GPS navigation using successive differences of carrier-phase measurements
First Claim
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1. A method for navigating an object according to signals from satellites, comprising:
- determining at least one matrix for solving for a position of the object based on a measurement sensitivity matrix associated with a geometry of the satellites; and
repeatedly using the at least one matrix to determine subsequent changes in the position of the object based on successive changes in carrier-phase measurements obtained at the object according to signals from the satellites.
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Abstract
The present invention includes a process for navigating an object according to signals from satellites by propagating the position of the object forward in time using successive changes in the carrier-phase measurements. The process computes at a low rate matrices required for solving for the position of the objects, and repeatedly uses the most recently computed matrices to compute position updates at a high rate until the next low-rate computation is completed.
29 Citations
21 Claims
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1. A method for navigating an object according to signals from satellites, comprising:
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determining at least one matrix for solving for a position of the object based on a measurement sensitivity matrix associated with a geometry of the satellites; and
repeatedly using the at least one matrix to determine subsequent changes in the position of the object based on successive changes in carrier-phase measurements obtained at the object according to signals from the satellites. - View Dependent Claims (2, 3)
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4. A process for navigating an object, comprising:
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an initialization process for determining an initial position of the object;
a first process for determining a position update of the object once per each of a series of minor epochs after the initialization process, the position update being determined based on differences in carrier-phase measurements obtained during consecutive minor epochs; and
a second process for determining a position correction of the object once per each of a series of major epochs after the initialization process, the position correction being determined based on the position update and carrier-phase measurements obtained in a minor epoch that corresponds to a predetermined period in a respective major epoch. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A computer readable medium storing therein computer readable instructions that when executed by a processor cause the processor to perform a process for navigating an object according to signals from satellites, the computer instructions comprising:
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instructions for determining at least one matrix for solving for a position of the object based on a measurement sensitivity matrix associated with a geometry of the satellites; and
instructions for repeatedly using the at least one matrix to determine subsequent changes in the position of the object based on successive changes in carrier-phase measurements. - View Dependent Claims (20, 21)
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Specification