Navigation Receiver and Method for Combined Use of a Standard RTK System and a Global Carrier-Phase Differential Positioning System

• US 20090102708A1
• Filed: 12/22/2008
• Published: 04/23/2009
• Est. Priority Date: 01/13/2004
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Navcom Technology, Inc. (Deere & Company)
• Inventors: Hatch, Ronald R., Eslinger, Daniel J., Dai, Liwen L., Wang, Chaochao, Sharpe, Richard T.
• Granted Patent: US 7,679,555 B2
• Time in Patent Office: Days
• US Class Current: 342/357.240
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 19/42 Determining position
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

Abstract

A mobile satellite navigation receiver for calculating an offset between a local positioning system and a wide-area satellite positioning system is presented. The mobile satellite navigation receiver determines a first solution of a position of the mobile satellite navigation receiver relative to a first local positioning system, wherein the first local positioning system includes one or more reference receivers at known locations. The mobile satellite navigation receiver determines a second solution of the position of the satellite navigation receiver relative to a wide-area differential satellite positioning system. The mobile satellite navigation receiver then calculates an offset between the first solution and the second solution.

Claims

1. A method, comprising:

at a mobile satellite navigation receiver,

determining a first solution of a position of the mobile satellite navigation receiver relative to a first local positioning system, wherein the first local positioning system includes one or more reference receivers at known locations;

determining a second solution of the position of the satellite navigation receiver relative to a wide-area differential satellite positioning system; and

calculating an offset between the first solution and the second solution.

2. The method of claim 1,

wherein the first local positioning system includes a real-time kinematic (RTK) positioning system;

and

wherein the first solution is a RTK solution.

3. The method of claim 1,

wherein the wide-area differential satellite positioning system includes a wide-area differential global positioning system (WADGPS);

and

wherein the second solution is a WADGPS solution.

4. The method of claim 1,

wherein the wide-area differential satellite positioning system includes a wide-area differential GLONASS positioning system;

and

wherein the second solution is a wide-area differential GLONASS positioning system solution.

5. The method of claim 1,

wherein the wide-area differential satellite positioning system includes a wide-area differential Galileo positioning system;

and

wherein the second solution is a wide-area differential Galileo positioning system solution.

6. The method of claim 1, including storing the offset at the mobile satellite navigation receiver.

7. The method of claim 1, wherein determining the first solution of a position of the mobile satellite navigation receiver relative to the first local positioning system includes determining, at the mobile satellite navigation receiver, the position of the mobile satellite navigation receiver relative to a first reference receiver within the first local positioning system.

8. The method of claim 7, wherein the first reference receiver does not determine the position of the first reference receiver relative to the wide-area differential satellite positioning system.

9. The method of claim 1, wherein determining the second solution of the position of the mobile satellite navigation receiver relative to the wide-area differential satellite positioning system includes:

calculating refraction-corrected code pseudoranges to a plurality of satellites;

applying wide-area differential satellite positioning system corrections to the refraction-corrected code pseudoranges; and

using a least squares solution to calculate the position of the mobile satellite navigation receiver.

10. The method of claim 1, wherein the offset is averaged over a specified time period.

11. The method of claim 1, including:

operating the mobile satellite navigation receiver in a first mode, including determining a position of the mobile satellite navigation receiver relative to the first local positioning system.

12. The method of claim 11, including, at the mobile satellite navigation receiver, applying the offset to the position of the mobile satellite navigation receiver relative to the first local positioning system to determine the position of the mobile satellite navigation receiver relative to the wide-area differential satellite positioning system.

13. The method of claim 11, including, at the mobile satellite navigation receiver, using the offset to initialize floating ambiguities that are used in a wide-area differential satellite positioning system mode, wherein during operation in the wide-area differential satellite positioning system mode, the position of the mobile satellite navigation receiver is determined relative to the wide-area differential satellite positioning system.

14. The method of claim 13, including:

operating the mobile satellite navigation receiver in a wide-area differential satellite positioning system mode; and

determining, at the mobile satellite navigation receiver, the position of the mobile satellite navigation receiver relative to the wide-area differential satellite positioning system.

15. A mobile satellite navigation receiver, comprising:

a signal receiver for receiving navigation satellite signals;

memory;

one or more processors; and

one or more programs stored in the memory, the one or more programs comprising instructions to;

determine a first solution of a position of the mobile satellite navigation receiver relative to a first local positioning system, wherein the first local positioning system includes one or more reference receivers at known locations;

determine a second solution of the position of the satellite navigation receiver relative to a wide-area differential satellite positioning system; and

calculate an offset between the first solution and the second solution.

16. The mobile satellite navigation receiver of claim 15,

wherein the first local positioning system includes a real-time kinematic (RTK) positioning system;

and

wherein the first solution is a RTK solution.

17. The mobile satellite navigation receiver of claim 15,

wherein the wide-area differential satellite positioning system includes a wide-area differential global positioning system (WADGPS);

and

wherein the second solution is a WADGPS solution.

18. The mobile satellite navigation receiver of claim 15,

wherein the wide-area differential satellite positioning system includes a wide-area differential GLONASS positioning system;

and

wherein the second solution is a wide-area differential GLONASS positioning system solution.

19. The mobile satellite navigation receiver of claim 15,

wherein the wide-area differential satellite positioning system includes a wide-area differential Galileo positioning system;

and

wherein the second solution is a wide-area differential Galileo positioning system solution.

20. The mobile satellite navigation receiver of claim 15, wherein the one or more programs include instructions to store the offset at the mobile satellite navigation receiver.

21. The mobile satellite navigation receiver of claim 15, wherein the instructions to determine a position of the mobile satellite navigation receiver relative to the first local positioning system include instructions to determine, at the mobile satellite navigation receiver, the position of the mobile satellite navigation receiver relative to a first reference receiver within the first local positioning system.

22. The mobile satellite navigation receiver of claim 21, wherein the first reference receiver does not determine the position of the first reference receiver relative to the wide-area differential satellite positioning system.

23. The mobile satellite navigation receiver of claim 15, wherein the instructions to determine the second solution of the position of the mobile satellite navigation receiver relative to the wide-area differential satellite positioning system include instructions to:

calculate refraction-corrected code pseudoranges to a plurality of satellites;

apply wide-area differential satellite positioning system corrections to the refraction-corrected code pseudoranges; and

use a least squares solution to calculate the position of the mobile satellite navigation receiver.

24. The mobile satellite navigation receiver of claim 15, wherein the offset is averaged over a specified time period.

25. The mobile satellite navigation receiver of claim 15, wherein the one or more programs include instructions to operate the mobile satellite navigation receiver in a first mode, which include instructions to determine a position of the mobile satellite navigation receiver relative to the first local positioning system.

26. The mobile satellite navigation receiver of claim 25, wherein the one or more programs include instructions to apply the offset to the position of the mobile satellite navigation receiver relative to the first local positioning system to determine the position of the mobile satellite navigation receiver relative to the wide-area differential satellite positioning system.

27. The mobile satellite navigation receiver of claim 25, wherein the one or more programs include instructions to use the offset to initialize floating ambiguities that are used in a wide-area differential satellite positioning system mode, wherein during operation in the wide-area differential satellite positioning system mode, the position of the mobile satellite navigation receiver is determined relative to the wide-area differential satellite positioning system.

28. The mobile satellite navigation receiver of claim 27, wherein the one or more programs include instructions to:

operate the mobile satellite navigation receiver in a wide-area differential satellite positioning system mode; and

determine, at the mobile satellite navigation receiver, the position of the mobile satellite navigation receiver relative to the wide-area differential satellite positioning system.

29. A computer readable storage medium storing one or more programs configured for execution by one or more processors in a mobile satellite navigation receiver, the one or more programs comprising instructions to:

determine a first solution of a position of the mobile satellite navigation receiver relative to a first local positioning system, wherein the first local positioning system includes one or more reference receivers at known locations;

determine a second solution of the position of the satellite navigation receiver relative to a wide-area differential satellite positioning system; and

calculate an offset between the first solution and the second solution.