Advanced navigation satellite system positioning method and system using delayed precise information

• US 10,670,734 B2
• Filed: 08/29/2017
• Issued: 06/02/2020
• Est. Priority Date: 09/09/2016
• Status: Active Grant

• Current Assignee: Trimble Inc.
• Original Assignee: Trimble Inc.
• Inventors: Glocker, Markus, Talbot, Nicholas Charles, Scherzinger, Bruno
• Primary Examiner(s): Nguyen, Chuong P
• Application Number:
  US15/690,105
• Publication Number:
  US 20180074210A1
• Time in Patent Office: 1,008 Days
• Field of Search: 34235727, 34235725, 3423573, 34235728
• CPC Class Codes: G01S 19/42 Determining position
• 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
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

The invention relates to a method carried out by a navigation satellite system (NSS) receiver or a processing entity receiving data therefrom, for estimating parameters useful to determine a position. The NSS receiver observes NSS signals from NSS satellites over multiple epochs. A first filter, called “timely estimator”, and second filter, called “precise estimator” and delayed with respect to the timely estimator, are operated. The estimators use state variables, and make use of NSS signals observed by the NSS receiver or information derived therefrom. The precise estimator further computes its state variable values based on observations that are not derived from NSS signals observed by the NSS receiver. The values of some of the state variables computed by the timely estimator are recurrently replaced by values from the precise estimator. A corresponding system is also disclosed.

Claims

1. Method, carried out by at least one of a navigation satellite system receiver, hereinafter abbreviated as “

NSS receiver”

, and a processing entity capable of receiving data from the NSS receiver, for estimating parameters useful to determine a position, the NSS receiver observing a NSS signal from each of a plurality of NSS satellites over multiple epochs, each of these epochs being hereinafter referred to as “

receiver epoch”

, the method comprising;

operating a first filter, hereinafter referred to as “

timely estimator”

, and a second filter, hereinafter referred to as “

precise estimator”

, wherein

each of the timely estimator and precise estimator uses state variables;

each of the timely estimator and precise estimator computes values of their state variables based on at least one of;

NSS signals observed by the NSS receiver, and information derived from said NSS signals;

the precise estimator computes the values of the state variables that it uses further based on at least one of;

observations that are not derived from NSS signals observed by the NSS receiver, and information derived from said observations; and

the precise estimator is delayed by at least one receiver epoch with respect to the timely estimator;

recurrently replacing, in the timely estimator, the value of each of a subset of the state variables computed by the timely estimator with;

the respective value of the corresponding state variable computed by the precise estimator,

a respective value computed based on the values of a subset of the state variables computed by the precise estimator, or

a respective value computed based on;

the values of a subset of the state variables computed by the timely estimator and the values of a subset of the state variables computed by the precise estimator; and

using the recurrently replaced values of the subset of state variables in the timely estimator to determine a position.

2. Method of claim 1, wherein the timely estimator comprises at least one of a Kalman filter, a least squares estimator, and a robust estimator.

3. Method of claim 1, wherein the precise estimator comprises at least one of a Kalman filter, a least squares estimator, and a robust estimator.

4. Method of claim 1, wherein the state variables whose values in the timely estimator are recurrently replaced are sufficiently constant over the at least one receiver epoch by which the precise estimator is delayed with respect to the timely estimator such that a position accuracy is not compromised.

5. Method of claim 1, wherein the state variables whose values in the timely estimator are recurrently replaced are expected to have constant or near constant stochastic models over the at least one receiver epoch by which the precise estimator is delayed with respect to the timely estimator.

6. Method of claim 1, wherein the state variables whose values in the timely estimator are recurrently replaced comprise at least one of:

ionospheric biases;

tropospheric biases;

satellite orbital biases;

satellite clock errors;

carrier phase ambiguities;

carrier phase multipath errors; and

code phase multipath errors.

7. Method of claim 1, wherein the state variables whose values in the timely estimator are recurrently replaced comprise at least one of:

carrier phase biases;

code phase biases; and

carrier-phase-smoothed code phase biases.

8. Method of claim 1, wherein each of the timely estimator and precise estimator computes the values of their state variables based on carrier phase measurements generated based on the NSS signals observed by the NSS receiver.

9. Method of claim 1, wherein the timely estimator computes the values of its state variables further based on a navigation solution computed based on data from at least one of:

an inertial navigation system of, or connected to, the NSS receiver; and

a distance measurement instrument navigation system of, or connected to, the NSS receiver.

10. Method of claim 1, wherein the observations that are not derived from NSS signals observed by the NSS receiver comprise NSS observations from at least one reference receiver.

11. Method of claim 10, wherein the precise estimator computes the values of its state variables based on differences between:

NSS observations made based on the NSS signals observed by the NSS receiver, and the NSS observations from the at least one reference receiver.

12. Method of claim 1, wherein recurrently replacing comprises:

recurrently replacing, in the timely estimator, the value of each of a subset of the state variables and associated covariances computed by the timely estimator with;

the respective value of the corresponding state variable and an associated covariance computed by the precise estimator,

respective values computed based on the values of a subset of the state variables and associated covariances computed by the precise estimator, or

respective values computed based on;

the values of a subset of the state variables and associated covariances computed by the timely estimator and the values of a subset of the state variables and associated covariances computed by the precise estimator.

13. Method of claim 1, wherein recurrently replacing comprises:

recurrently replacing, in the timely estimator, the value of each of a subset of the state variables computed by the timely estimator with a respective value computed, by a collator of a federated filter, based on;

the values of a subset of the state variables computed by the timely estimator and the values of a subset of the state variables computed by the precise estimator.

15. Computer program or set of computer programs comprising computer-readable instructions configured, when executed on a computer or set of computers, to cause the computer or set of computers to carry out the method according to claim 1.

14. System comprising at least one of a navigation satellite system receiver, hereinafter abbreviated as “

NSS receiver”

, and a processing entity capable of receiving data from the NSS receiver, for estimating parameters useful to determine a position, the NSS receiver observing a NSS signal from each of a plurality of NSS satellites over multiple epochs, each of these epochs being hereinafter referred to as “

receiver epoch”

, the system comprising;

a first filter, hereinafter referred to as “

timely estimator”

, and a second filter, hereinafter referred to as “

precise estimator”

, wherein

each of the timely estimator and precise estimator is configured to use state variables;

each of the timely estimator and precise estimator is configured to compute values of their state variables based on at least one of;

NSS signals observed by the NSS receiver, and information derived from said NSS signals;

the precise estimator is configured to compute the values of the state variables that it uses further based on at least one of;

observations that are not derived from NSS signals observed by the NSS receiver, and information derived from said observations; and

the precise estimator is configured to be delayed by at least one receiver epoch with respect to the timely estimator;

the system being configured for recurrently replacing, in the timely estimator, the value of each of a subset of the state variables computed by the timely estimator with;

the respective value of the corresponding state variable computed by the precise estimator,

a respective value computed based on the values of a subset of the state variables computed by the precise estimator, or

a respective value computed based on;

the values of a subset of the state variables computed by the timely estimator and the values of a subset of the state variables computed by the precise estimator; and

the system being further configured for using the recurrently replaced values of the subset of state variables in the timely estimator to determine a position.