GPS rover station having position dithering for controlling accuracy of secure positions

• US 20060267836A1
• Filed: 05/26/2005
• Published: 11/30/2006
• Est. Priority Date: 05/26/2005
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Bird, David G.
• Granted Patent: US 7,227,496 B2
• Time in Patent Office: Days
• US Class Current: 342/357.410
• CPC Class Codes: G01S 19/04 providing carrier phase data
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G01S 19/43 using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry

Abstract

A positioning system or synthetic phase processor or rover station for providing high integrity positions with graduated accuracies. The positioning system includes one or more real time kinematic (RTK) reference stations for receiving GPS signals at established reference positions and measuring reference phases. The positioning system or the rover station selects a synthetic offset vector and uses the synthetic offset vector for inferring synthetic reference phases to a synthetic position. The rover station uses the synthetic reference phases with actual or virtual reference positions for determining a rover position having an added positional error controlled by the synthetic offset vector. For another embodiment a secure rover station dithers a secure position with a synthetic offset vector for providing an unsecure rover position having the added positional error.

Claims

1. A secure rover station having a controlled accuracy for a geographical position, comprising:

a rover global navigation satellite system (GNSS) receiver for determining a secure position not available to a user of the rover station; and

a position dither processor for dithering said secure position with a selected non-zero synthetic offset vector for issuing a rover position available to said user having an added position error proportional to said synthetic offset vector.

2. The rover station of claim 1, wherein:

the rover station includes security provisions for inhibiting the use of said secure position by said user.

3. The rover station of claim 1, wherein:

the position dither processor includes a random process vector generator for providing a stream of random vectors as said synthetic offset vector.

4. The rover station of claim 3, wherein:

said random process vector generator is constrained with maximum input values for confining said synthetic offset vector to one of a horizontal plane, a vertical direction, a spherical error zone, a cylindrical error zone, or a box error zone.

5. The rover station of claim 1, further comprising:

a signal receiver for receiving secure reference data having information for a reference phase for a GNSS signal and a reference position from a global navigation satellite system (GNSS) reference system; and

wherein;

the rover GNSS receiver uses said reference phase and said reference position for determining said secure rover position with respect to said reference position.

6. The rover station of claim 5, wherein:

said reference data includes a plurality of reference network phases, including said reference phase, measured by a plurality of reference network GNSS receivers at a plurality of reference network positions, respectively; and

the rover GNSS receiver uses said reference network phases and said reference network positions for determining a virtual reference phase for a virtual reference position not co-located with any of the reference network GNSS receivers, and uses said virtual reference phase and said virtual reference position for determining said secure rover position.

7. The rover station of claim 6, wherein:

the rover GNSS receiver measures a rover phase for said GNSS signal and determines a double difference phase residual corresponding to a difference between a current phase difference and an expected phase difference, said current phase difference based on a difference between said measured rover phase and said reference phase, said expected phase difference based on previous determinations of differences between said measured rover phase and said reference phase; and

further comprising;

an anomaly detector for detecting an anomaly when said phase residual exceeds a threshold corresponding to a selected integrity limit, and inhibiting the use of said rover position when said anomaly is detected.

8. The rover station of claim 7, wherein:

said added positional error is in a range of about ten centimeters to about two meters; and

said selected integrity limit is less than about twenty centimeters.

9. A method for controlling accuracy of a geographical position, comprising:

receiving a global navigation satellite system (GNSS) signal;

using said GNSS signal for determining a secure position not available to a user of the rover station; and

dithering said secure position with a selected non-zero synthetic offset vector for providing a rover position having an added position error proportional to said synthetic offset vector to said user.

10. The method claim 9, wherein:

determining a secure position includes using security provisions for inhibiting the use of said secure position by said user.

11. The method of claim 9, further comprising:

generating said synthetic offset vector using a random process for providing a stream of random vectors for said synthetic offset vector.

12. The method of claim 11, further comprising:

constraining said random process with maximum input values for confining said synthetic offset vector to one of a horizontal plane, a vertical direction, a spherical error zone, a cylindrical error zone, or a box error zone.

13. The method of claim 9, further comprising:

receiving secure reference data having information for a reference phase for a GNSS signal and a reference position from a global navigation satellite system (GNSS) reference system; and

wherein;

providing said secure position includes using said reference phase for determining said secure position with respect to said reference position.

14. The method of claim 13, wherein:

said reference data includes a plurality of reference network phases, including said reference phase, measured by a plurality of reference network GNSS receivers at a plurality of reference network positions, respectively; and

determining said secure position includes using said reference network phases and said reference network positions for determining a virtual reference phase for a virtual reference position not co-located with any of the reference network GNSS receivers, and using said virtual reference phase and said virtual reference position for determining said secure position.

15. The method of claim 14, wherein:

determining said secure position includes measuring a rover phase for said GNSS signal;

determining a phase residual corresponding to a difference between a current phase difference and an expected phase difference, said current phase difference based on a difference between said measured rover phase and said reference phase, said expected phase difference based on previous determinations of differences between said measured rover phase and said reference phase; and

further comprising;

detecting an anomaly when said phase residual exceeds a threshold corresponding to a selected integrity limit, and

inhibiting the use of said rover position when said anomaly is detected.

16. The method of claim 15, wherein:

said added positional error is in a range of about ten centimeters to about two meters; and

said selected integrity limit is less than about twenty centimeters.

17. A tangible medium containing a set of instructions for causing a processor to carry out the following steps for controlling accuracy of a geographical position, comprising:

receiving a global navigation satellite system (GNSS) signal;

using said GNSS signal for determining a secure position not available to a user of the rover station; and

dithering said secure position with a selected non-zero synthetic offset vector for providing a rover position available to said user having an added position error proportional to said synthetic offset vector.

18. The medium claim 17, wherein:

determining a secure position includes using security provisions for inhibiting the use of said secure position by said user.

19. The medium of claim 17, further comprising instructions for:

generating said synthetic offset vector using a random process for providing a stream of random vectors for said synthetic offset vector.

20. The medium of claim 19, further comprising instructions for:

constraining said random process with maximum input values for confining said synthetic offset vector to one of a horizontal plane, a vertical direction, a spherical error zone, a cylindrical error zone, or a box error zone.

21. The medium of claim 17, further comprising instructions for:

receiving secure reference data having information for a reference phase for a GNSS signal and a reference position from a global navigation satellite system (GNSS) reference system; and

wherein;

providing said secure position includes using said reference phase for determining said secure position with respect to said reference position.

22. The medium of claim 21, wherein:

said reference data includes a plurality of reference network phases, including said reference phase, measured by a plurality of reference network GNSS receivers at a plurality of reference network positions, respectively; and

determining said secure position includes using said reference network phases and said reference network positions for determining a virtual reference phase for a virtual reference position not co-located with any of the reference network GNSS receivers, and using said virtual reference phase and said virtual reference position for determining said secure position.

23. The medium of claim 22, wherein:

determining said secure position includes measuring a rover phase for said GNSS signal;

determining a phase residual corresponding to a difference between a current phase difference and an expected phase difference, said current phase difference based on a difference between said measured rover phase and said reference phase, said expected phase difference based on previous determinations of differences between said measured rover phase and said reference phase; and

further comprising;

detecting an anomaly when said phase residual exceeds a threshold corresponding to a selected integrity limit, and

inhibiting the use of said rover position when said anomaly is detected.

24. The medium of claim 23, wherein:

said added positional error is in a range of about ten centimeters to about two meters; and

said selected integrity limit is less than about twenty centimeters.