Positioning and navigation receiver with a confidence index

• US 10,732,295 B2
• Filed: 07/16/2015
• Issued: 08/04/2020
• Est. Priority Date: 07/17/2014
• Status: Active Grant

• Current Assignee: Centre National D'Etudes Spatiales
• Original Assignee: Centre National D'Etudes Spatiales
• Inventors: Laurichesse, Denis
• Primary Examiner(s): Gregory, Bernarr E
• Assistant Examiner(s): Mull, Fred H
• Application Number:
  US15/326,096
• Publication Number:
  US 20170199281A1
• Time in Patent Office: 1,846 Days
• CPC Class Codes: G01S 19/393 Trajectory determination or predictive tracking, e.g. Kalman filtering
• CPC Class Codes: G01S 19/396 Determining accuracy or reliability of position or pseudorange measurements

Abstract

The positioning receiver according to the invention comprises means for storing configuration information and information on its reception conditions, which is processed in order to calculate a current and/or predicted precision of the positioning calculation. Advantageously, at least some of this information is integrated into a variation model of a Kalman filter integrated into the receiver. The invention notably allows a more rapid convergence on a reference precision in a mono-frequency operating mode and transitions between a mono-frequency and bi-frequency mode to be smoothed. Advantageously, the precision information is delivered graphically or in numerical form to the user.

Claims

1. A receiver of positioning signals from at least a satellite constellation, said receiver comprising:

a port configured to access information on absolute and/or relative values of a position measurement precision in a configuration of said receiver, said configuration being defined by elements chosen from a group comprising processors for processing positioning signals, antennae for receiving said signals, a list of constellations and a list of external links to data for correcting the positioning signals; and

processing circuits configured to process raw positioning, velocity and time data for a satellite;

the processing circuits configured to calculate an information characterizing a precision and/or a confidence index of a calculation of a position of said receiver based on receiving conditions, the information on absolute and/or relative values of a position measurement precision in the configuration of said receiver and the result of the processing of the raw positioning, velocity and time data for the satellite;

wherein the information characterizing the precision and/or the confidence index of the calculation of the position of said receiver is calculated further based on information on a hardware configuration of said receiver relating to an antenna and/or a processor for processing positioning signals of said receiver, said information being provided by a database characterizing permanent and variable elements of said hardware configuration.

2. The receiver of claim 1, wherein the processing circuits to process raw positioning, velocity and time data comprise a Kalman filter, said processing circuits being further configured to adjust one of a covariance matrix and a table of model noise parameters of the Kalman filter based on the information on absolute and/or relative values of the precision and/or a confidence index of the position measurements in a configuration of said receiver.

3. The receiver of claim 2, wherein state variables of the Kalman filter represent ionospheric error corrections.

4. The receiver of claim 3, wherein a model of a variation in the state variables of the Kalman filter representing ionospheric error corrections is defined to optimize convergence time of the calculation of position, velocity and time in the case of loss of at least one positioning signal.

5. The receiver of claim 4, wherein the information characterizing a precision and/or a confidence index of the calculation of a position of the receiver is delivered to a user of said device either in graphical form, in numerical form, or in a combination of both.

6. The receiver of claim 1, wherein the reception conditions are defined depending on positions and heights of obstacles in a vicinity of at least an element of said receiver.

7. The receiver of claim 1, wherein a trajectory of at least one element of said receiver is predicted from a current position, velocity, time vector.

8. The receiver of claim 1, wherein positioning signals from at least two satellite constellations are acquired by said receiver.

9. The receiver of claim 1, wherein Real Time International GNSS Service (RTIGS) corrections are acquired by said receiver.

10. The receiver of claim 1, wherein a switch between a mono-frequency receiving mode and a bi-frequency receiving mode is activated depending on the reception conditions at current and/or future location of said reception.

11. The receiver of claim 1, wherein elements of configuration of said receiver are activated/deactivated depending on preset precision and/or confidence index objectives, depending on reception conditions at current and/or future location of said reception.

12. The receiver of claim 1, further comprising an interface to communicate the information characterizing a precision and/or a confidence index of the position of the receiver to at least a user or an application.

13. The receiver of claim 1, wherein the processing circuits to calculate a piece of information characterizing a precision and/or a confidence index of the calculation of a position of the receiver, for determining reception conditions, for accessing information on the absolute and/or relative values of a position measurement precision in the configuration of said receiver, and the processing circuits for processing raw position, velocity and time data for a satellite are not co-localized.

14. The receiver of claim 1, wherein the processing circuits to calculate information on absolute and/or relative values of a position measurement precision in a configuration of said receiver are not co-localized.

15. A method for receiving positioning signals from at least one satellite constellation, said method comprising:

accessing information on absolute and/or relative values of a position measurement precision in a configuration of a receiver, said configuration being defined by elements chosen from a group comprising processors for processing positioning signals, antennae for receiving said signals, a list of constellations and a list of external links to data for correcting the positioning signals;

processing raw positioning, velocity and time data for a satellite;

calculating an information characterizing a precision and/or a confidence index of a calculation of a position of said receiver from receiving conditions, information on the absolute and/or relative values of a precision of position measurements in the configuration of said receiver and a result of the processing of the raw positioning, velocity and time data for satellite;

wherein the information characterizing the precision and/or the confidence index of the calculation of the position of said receiver is calculated further based on information on a hardware configuration of said receiver relating to an antenna and/or a processor for processing positioning signals of said receiver, said information being provided by a database characterizing permanent and variable elements of said hardware configuration.

16. A system for delivering positioning information, comprising a plurality of receivers of positioning signals from at least a satellite constellation, each said receiver comprising:

a port configured to access information on absolute and/or relative values of a position measurement precision in a configuration of said receiver, said configuration being defined by elements chosen from a group comprising processors for processing positioning signals, antennae for receiving said signals, a list of constellations and a list of external links to data for correcting the positioning signals; and

processing circuits configured to process raw positioning, velocity and time data for a satellite;

the processing circuits configured to calculate an information characterizing a precision and/or a confidence index of a calculation of a position of said receiver based on receiving conditions, the information on absolute and/or relative values of a position measurement precision in the configuration of said receiver and the result of the processing of the raw positioning, velocity and time data for the satellite;

wherein the information characterizing the precision and/or the confidence index of the calculation of the position of said receiver is calculated further based on information on a hardware configuration of said receiver relating to an antenna and/or a processor for processing positioning signals of said receiver, said information being provided by a database characterizing permanent and variable elements of said hardware configuration.