Satellite navigation system using multiple antennas
First Claim
1. A method of obtaining a position solution in a satellite navigation system for an object using a plurality of antennas, the antennas connected to at least one receiver, the antennas having a common reference clock, the method comprising:
- a. providing a common reference clock for each antenna;
b. receiving satellite signals at each antenna;
c. the receiver determining the position solution for antennas using external constraints and the signals received at the antennas, wherein the external constraints are independent of received satellite signals, d. the position solutions being obtained using signals from fewer than four satellites at some or all antennas.
9 Assignments
0 Petitions
Accused Products
Abstract
A satellite navigation system using multiple antennas for providing the position of multiple fiduciary points on an object even when fewer than four satellites are visible to some or all the antennas. Satellite signals from the multiple antennas are fed into at least one receiver. The receiver or receivers utilize constraint information, which is independent of the satellite signals. These external constraints are used to augment the signals received from the satellites, to obtain the position solution for each antenna. In a preferred embodiment, a common reference clock is used to provide an external constraint. Examples of other external constraints that can be used in the current invention are distance between the antennas, inertial measurement of attitude, rotational or linear position sensors, etc.
32 Citations
22 Claims
-
1. A method of obtaining a position solution in a satellite navigation system for an object using a plurality of antennas, the antennas connected to at least one receiver, the antennas having a common reference clock, the method comprising:
-
a. providing a common reference clock for each antenna;
b. receiving satellite signals at each antenna;
c. the receiver determining the position solution for antennas using external constraints and the signals received at the antennas, wherein the external constraints are independent of received satellite signals, d. the position solutions being obtained using signals from fewer than four satellites at some or all antennas. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
-
-
10. A satellite navigation system comprising;
-
a. a plurality of antennas to receive satellite signals, the antennas being mounted to the object to be tracked and having a common reference clock;
b. at least one receiver connected to the plurality of antennas, the receiver further comprising;
i. means for obtaining external constraints, the external constraints being independent of the satellite signals; and
ii. means for determining the position solutions using the signals received at the antennas and the external constraints.
-
- 11. The system of claim 11 wherein the receiver further comprises a phase tracking module for calculating the phase difference for each antenna.
-
17. A method of obtaining a position solution for a plurality of antennas in a satellite navigation system, the antennas connected to at least one receiver, the method comprising:
-
a. receiving satellite signals at each antennas;
b. providing a common reference clock for each antenna;
c. correcting any inconsistency in satellite signals between the plurality of antennas, using external constraints;
d. calculating an integer cycle ambiguity resolution for the satellite signals to compute the position at two or more antennas using the signals and external constraints;
e. predicting the signal information from all potentially visible satellites using the calculated antenna positions; and
f. initializing the receiver for all potentially visible satellites using the predicted signal information.
-
-
18. A satellite navigation system comprising;
-
a. a plurality of antennas to receive satellite signals, the antennas being mounted to the object to be tracked and;
b. at least one receiver connected to the plurality of antennas, the receiver further comprising;
i. a plurality of phase tracking modules corresponding to the plurality of antennas;
ii. common clock means connected to each phase tracking modules;
iii. means for obtaining external constraints; and
iv. means for determining the position solution for the antennas using the signals received at each antenna and the external constraints. - View Dependent Claims (19, 20, 21, 22)
-
Specification