SATELLITE DIFFERENTIAL POSITIONING RECEIVER USING MULTIPLE BASE-ROVER ANTENNAS

• US 20090189804A1
• Filed: 01/27/2009
• Published: 07/30/2009
• Est. Priority Date: 01/30/2008
• Status: Active Grant

• Current Assignee: Javad Gnss
• Original Assignee: Javad GNSS, Inc.
• Inventors: Yefriemov, Vladimir, Kinkulkin, Dmitry, Ashjaee, Javad, Rapoport, Lev B.
• Granted Patent: US 8,120,527 B2
• Time in Patent Office: Days
• US Class Current: 342/357.270
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
• CPC Class Codes: G01S 19/54 using carrier phase measurements; using long or short baseline interferometry

Abstract

A rover processor determines position of a rover based upon the interaction between multiple antennas located at the rover and multiple antennas located at a base. The rover antennas may include a rover master antenna having a phase center located at the centroid of the antennas patterns of at least two auxiliary rover antennas. The rover processor may determine the position of the rover master antenna based upon the relative positions of at least two rover antennas (e.g., the rover master antenna and at least one rover auxiliary antenna, or at least two rover auxiliary antennas) with respect to at least two antennas of a base transceiver.

Claims

1. A navigation apparatus comprising:

a rover receiver including a rover master antenna and at least two rover auxiliary antennas, wherein the rover master and auxiliary antennas are arranged in a spatially symmetric manner; and

rover processing logic for determining the position of the rover master antenna based upon the position of at least two rover antennas with respect to at least two antennas of a base transceiver.

2. The navigation apparatus of claim 1, wherein the rover master and auxiliary antennas are substantially coplanar.

3. The navigation apparatus of claim 1, wherein the base transceiver includes a base master antenna and at least two base auxiliary antennas arranged in a spatially symmetric manner.

4. The navigation apparatus of claim 3, wherein the base master and auxiliary antennas are substantially coplanar.

5. The navigation apparatus of claim 1, wherein the rover processing logic is operable to determine an average position of the rover master antenna based upon an average of the positions of the at least two rover auxiliary antennas.

6. The navigation apparatus of claim 5, wherein the rover processing logic is further operable to:

determine a second position of the rover master antenna with respect to at least two base antennas; and

compare the average position of the rover master antenna to the second position of the rover master antenna.

7. The navigation apparatus of claim 3, further comprising base processing logic for:

determining an average positional correction for the base master antenna based upon signals received from the base auxiliary antennas; and

causing the base transceiver to transmit to the rover receiver the average positional correction for the base master antenna.

8. The navigation apparatus of claim 7, wherein

the rover processing logic is operable to determine a second rover position based upon navigational signals received from navigational satellites, and to correct the second rover position using the average positional correction.

9. The navigation apparatus of claim 3, wherein

the base processing logic is operable to provide to the base transceiver a redundant set of baseline measurements for transmission to the rover, and

the receiver processing logic is operable to compare a second rover position of the rover determined from one baseline measurement of the redundant set to at least one third rover position determined from another baseline measurement of the redundant set to thereby check for consistency.

10. The navigation apparatus of claim 9, wherein the at least two rover antennas include four rover antennas, the at least two base antennas include four base antennas, and the redundant set of baselines includes 16 baselines.

11. The navigation apparatus of claim 1, wherein the rover receiver is operable to receive positional information from the base transceiver.

12. The navigation apparatus of claim 11, wherein the positional information includes corrections to navigational errors.

13. The navigation apparatus of claim 12, wherein the corrections include averaged positional corrections for the base antennas.

14. The navigation apparatus of claim 11, wherein the positional information includes pseudorange and carrier phase measurement residuals.

15. The navigation apparatus of claim 1, wherein the phase center of the rover master antenna lies at the centroid of the antenna patterns of the rover auxiliary antennas.

16. The navigation apparatus of claim 1, wherein the phase center of the base master antenna lies at the centroid of the antenna patterns of the at least two base auxiliary antennas.

22. The method of claim 8, comprising:

determining a second rover position based upon navigational signals received from navigational satellites, and

correcting the second rover position using the average positional correction.

24. The method of claim 10, wherein the at least two rover antennas include four rover antennas, the at least two base antennas include four base antennas, and the redundant set of baselines includes 16 baselines.

17. A computer-implemented method for determining position of a rover receiver, wherein a rover master antenna and at least two rover auxiliary antennas of the rover receiver are arranged in a spatially symmetric manner, the method comprising:

determining the position of the rover master antenna based upon the position of at least two rover antennas with respect to at least two antennas of a base transceiver.

18. The method of claim 17, wherein the base transceiver includes a base master antenna and at least two base auxiliary antennas arranged in a spatially symmetric manner.

19. The method of claim 17, comprising determining an average position of the rover master antenna based upon an average of the positions of the at least two rover auxiliary antennas.

20. The method of claim 19, further comprising:

determining a second position of the rover master antenna with respect to at least two base antennas; and

comparing the average position of the rover master antenna to the second position of the rover master antenna.

21. The method of claim 18, further comprising:

determining an average positional correction for the base master antenna based upon signals received from the base auxiliary antennas; and

causing the base transceiver to transmit to the rover receiver the average positional correction for the base master antenna.

23. The method of claim 18, comprising:

providing to the base transceiver a redundant set of baseline measurements for transmission to the rover; and

comparing a second rover position of the rover determined from one baseline measurement of the redundant set to at least one third rover position determined from another baseline measurement of the redundant set to thereby check for consistency.

25. The method of claim 17, comprising the rover receiver receiving positional information from the base transceiver.

26. The method of claim 25, wherein the positional information includes corrections to navigational errors.

27. The method of claim 26, wherein the corrections include averaged positional corrections for the base antennas.

28. The method of claim 25, wherein the positional information includes pseudorange and carrier phase measurement residuals.

29. A computer readable medium comprising computer-executable instructions for determining position of a rover receiver, wherein a rover master antenna and at least two rover auxiliary antennas of the rover receiver are arranged in a spatially symmetric manner, the instructions for:

determining the position of the rover master antenna based upon the position of at least two rover antennas with respect to at least two antennas of a base transceiver.

30. The computer-readable medium of claim 29, wherein the base transceiver includes a base master antenna and at least two base auxiliary antennas arranged in a spatially symmetric manner.

31. The computer-readable medium of claim 29, comprising instructions for determining an average position of the rover master antenna based upon an average of the positions of the at least two rover auxiliary antennas.

32. The computer-readable medium of claim 31, further comprising instructions for:

determining a second position of the rover master antenna with respect to at least two base antennas; and

comparing the average position of the rover master antenna to the second position of the rover master antenna.

33. The computer-readable medium of claim 30, further comprising instructions for:

determining an average positional correction for the base master antenna based upon signals received from the base auxiliary antennas; and

causing the base transceiver to transmit to the rover receiver the average positional correction for the base master antenna.

34. The computer-readable medium of claim 33, comprising instructions for:

determining a second rover position based upon navigational signals received from navigational satellites, and

correcting the second rover position using the average positional correction.

35. The computer-readable medium of claim 30, comprising instructions for:

providing to the base transceiver a redundant set of baseline measurements for transmission to the rover, and

comparing a second rover position of the rover determined from one baseline measurement of the redundant set to at least one third rover position determined from another baseline measurement of the redundant set to thereby check for consistency.

36. The computer-readable medium of claim 29, comprising instructions for receiving, at the rover receiver, positional information from the base transceiver.

37. The computer-readable medium of claim 36, wherein the positional information includes corrections to navigational errors.

38. The computer-readable medium of claim 37, wherein the corrections include averaged positional corrections for the base antennas.

39. The computer-readable medium of claim 36, wherein the positional information includes pseudorange and carrier phase measurement residuals.

40. A navigation apparatus comprising:

a rover receiver including at least two rover antennas;

an orientation unit for determining orientation of the at least two rover antennas; and

rover processing logic for determining the position of the rover based upon the orientation and the position of at the least two rover antennas with respect to at least two base antennas of a base transceiver.

41. The navigation apparatus of claim 40, wherein the base transceiver includes:

at least two base antennas; and

base processing logic having access to the positions of the at least two base antennas.

42. The navigation apparatus of claim 41, wherein the positions of the at least two base antennas are referenced to an earth-centered reference frame.

43. The navigation apparatus of claim 41, wherein the base processing logic is operable to determine a positional correction of the at least two base antennas.

44. The navigation apparatus of claim 43, wherein the base transceiver is operable to transmit to the rover the positional correction.

45. The navigation apparatus of claim 41, wherein the base processing logic is operable to determine an average positional correction with respect to the at least two base antennas.

46. The navigation apparatus of claim 45, wherein the base transceiver is operable to transmit to the rover the average positional correction.

47. The navigation apparatus of claim 40, wherein

the rover processing logic is operable to determine a second rover position based upon navigational signals received from navigational satellites, and to correct the second rover position using the average positional correction.

48. The navigation apparatus of claim 41, wherein the positions of the at least two base antennas accessed by the base processing logic is derived from an orientation of the at least two base antennas provided by an orientation unit.

49. The navigation apparatus of claim 40, wherein

the base transceiver is operable to transmit to the rover a redundant set of baseline measurements, and

the receiver processing logic is operable to compare a second rover position of the rover determined from one baseline measurement of the redundant set to at least one third rover position determined from another baseline measurement of the redundant set to thereby check for consistency.

50. The navigation apparatus of claim 49, wherein the at least two rover antennas include four rover antennas, the at least two base antennas include four base antennas, and the redundant set of baselines includes 16 baselines.

51. A computer-implemented method for determining position of a rover receiver, wherein the rover receiver includes at least two rover antennas, the method comprising:

determining orientation of the at least two rover antennas; and

determining the position of the rover receiver based upon the orientation and the position of at the least two rover antennas with respect to at least two base antennas of a base transceiver.

52. The method of claim 51, wherein the base transceiver includes:

at least two base antennas; and

base processing logic having access to the positions of the at least two base antennas.

53. The method of claim 52, comprising determining a positional correction of the at least two base antennas.

54. The method of claim 53, comprising transmitting to the rover receiver the positional correction.

55. The method of claim 52, comprising determining an average positional correction with respect to the at least two base antennas.

56. The method of claim 55, comprising transmitting to the rover receiver the average positional correction.

57. The method of claim 51, comprising:

determining a second rover position based upon navigational signals received from navigational satellites; and

correcting the second rover position using the average positional correction.

58. The method of claim 52, wherein the positions of the at least two base antennas accessed by the base processing logic are derived from an orientation of the at least two base antennas provided by an orientation unit.

59. The method of claim 51, comprising:

transmitting to the rover receiver a redundant set of baseline measurements, and

comparing a second rover position of the rover determined from one baseline measurement of the redundant set to at least one third rover position determined from another baseline measurement of the redundant set to thereby check for consistency.crm2

60. A computer readable medium comprising computer-executable instructions for determining position of a rover receiver, wherein the rover receiver includes at least two rover antennas, the instructions for:

determining orientation of the at least two rover antennas; and

determining the position of the rover receiver based upon the orientation and the position of at the least two rover antennas with respect to at least two base antennas of a base transceiver.

61. The computer-readable medium of claim 60, wherein the base transceiver includes:

at least two base antennas; and

base processing logic having access to the positions of the at least two base antennas.

62. The computer-readable medium of claim 61, comprising instructions for determining a positional correction of the at least two base antennas.

63. The computer-readable medium of claim 62, comprising instructions for transmitting to the rover receiver the positional correction.

64. The computer-readable medium of claim 61, comprising instructions for determining an average positional correction with respect to the at least two base antennas.

65. The computer-readable medium of claim 60, comprising instructions for transmitting to the rover receiver the average positional correction.

66. The computer-readable medium of claim 60, comprising instructions for:

determining a second rover position based upon navigational signals received from navigational satellites; and

correcting the second rover position using the average positional correction.

67. The computer-readable medium of claim 61, wherein the positions of the at least two base antennas accessed by the base processing logic are derived from an orientation of the at least two base antennas provided by an orientation unit.

68. The computer-readable medium of claim 60, comprising instructions for:

transmitting to the rover receiver a redundant set of baseline measurements, and

comparing a second rover position of the rover determined from one baseline measurement of the redundant set to at least one third rover position determined from another baseline measurement of the redundant set to thereby check for consistency.