Method and apparatus for position determination with extended SPS orbit information

• US 10,534,088 B2
• Filed: 10/07/2015
• Issued: 01/14/2020
• Est. Priority Date: 11/10/2006
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Wengler, Michael James, Sheynblat, Leonid, Moeglein, Mark Leo, Biacs, Zoltan F., Gum, Arnold Jason
• Primary Examiner(s): Galt, Cassi J
• Application Number:
  US14/877,114
• Publication Number:
  US 20160025862A1
• Time in Patent Office: 1,560 Days
• Field of Search: 34235713, 34235715, 34235742, 34235766
• CPC Class Codes: G01S 19/05 providing aiding data
• CPC Class Codes: G01S 19/258 relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
• CPC Class Codes: G01S 19/27 creating, predicting or correcting ephemeris or almanac data within the receiver

Abstract

A method and system for assisting mobile stations to locate a satellite use an efficient messaging format. A server computes a correction between coarse orbit data of a satellite and precise orbit data of the satellite. A coordinate system is chosen such that variation of the correction is substantially smooth over time. The server further approximates the correction with mathematical functions to reduce the number of bits necessary for transmission to a mobile station. The mobile station, upon receiving the coefficients, evaluates the mathematical functions using the coefficients and a time of applicability (e.g., the current time), converts the evaluated result to a standard coordinate system, and applies the conversion result to the coarse orbit data to obtain the precise orbit data.

Claims

1. A processor-implemented method on a mobile station, comprising:

receiving, by the mobile station, coarse orbit data, wherein the coarse orbit data comprises a coarse estimate of positions and clock timing of a first satellite;

receiving, by the mobile station over a communication network coupled to a location assistance server, correction information for the first satellite, the correction information for the first satellite being generated by the location assistance server based on a difference between the same coarse orbit data received by the mobile station and precise orbit data, and further based on a first coordinate system defined as a function of an instantaneous position of the first satellite, wherein the precise orbit data comprises a precise estimate of the positions and clock timing of the first satellite;

converting, by the mobile station, the received correction information for the first satellite from the first coordinate system to a second coordinate system;

computing, by a processor of the mobile station, the positions and clock timing of the first satellite based on the received coarse orbit data and the correction information for the first satellite;

receiving, by the mobile station, real-time orbit data of a second satellite, wherein the real-time orbit data is sent to the mobile station through satellite positioning system (SPS) signals broadcast from the second satellite and comprises a precise representation of positions and clock timing of the second satellite;

computing, by the processor of the mobile station, the positions and clock timing of the second satellite based on additional coarse orbit data and correction information, the additional coarse orbit data and correction information received by the mobile station for the second satellite;

determining, by the processor of the mobile station, a first estimated location for the mobile station based on the real-time orbit data of the second satellite and the computed positions and clock timing of the first satellite, wherein the first estimated location is an estimated position of the mobile station;

switching from the real-time orbit data of the second satellite to the computed positions and clock timing of the second satellite in response to at least one of;

expiration of a period of validity of the real-time orbit data of the second satellite, or a lack of line of sight to the second satellite, or a lack of signal reception from the second satellite; and

after switching to the computed positions and clock timing of the second satellite, using the computed positions and clock timing of the second satellite to determine a second estimated location for the mobile station, wherein the second estimated location is an estimated position of the mobile station.

2. The method of claim 1, wherein:

the correction information for the first satellite comprises coefficients of a series of mathematical functions; and

the coefficients are truncated for transmission to the mobile station, the truncating producing an approximated representation of spatial range correction information for the first satellite and an approximated representation of clock bias correction information for the first satellite.

3. The method of claim 2, wherein the series of mathematical functions comprise one of:

Hermite functions;

or

Fourier expansions of sine or cosine functions;

or

Legendre polynomials;

or

Keplerian orbital functions;

or

Harmonic functions.

4. The method of claim 3, wherein the coefficients are truncated for transmission to the mobile station based on a desired degree of accuracy for the correction information for the first satellite.

5. The method of claim 1, further comprising receiving the correction information for the first satellite from the location server or a data host communicatively coupled to the location server.

6. The method of claim 1, wherein:

the correction information for the first satellite is, as received at the mobile station, an approximation of correction data generated using a scaling factor and a normalizing factor; and

computing the positions and clock timing of the first satellite based on the received coarse orbit data and the correction information for the first satellite comprises;

reconstructing, by the mobile station, the correction data by applying the same scaling factor and normalizing factor to the correction information for the first satellite, and

applying the correction data to the received coarse orbit data.

7. The method of claim 1, wherein switching from the real-time orbit data of the second satellite to the computed positions and clock timing of the second satellite comprises:

using the real time orbit data of the second satellite, subsequent to the expiration of the period of validity of the real-time orbit data of the second satellite, to correct an error of a clock bias in the computed clock timing of the second satellite; and

switching to the computed positions and clock timing of the second satellite after corrections to the error of clock bias have been applied.

8. The method of claim 1, further comprising:

switching from the computed positions and clock timing of the first satellite to real-time orbit data of the first satellite in response to the real-time orbit data of the first satellite becoming available, wherein the real-time orbit data of the first satellite comprises a precise representation, transmitted to the mobile station through SPS signals from the first satellite, of the positions and clock timing of the first satellite; and

using the real-time orbit data of the first satellite at least in part to determine a third estimated location for the mobile station.

23. The method of claim 1, wherein the second coordinate system is an earth-centered, earth-fixed coordinate system.

9. A mobile station, comprising:

a receiver, the receiver configured to;

receive coarse orbit data, wherein the coarse orbit data comprises a coarse estimate of positions and clock timing of a first satellite;

receive, over a communication network coupled to a location assistance server, correction information for the first satellite, the correction information for the first satellite being generated by the location assistance server based on a difference between the same coarse orbit data received by the mobile station and precise orbit data, and further based on a first coordinate system defined as a function of an instantaneous position of the first satellite, wherein the precise orbit data comprises a precise estimate of the positions and clock timing of the first satellite;

convert the received correction information for the first satellite from the first coordinate system to a second coordinate system; and

receive real time orbit data of a second satellite, wherein the real-time orbit data is sent to the mobile station through satellite positioning system (SPS) signals broadcast from the second satellite and comprises a precise representation of positions and clock timing of the second satellite; and

a processor coupled to the receiver, wherein the processor is configured to;

compute the positions and clock timing of the first satellite based on the received coarse orbit data and the correction information for the first satellite;

compute the positions and clock timing of the second satellite based on additional coarse orbit data and correction information, the additional coarse orbit data and correction information received by the mobile station for the second satellite;

determine a first estimated location for the mobile station based on the real-time orbit data of the second satellite and the computed positions and clock timing of the first satellite, wherein the first estimated location is an estimated position of the mobile station;

switch from the real-time orbit data of the second satellite to the computed positions and clock timing of the second satellite in response to at least one of;

expiration of a period of validity of the real-time orbit data of the second satellite, or a lack of line of sight to the second satellite, or a lack of signal reception from the second satellite; and

after switching to the computed positions and clock timing of the second satellite, use the computed positions and clock timing of the second satellite to determine a second estimated location for the mobile station, wherein the second estimated location is an estimated position of the mobile station.

10. The mobile station of claim 9, wherein:

the correction information for the first satellite comprises coefficients of a series of mathematical functions; and

the coefficients are truncated for transmission to the mobile station the truncating producing an approximated representation of spatial range correction information for the first satellite and an approximated representation of clock bias correction information for the first satellite.

11. The mobile station of claim 10, wherein the series of mathematical functions comprise one of:

Hermite functions;

or

Fourier expansions of sine or cosine functions;

or

Legendre polynomials;

or

Keplerian orbital functions;

or Harmonic functions.

12. The mobile station of claim 11, wherein the coefficients are truncated for transmission to the mobile station based on a desired degree of accuracy for the correction information for the first satellite.

13. The mobile station of claim 9, wherein the receiver receives the correction information for the first satellite from the location server or a data host communicatively coupled to the location server.

14. The mobile station of claim 9, wherein:

the correction information for the first satellite is, as received at the mobile station, an approximation of correction data generated using a scaling factor and a normalizing factor; and

,

to compute the positions and clock timing of the first satellite based on the received coarse orbit data and the correction information for the first satellite, the processor is configured to;

reconstruct the correction data by applying the same scaling factor and normalization factor to the correction information for the first satellite, and

apply the correction data to the received coarse orbit data.

15. The mobile station of claim 9, wherein to switch from the real-time orbit data of the second satellite to the computed positions and clock timing of the second satellite, the processor is configured to:

use the real time orbit data of the second satellite, subsequent to the expiration of the period of validity of the real-time orbit data of the second satellite, to correct an error of a clock bias in the computed clock timing of the second satellite; and

switch to the computed positions and clock timing of the second satellite after corrections to the error of clock bias have been applied.

16. The mobile station of claim 9, wherein the processor is further configured to:

switch from the computed positions and clock timing of the first satellite to real-time orbit data of the first satellite in response to the real-time orbit data of the first satellite becoming available, wherein the real-time orbit data of the first satellite comprises a precise representation, transmitted to the mobile station through SPS signals from the first satellite, of the positions and clock timing of the first satellite; and

use the real-time orbit data of the first satellite at least in part to determine a third estimated location for the mobile station.

24. The mobile station of claim 9, wherein the second coordinate system is an earth-centered, earth-fixed coordinate system.

17. A non-transitory computer-readable medium comprising instructions, which when executed by a processor of a mobile station, cause the processor to:

receive coarse orbit data, wherein the coarse orbit data comprises a coarse estimate of positions and clock timing of a first satellite;

receive, over a communication network coupled to a location assistance server, correction information for the first satellite, the correction information for the first satellite being generated by the location assistance server based on a difference between the same coarse orbit data received by the mobile station and precise orbit data, and further based on a first coordinate system defined as a function of an instantaneous position of the first satellite, wherein the precise orbit data comprises a precise estimate of the positions and clock timing of the first satellite;

convert the received correction information for the first satellite from the first coordinate system to a second coordinate system;

compute the positions and clock timing of the first satellite based on the received coarse orbit data and the correction information for the first satellite;

receive real-time orbit data of a second satellite, wherein the real-time orbit data is sent to the mobile station through satellite positioning system (SPS) signals broadcast from the second satellite and comprises a precise representation of positions and clock timing of the second satellite;

compute the positions and clock timing of the second satellite based on additional coarse orbit data and correction information, the additional coarse orbit data and correction information received by the mobile station for the second satellite;

determine a first estimated location for the mobile station based on the real-time orbit data of the second satellite and the computed positions and clock timing of the first satellite, wherein the first estimated location is an estimated position of the mobile station;

switch from the real-time orbit data of the second satellite to the computed positions and clock timing of the second satellite in response to at least one of;

expiration of a period of validity of the real-time orbit data of the second satellite, or a lack of line of sight to the second satellite, or a lack of signal reception from the second satellite; and

after switching to the computed positions and clock timing of the second satellite, use the computed positions and clock timing of the second satellite to determine a second estimated location for the mobile station, wherein the second estimated location is an estimated position of the mobile station.

18. The computer-readable medium of claim 17, wherein:

the correction information for the first satellite comprises coefficients of a series of mathematical functions; and

the coefficients are truncated for transmission to the mobile station the truncating producing an approximated representation of spatial range correction information for the first satellite and an approximated representation of clock bias correction information for the first satellite.

19. The computer-readable medium of claim 18, wherein the series of mathematical functions comprise one of:

Hermite functions;

or

Fourier expansions of sine or cosine functions;

or

Legendre polynomials;

or

Keplerian orbital functions;

or

Harmonic functions.

20. The computer-readable medium of claim 19, wherein the coefficients are truncated for transmission to the mobile station based on a desired degree of accuracy for the correction information for the first satellite.

21. The computer-readable medium of claim 17, wherein the instructions to switch from the real-time orbit data of the second satellite to the computed positions and clock timing of the second satellite comprise instructions to cause the processor to:

use the real time orbit data of the second satellite, subsequent to the expiration of the period of validity of the real-time orbit data of the second satellite, to correct an error of a clock bias in the computed clock timing of the second satellite; and

switch to the computed positions and clock timing of the second satellite after corrections to the error of clock bias have been applied.

22. The computer-readable medium of claim 17, further comprising instructions to cause the processor to:

switch from the computed positions and clock timing of the first satellite to real-time orbit data of the first satellite in response to the real-time orbit data of the first satellite becoming available, wherein the real-time orbit data of the first satellite comprises a precise representation, transmitted to the mobile station through SPS signals from the first satellite, of the positions and clock timing of the first satellite; and

use the real-time orbit data of the first satellite at least in part to determine a third estimated location for the mobile station.

25. The computer-readable medium of claim 17, wherein the second coordinate system is an earth-centered, earth-fixed coordinate system.