiner(s): Magloire, Vladimir
• Assistant Examiner(s): Malley, Sr., Daniel P
• Application Number:
  US14/863,319
• Publication Number:
  US 20160011314A1
• Time in Patent Office: 1,378 Days
• CPC Class Codes: G01S 19/072 Ionosphere corrections
• CPC Class Codes: G01S 19/43 using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
• CPC Class Codes: G01S 19/45 by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement

Abstract

Some embodiments of the present invention derive an ionospheric phase bias and an ionospheric differential code bias (DCB) using an absolute ionosphere model, which can be estimated from data obtained from a network of reference stations or obtained from an external source such as WAAS, GAIM, IONEX or other. Fully synthetic reference station data is generated using the ionospheric phase bias and/or the differential code bias together with the phase leveled clock and ionospheric-free code bias and/or MW bias.

Claims

1. A method of global navigation satellite systems (GNSS) signal processing, the method comprising:

receiving, at each of a plurality of reference station receivers, code observations and carrier phase observations of GNSS signals from multiple satellites over multiple epochs, the GNSS signals having at least two carrier frequencies;

resolving a set of network ambiguities by resolving at least a widelane ambiguity per receiver-satellite pairing and a narrowlane ambiguity per receiver-satellite pairing;

determining an ionospheric delay per epoch per receiver-satellite pairing based on a total electron content (TEC) per receiver-satellite pairing provided by an ionospheric model;

estimating an ionospheric phase bias per satellite using ionospheric phase combinations of the carrier phase observations, the set of resolved network ambiguities, and the ionospheric delay per epoch per receiver-satellite pairing determined from the ionospheric model; and

transmitting the ionospheric phase bias to a rover for determining a position of the rover.

2. The method of claim 1, wherein estimating the ionospheric phase bias per satellite comprises applying an ionospheric phase bias constraint.

3. The method of claim 1, further comprising estimating an ionospheric differential code bias (DCB) per satellite using an ionospheric code observation and the ionospheric delay per epoch per receiver-satellite pairing.

4. The method of claim 3, wherein estimating the ionospheric DCB per satellite comprises applying a differential code bias (DCB) constraint.

5. The method of claim 1, further comprising transmitting data representing the ionospheric model to the rover.

6. The method of claim 5, wherein the data representing the ionospheric model comprises at least one of (i) a tag identifying a model, and (ii) parameters from which the ionospheric model can be reconstructed.

7. The method of claim 1, further comprising transmitting to the rover:

information from which a code leveled clock error per satellite and a phase leveled clock error per satellite is derivable, and at least one of (a) a Melbourne-Wü

bbena (MW) bias per satellite and (b) an ionospheric differential code bias per satellite.

8. The method of claim 7, wherein the information from which a code leveled clock error per satellite and a phase leveled clock error per satellite is derivable comprises at least two of:

(i) a code-leveled satellite clock, (ii) a phase-leveled satellite clock, and (iii) a satellite clock bias representing a difference between a code-leveled satellite clock and a phase-leveled satellite clock.

9. The method of claim 1, further comprising transmitting to the rover:

a Melbourne-Wü

bbena (MW) bias per satellite, information from which a code leveled clock error per satellite and a phase leveled clock error per satellite is derivable, an ionospheric differential code bias per satellite, and information defining the ionospheric model.

10. The method of claim 9, wherein the information from which a code leveled clock error per satellite and a phase leveled clock error per satellite is derivable comprises at least two of:

(i) a code-leveled satellite clock, (ii) a phase-leveled satellite clock, and (iii) a satellite clock bias representing a difference between a code-leveled satellite clock and a phase-leveled satellite clock.

11. The method of claim 1, wherein the ionospheric model is estimated with global network data, or obtained from Wide-Area Augmentation System (WAAS), Global Assimilative Ionospheric Model (GAIM), or IONosphere map EXchange (IONEX).

12. The method of claim 1, wherein resolving the set of network ambiguities comprises using a set of ambiguities estimated while generating a phase-leveled clock error per satellite.

13. The method of claim 1, wherein the set of network ambiguities comprises ambiguities which are unique and correct in double-difference.

14. The method of claim 1, wherein resolving the set of network ambiguities comprises determining a fixed integer value for each of the set of network ambiguities.

15. A non-transitory tangible computer-readable medium on which is embodied a computer program product comprising instructions configured, when executed on a computer processing unit, to carry out the method of claim 1.

16. Apparatus for processing global navigation satellite systems (GNSS) signal data comprising code observations and carrier-phase observations of GNSS signals received at multiple GNSS receivers from multiple satellites over multiple epochs, the GNSS signals having at least two carrier frequencies, the apparatus comprising a processor, a transmitter, and a memory storing a set of instructions when executed by the processor enabling the processor to:

resolve a set of network ambiguities by resolving at least a widelane ambiguity per receiver-satellite pairing and a narrowlane ambiguity per receiver-satellite pairing;

determine an ionospheric delay per epoch per receiver-satellite pairing based on a total electron content (TEC) per receiver-satellite pairing provided by an ionospheric model;

estimate an ionospheric phase bias per satellite using ionospheric phase combinations of the carrier phase observations, the set of resolved network ambiguities, and the ionospheric delay per epoch per receiver-satellite pairing determined from the ionospheric model; and

cause the transmitter to transmit the ionospheric phase bias to a rover for determining a position of the rover.

17. The apparatus of claim 16, wherein the instructions enable the processor to estimate the ionospheric phase bias per satellite while applying an ionospheric phase bias constraint.

18. The apparatus of claim 16, wherein the instructions further enable the processor to estimate an ionospheric differential code bias (DCB) per satellite using an ionospheric code observation and the ionospheric delay per epoch per receiver-satellite pairing.

19. The apparatus of claim 18, wherein the instructions enable the processor to estimate the ionospheric DCB per satellite while applying a differential code bias (DCB) constraint.

20. The apparatus of claim 16, wherein the instructions further enable the processor to cause the transmitter to transmit data representing the ionospheric model to the rover.

21. The apparatus of claim 20, wherein the data representing the ionospheric model comprises at least one of (i) a tag identifying a model, and (ii) parameters from which the ionospheric model can be reconstructed.

22. The apparatus of claim 16, wherein the instructions further enable the processor to cause the transmitter to transmit to the rover:

information from which a code leveled clock error per satellite and a phase leveled clock error per satellite is derivable, and at least one of (a) a Melbourne-Wü

bbena (MW) bias per satellite and (b) an ionospheric differential code bias per satellite.

23. The apparatus of claim 22, wherein the information from which a code leveled clock error per satellite and a phase leveled clock error per satellite is derivable comprises at least two of:

(i) a code-leveled satellite clock, (ii) a phase-leveled satellite clock, and (iii) a satellite clock bias representing a difference between a code-leveled satellite clock and a phase-leveled satellite clock.

24. The apparatus of claim 16, wherein the instructions further enable the processor to cause the transmitter to transmit to the rover:

a Melbourne-Wü

bbena (MW) bias per satellite, information from which a code leveled clock error per satellite and a phase leveled clock error per satellite is derivable, an ionospheric differential code bias per satellite, and information defining the ionospheric model.

25. The apparatus of claim 24, wherein the information from which a code leveled clock error per satellite and a phase leveled clock error per satellite is derivable comprises at least two of:

(i) a code-leveled satellite clock, (ii) a phase-leveled satellite clock, and (iii) a satellite clock bias representing a difference between a code-leveled satellite clock and a phase-leveled satellite clock.

26. The apparatus of claim 16, wherein the ionospheric model is estimated with global network data, or obtained from Wide-Area Augmentation System (WAAS), Global Assimilative Ionospheric Model (GAIM), or IONosphere map EXchange (IONEX).

27. The apparatus of claim 16, wherein the instructions enable the processor to resolve the set of network ambiguities using a set of ambiguities estimated while generating a phase-leveled clock error per satellite.

28. The apparatus of claim 16, wherein the set of network ambiguities comprises ambiguities which are unique and correct in double-difference.

29. The apparatus of claim 16, wherein the instructions enable the processor to resolve the set of network ambiguities by determining a fixed integer value for each of the set of network ambiguities.