ANNIHILATION METHOD FOR GPS INTEGER AMBIGUITY WITH RESIDUAL PROBABILITY SCORING
First Claim
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1. A method of locating a first GPS receiver relative to a second GPS receiver, comprising the steps of:
- providing a first GPS receiver and a second GPS receiver, each GPS receiver having its own GPS antenna, said first GPS receiver and said second GPS receiver spaced apart by a distance D along a baseline, said distance D to be determined;
receiving a finite number of observables on each of said first GPS receiver and said second GPS receiver from a plurality of GPS satellites in a finite period of time;
performing in a batch mode the following series of calculations on said finite number of observables;
calculating a least squares estimate position for each of said first GPS receiver and said second GPS receiver;
calculating a plurality of single difference residuals based on said observables;
calculating a plurality of double difference residuals based on said plurality of single difference residuals;
calculating an estimate of a geometry free solution;
applying geometric annihilation to said geometry free solution; and
calculating a least squares solution to provide a measurement of said distance D; and
performing a step selected from the steps consisting of recording the distance D, reporting the distance D to a user, and providing the distance D to another process that uses the distance D.
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Abstract
A method of locating a first GPS receiver relative to a second GPS receiver. The method includes the steps of: providing a first and second GPS receiver, the first and second GPS receiver spaced apart by a distance D along a baseline; receiving a finite number of observables from a plurality of GPS satellites in a finite period of time; performing in a batch mode the following series of calculations on the finite number of observables: calculating a least squares estimate position for each of the first GPS receiver and the second GPS receiver; calculating a plurality of single difference residuals; calculating a plurality of double difference residuals; calculating an estimate of a geometry free solution; applying geometric annihilation to the geometry free solution; and calculating a least squares solution to provide a measurement of the distance D. A batch processing mode differential GPS apparatus is also described.
13 Citations
20 Claims
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1. A method of locating a first GPS receiver relative to a second GPS receiver, comprising the steps of:
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providing a first GPS receiver and a second GPS receiver, each GPS receiver having its own GPS antenna, said first GPS receiver and said second GPS receiver spaced apart by a distance D along a baseline, said distance D to be determined; receiving a finite number of observables on each of said first GPS receiver and said second GPS receiver from a plurality of GPS satellites in a finite period of time; performing in a batch mode the following series of calculations on said finite number of observables; calculating a least squares estimate position for each of said first GPS receiver and said second GPS receiver; calculating a plurality of single difference residuals based on said observables; calculating a plurality of double difference residuals based on said plurality of single difference residuals; calculating an estimate of a geometry free solution; applying geometric annihilation to said geometry free solution; and calculating a least squares solution to provide a measurement of said distance D; and performing a step selected from the steps consisting of recording the distance D, reporting the distance D to a user, and providing the distance D to another process that uses the distance D. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A batch processing mode differential GPS apparatus, comprising:
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a data processor configured to receive a plurality of GPS observables observed over a fixed time period from each of a first GPS receiver and a second GPS receiver, each GPS receiver having its own GPS antenna, said first GPS receiver and said second GPS receiver spaced apart by a distance D, said distance D to be determined, said data processor having instructions in machine-readable form recorded therein, said data processor configured to perform a process comprising the steps of; receiving a finite number of observables on each of said first GPS receiver and said second GPS receiver from a plurality of GPS satellites in a finite period of time; performing in a batch mode the following series of calculations on said finite number of observables; calculating a least squares estimate position for each of said first GPS receiver and said second GPS receiver; calculating a plurality of single difference residuals based on said observables; calculating a plurality of double difference residuals based on said plurality of single difference residuals; calculating an estimate of a geometry free solution; applying geometric annihilation to said geometry free solution; and calculating a least squares solution to obtain a result including said distance D between said first GPS receiver and said second GPS receiver when said instructions are operating; and at least one device selected from the group of devices consisting of a recording device configured to record a distance result, a display device configured to display said distance result, and a communications device configured to provide said distance result to another device. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification
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Current AssigneeCalifornia Institute of Technology
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Original AssigneeCalifornia Institute of Technology
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InventorsWilliamson, Walton R.
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Application NumberUS13/161,458Publication NumberTime in Patent OfficeDaysField of SearchUS Class Current342/357.24CPC Class CodesG01S 19/32 Multimode operation in a si...G01S 19/41 Differential correction, e....
