Satellite-Based Positioning Receiver with Improved Integrity and Continuity
First Claim
1. A satellite-based positioning receiver, comprising several digital signal processing channels each intended to be associated with a respective satellite and each providing a first digital datum representing a pseudo-distance between the receiver and the satellite calculated on the basis of an instantaneous phase of a pseudo-random code present in the signal transmitted by the satellite and a second digital datum representing this pseudo-distance calculated on the basis of an instantaneous phase of the carrier of the signal transmitted by the satellite, comprising an:
- extended Kalman filter comprising including;
means for calculating a position of the receiver in a terrestrial reference frame on the basis of a previously calculated position and of an error in this position;
means for calculating propagation of an estimated state vector comprising the error in the calculated position of the receiver, on the basis of a matrix propagation equation involving a propagation matrix,means for calculating registration of the state vector on the basis of observations relating to each satellite and of a matrix of observations relating the state vector and the observations,means for calculating observations, receiving the first and the second digital datum a to calculate an estimated pseudo-distance between the receiver and each satellite, so as to establish observations to be applied to the input of the registration calculation means,means for calculating an estimated pseudo-distance for each satellite, by calculating the distance between the calculated position of the receiver in the terrestrial reference frame and each satellite.
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Accused Products
Abstract
The invention relates to a receiver of signals of a satellite-based radionavigation system intended to calculate the position of a carrier very precisely. The receiver comprises several digital signal processing channels each associated with a satellite and each providing a first digital datum representing a pseudo-distance between the receiver and the satellite in the form of an instantaneous temporal position of a pseudo-random code and a second digital datum representing this pseudo-distance in the form of an instantaneous phase of the carrier of the signal transmitted by the satellite. According to the invention, the receiver comprises an extended Kalman filter comprising:
- means for calculating an instantaneous position of the receiver;
- means for calculating propagation of a state vector;
- means for calculating registration of the state vector on the basis of observations relating to each satellite and of a matrix of observations;
- means for calculating observations;
- means for calculating an estimated instantaneous pseudo-distance for each satellite.
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Citations
22 Claims
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1. A satellite-based positioning receiver, comprising several digital signal processing channels each intended to be associated with a respective satellite and each providing a first digital datum representing a pseudo-distance between the receiver and the satellite calculated on the basis of an instantaneous phase of a pseudo-random code present in the signal transmitted by the satellite and a second digital datum representing this pseudo-distance calculated on the basis of an instantaneous phase of the carrier of the signal transmitted by the satellite, comprising an:
extended Kalman filter comprising including; means for calculating a position of the receiver in a terrestrial reference frame on the basis of a previously calculated position and of an error in this position; means for calculating propagation of an estimated state vector comprising the error in the calculated position of the receiver, on the basis of a matrix propagation equation involving a propagation matrix, means for calculating registration of the state vector on the basis of observations relating to each satellite and of a matrix of observations relating the state vector and the observations, means for calculating observations, receiving the first and the second digital datum a to calculate an estimated pseudo-distance between the receiver and each satellite, so as to establish observations to be applied to the input of the registration calculation means, means for calculating an estimated pseudo-distance for each satellite, by calculating the distance between the calculated position of the receiver in the terrestrial reference frame and each satellite. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
Specification