METHOD AND APPARATUS FOR NAVIGATION USING INSTANTANEOUS DOPPLER MEASUREMENTS FROM SATELLITES
First Claim
1. A method of locating position of a satellite signal receiver, comprising:
- determining a Doppler measurement for each of a plurality of satellite signals relative to the satellite signal receiver at a first time;
computing an initial position of the satellite signal receiver using the Doppler measurement for each of the plurality of satellite signals;
forming Doppler residuals using the initial position and the Doppler measurements for each of the plurality of satellite signals;
relating the Doppler residuals to a change in the initial position; and
computing an update of the initial position.
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Accused Products
Abstract
A method and apparatus for locating position of a satellite signal receiver is described. In one example, a Doppler offset for each of a plurality of satellite signals relative to the satellite signal receiver is determined at a first time. A position of the satellite signal receiver is then computed using the Doppler offset for each of the plurality of satellite signals. In another example, at least one pseudorange between the satellite signal receiver and a respective at least one satellite is determined. At least one Doppler offset for a respective at least one satellite signal relative to the satellite signal receiver is also determined. A position of the satellite signal receiver is computed using the at least one pseudorange and the at least one Doppler offset.
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Citations
29 Claims
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1. A method of locating position of a satellite signal receiver, comprising:
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determining a Doppler measurement for each of a plurality of satellite signals relative to the satellite signal receiver at a first time;
computing an initial position of the satellite signal receiver using the Doppler measurement for each of the plurality of satellite signals;
forming Doppler residuals using the initial position and the Doppler measurements for each of the plurality of satellite signals;
relating the Doppler residuals to a change in the initial position; and
computing an update of the initial position. - View Dependent Claims (2, 3, 4, 6, 7, 8, 9, 10)
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5. (canceled)
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11. A method of locating position of a satellite signal receiver, comprising:
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determining at least one pseudorange between the satellite signal receiver and a respective at least one satellite;
determining at least one Doppler measurement for a respective at least one satellite signal relative to the satellite signal receiver; and
computing an initial position of the satellite signal receiver using the at least one pseudorange and the at least one Doppler measurement;
forming Doppler residuals using the initial position and the at least one Doppler measurement;
forming pseudorange residuals using the initial position and the at least one pseudorange;
relating the Doppler residuals and the pseudorange residuals to a change in the initial position; and
computing an update of the initial position. - View Dependent Claims (12, 13, 14, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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15. (canceled)
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25. (canceled)
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26. (canceled)
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27. (canceled)
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28. (canceled)
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29. (canceled)
Specification