Estimation of inter-frequency bias for ambiguity resolution in global navigation satellite system receivers

• US 10,393,882 B2
• Filed: 09/26/2016
• Issued: 08/27/2019
• Est. Priority Date: 03/18/2016
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Dai, Liwen L., Zhang, Yujie
• Primary Examiner(s): Gregory, Bernarr E
• Application Number:
  US15/276,387
• Publication Number:
  US 20170269227A1
• Time in Patent Office: 1,065 Days
• CPC Class Codes: G01S 19/29 carrier including Doppler, related G01S19/246 takes precedence
• CPC Class Codes: G01S 19/30 code related G01S19/246 takes precedence
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

Abstract

Example methods disclosed herein include accessing carrier phase measurements and code measurements obtained for a plurality of satellite signals of a global navigation satellite system. Disclosed example methods also include determining an initial set of floating-point ambiguities based on the measurements, the initial set of floating-point ambiguities including inter-frequency bias (IFB). Disclosed example methods further include performing a least squares search process based on the initial set of floating-point ambiguities to determine a set of integer ambiguities and an estimate of the IFB. In some examples, an additional (e.g., wide-lane) filter is used to realize a combination of carrier phase and code IFB. In some examples, IFB estimation is further realized by determining a median of IFB estimates over a window time. In some examples, the resulting IFB estimate and the set of integer ambiguities are used to estimate a position of a receiver, determine a satellite correction signal, etc.

Claims

1. A method for position estimation comprising:

accessing, by executing an instruction with a processor, carrier phase measurements and code measurements obtained for a plurality of satellite signals received by a mobile receiver from a plurality of satellites of a global navigation satellite system;

determining, by executing an instruction with the processor, an initial set of floating-point ambiguities based on the carrier phase measurements and the code measurements, the initial set of floating-point ambiguities including an inter-frequency bias;

performing, by executing an instruction with the processor, a least squares search process based on the initial set of floating-point ambiguities to determine a selected set of integer ambiguities and a corresponding estimate of the inter-frequency bias; and

estimating, by executing an instruction with the processor, a position of the mobile receiver based on the selected set of integer ambiguities and the corresponding estimate of the inter-frequency bias.

2. The method of claim 1, further including accessing correction data received by the mobile receiver, wherein the initial set of floating-point ambiguities corresponds to a set of single-difference floating-point ambiguities, the set of integer ambiguities corresponds to a set of single-difference integer ambiguities, and the determining of the initial set of floating-point ambiguities includes determining the set of single-difference floating-point ambiguities based on the carrier phase measurements, the code measurements and the correction data.

3. The method of claim 1, wherein the performing of the least squares search process includes performing a modified least-squares ambiguity decorrelation adjustment (LAMBDA) search process adapted to determine the selected set of integer ambiguities and the corresponding estimate of the inter-frequency bias to minimize a value of a quadratic formula modeling an error between the initial set of floating-point ambiguities and the selected set of integer ambiguities after removal of the corresponding estimate of the inter-frequency bias from the initial set of floating-point ambiguities.

4. The method of claim 3, wherein the performing of the modified LAMBDA search process includes:

determining a plurality of candidate values of the quadratic formula for a plurality of candidate sets of integer ambiguities and corresponding candidate estimates of the inter-frequency bias; and

selecting one of the candidate sets of integer ambiguities and a corresponding one of the candidate estimates of the inter-frequency bias associated with a lowest value of the candidate values of the quadratic formula to be the set of integer ambiguities and the estimate of the inter-frequency bias determined by the modified LAMBDA search process.

5. The method of claim 3, wherein the value is a first value and the quadratic formula is a first quadratic formula, and the first value is based on a difference of a second value of a second quadratic formula and a third value, the second quadratic formula modeling an error between the initial set of floating-point ambiguities and the set of integer ambiguities without removal of the estimate of the inter-frequency bias from the initial set of floating-point ambiguities, and the third value modeling a contribution of the estimate of the inter-frequency bias to the error modeled by the second quadratic formula.

6. The method of claim 1, wherein the least squares search process determines the estimate of the inter-frequency bias based on a transformed version of the initial set of floating-point ambiguities, a transformed version of the set of integer ambiguities, a gain matrix and a transformation matrix, the transformed version of the initial set of floating-point ambiguities corresponding to the initial set of floating-point ambiguities multiplied by the transformation matrix, the transformed version of the set of integer ambiguities corresponding to the set of integer ambiguities multiplied by the transformation matrix.

7. The method of claim 1, further including:

determining a plurality of estimates of the inter-frequency bias over a time period; and

processing the plurality of estimates of the inter-frequency bias with a median filter to determine a filtered estimate of the inter-frequency bias for use in the estimating of the position of the mobile receiver.

8. A non-transitory computer readable medium comprising computer readable instructions which, when executed, cause a processor to at least:

access carrier phase measurements and code measurements obtained for a plurality of satellite signals received by a mobile receiver from a plurality of satellites of a global navigation satellite system;

determine an initial set of floating-point ambiguities based on the carrier phase measurements and the code measurements, the initial set of floating-point ambiguities including an inter-frequency bias;

perform a least squares search process based on the initial set of floating-point ambiguities to determine a selected set of integer ambiguities and a corresponding estimate of the inter-frequency bias; and

estimate a position of the mobile receiver based on the selected set of integer ambiguities and the corresponding estimate of the inter-frequency bias.

9. The non-transitory computer readable medium of claim 8, wherein the instructions, when executed, further cause the processor to access correction data received by the mobile receiver, the initial set of floating-point ambiguities corresponds to a set of single-difference floating-point ambiguities, the set of integer ambiguities corresponds to a set of single-difference integer ambiguities, and the instructions, when executed, cause the processor to determine the initial set of floating-point ambiguities by determining the set of single-difference floating-point ambiguities based on the carrier phase measurements, the code measurements and the correction data.

10. The non-transitory computer readable medium of claim 8, wherein the instructions, when executed, cause the processor to perform the least squares search process by performing a modified least-squares ambiguity decorrelation adjustment (LAMBDA) process adapted to determine the selected set of integer ambiguities and the corresponding estimate of the inter-frequency bias to minimize a value of a quadratic formula modeling an error between the initial set of floating-point ambiguities and the selected set of integer ambiguities after removal of the corresponding estimate of the inter-frequency bias from the initial set of floating-point ambiguities.

11. The non-transitory computer readable medium of claim 10, wherein the instructions, when executed, cause the processor to perform the modified LAMBDA search process by:

determining a plurality of candidate values of the quadratic formula for a plurality of candidate sets of integer ambiguities and corresponding candidate estimates of the inter-frequency bias; and

selecting one of the candidate sets of integer ambiguities and a corresponding one of the candidate estimates of the inter-frequency bias associated with a lowest value of the candidate values of the quadratic formula to be the set of integer ambiguities and the estimate of the inter-frequency bias determined by the modified LAMBDA search process.

12. The non-transitory computer readable medium of claim 10, wherein the value is a first value and the quadratic formula is a first quadratic formula, and the first value is based on a difference of a second value of a second quadratic formula and a third value, the second quadratic formula modeling an error between the initial set of floating-point ambiguities and the set of integer ambiguities without removal of the estimate of the inter-frequency bias from the initial set of floating-point ambiguities, and the third value modeling a contribution of the estimate of the inter-frequency bias to the error modeled by the second quadratic formula.

13. The non-transitory computer readable medium of claim 8, wherein the least squares search process executed by the processor is to determine the estimate of the inter-frequency bias based on a transformed version of the initial set of floating-point ambiguities, a transformed version of the set of integer ambiguities, a gain matrix and a transformation matrix, the transformed version of the initial set of floating-point ambiguities corresponding to the initial set of floating-point ambiguities multiplied by the transformation matrix, the transformed version of the set of integer ambiguities corresponding to the set of integer ambiguities multiplied by the transformation matrix.

14. The non-transitory computer readable medium of claim 8, wherein the instructions, when executed, further cause the processor to:

determine a plurality of estimates of the inter-frequency bias over a time period; and

process the plurality of estimates of the inter-frequency bias with a median filter to determine a filtered estimate of the inter-frequency bias for use in the estimation of the position of the mobile receiver.

15. An apparatus comprising:

an ambiguity resolution engine implemented at least one of on at least one processor or by hardware, the ambiguity resolution engine to;

determine an initial set of floating-point ambiguities based on carrier phase measurements and code measurements obtained for a plurality of satellite signals received by a mobile receiver from a plurality of satellites of a global navigation satellite system, the initial set of floating-point ambiguities including an inter-frequency bias; and

perform a least squares search process based on the initial set of floating-point ambiguities to determine a selected set of integer ambiguities and a corresponding estimate of the inter-frequency bias; and

a position determiner implemented at least one of on at least one processor or by hardware, the position determiner to estimate a position of the mobile receiver based on the selected set of integer ambiguities and the corresponding estimate of the inter-frequency bias.

16. The apparatus of claim 15, wherein the ambiguity resolution engine is further to access correction data received by the mobile receiver, wherein the initial set of floating-point ambiguities corresponds to a set of single-difference floating-point ambiguities, the set of integer ambiguities corresponds to a set of single-difference integer ambiguities, and the ambiguity resolution engine is to determine the initial set of floating-point ambiguities by determining the set of single-difference floating-point ambiguities based on the carrier phase measurements, the code measurements and the correction data.

17. The apparatus of claim 15, wherein the ambiguity resolution engine is to perform the least squares search process by performing a modified least-squares ambiguity decorrelation adjustment (LAMBDA) process adapted to determine the selected set of integer ambiguities and the corresponding estimate of the inter-frequency bias to minimize a value of a quadratic formula modeling an error between the initial set of floating-point ambiguities and the selected set of integer ambiguities after removal of the corresponding estimate of the inter-frequency bias from the initial set of floating-point ambiguities.

18. The apparatus of claim 17, wherein the value is a first value and the quadratic formula is a first quadratic formula, and the first value is based on a difference of a second value of a second quadratic formula and a third value, the second quadratic formula modeling an error between the initial set of floating-point ambiguities and the set of integer ambiguities without removal of the estimate of the inter-frequency bias from the initial set of floating-point ambiguities, and the third value modeling a contribution of the estimate of the inter-frequency bias to the error modeled by the second quadratic formula.

19. The apparatus of claim 15, wherein the least squares search process performed by the ambiguity resolution engine is to determine the estimate of the inter-frequency bias based on a transformed version of the initial set of floating-point ambiguities, a transformed version of the set of integer ambiguities, a gain matrix and a transformation matrix, the transformed version of the initial set of floating-point ambiguities corresponding to the initial set of floating-point ambiguities multiplied by the transformation matrix, the transformed version of the set of integer ambiguities corresponding to the set of integer ambiguities multiplied by the transformation matrix.

20. The apparatus of claim 15, wherein the ambiguity resolution engine is further to:

determine a plurality of estimates of the inter-frequency bias over a time period; and

process the plurality of estimates of the inter-frequency bias with a median filter to determine a filtered estimate of the inter-frequency bias for use in the estimation of the position of the mobile receiver.