Method and system for determining position using signals from satellites

• US 4,667,203 A
• Filed: 03/01/1982
• Issued: 05/19/1987
• Est. Priority Date: 03/01/1982
• Status: Expired due to Term

• Current Assignee: Western Atlas International Incorporated (Northrop Grumman Corporation)
• Original Assignee: Aero Service DIV Western Geophysical
• Inventors: Counselman, III, Charles C.
• Primary Examiner(s): Blum, Theodore M.
• Assistant Examiner(s): Sotomayor, John B.
• Application Number:
  US06/353,331
• Time in Patent Office: 1,905 Days
• Field of Search: 343/424, 343/352, 343/458, 343/378, 343/385, 343/418, 343/450, 343/357, 343/429, 343/5 SA
• US Class Current: 342/357.26
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01S 19/04 providing carrier phase data
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

Abstract

A method and a system are disclosed for measuring the baseline vector b between a pair of survey marks on the ground by radio interferometry using radio signals broadcast from the earth orbiting satellites of the NAVSTAR Global Positioning System (GPS), the radio signals broadcast by the satellites being double-sideband modulated with their carriers suppressed. An antenna is positioned at each survey mark. The signals received by one antenna during a predetermined time span are separated into upper and lower sideband components. These separate components are filtered, converted to digital form, and then multiplied together. Their product is analyzed digitally by means of correlation with quadrature outputs of a local oscillator to determine the power, and the phase relative to that local oscillator, of the carrier wave that is implicit in the double-sideband signal being received from each satellite. Differences in Doppler shift are utilized to distinguish the carriers of different satellites. The signals received at the same time by the other antenna are processed in the same manner. Thus, the powers and carrier phases of the signals from a plurality of satellites are measured simultaneously and numerical data representing the measurement results are obtained at each survey mark. The measurements are performed in real time at each mark without reference to signals that are received at any other place and without knowledge of any of the coded signals that modulate the GPS carriers. The data from the measurements performed simultaneously but independently at the two survey marks.

Claims

1. A method for determining position using carrier suppressed radio signals broadcast from a plurality of earth orbiting satellites, said method comprising:

a. positioning an upward looking omni-directional antenna at a survey mark;

b. measuring the carrier phases implicit in the signals concurrently received from a plurality of the satellites independently of externally derived knowledge of the information content of the modulation thereof by cross-correlating spectral portions of such concurrently received signals, and then

c. processing the measurements to determine position information.

2. The method of claim 1 wherein the measuring step comprises:

a. separating said concurrently received signals into upper and lower sideband components;

b. filtering said separated components to remove spurious signals;

c. multiplying said separated and filtered components together; and

then

d. analyzing the product of said multiplication to determine the phase of a carrier wave implicit in the signals from each satellite.

3. A system for use in measuring position using radio signals broadcast from a plurality of earth orbiting satellites, and including a terminal adapted to be positioned at a point on earth, comprising:

a. an upward looking omni-directional antenna assembly for concurrently receiving radio signals from a plurality of satellites, said antenna assembly including an antenna, and

b. an electronic assembly for converting received carrier-suppressed signals into carrier phase data, said electronics assembly including;

i. a receiver unit for receiving signals from the antenna assembly and outputting signals, representing the upper sideband component of the received signals, the lower sideband of the received signals, and the output of a reference oscillator;

ii. a digital electronics unit for converting the output signals from the receiver unit into carrier phase data, and

iii. a computer for processing said carrier phase data to determine position.

4. The system of claim 3 and wherein said receiver unit includes an upper and lower sideband separator for separating the received signals into their upper and lower sideband components.

5. The system of claim 4 and wherein said digital electronics unit includes a plurality of correlators and a plurality of numerical oscillators.

6. A method for determining position comprising the steps of:

(a) receiving a composite of modulated, carrier-suppressed signals from a plurality of satellites at a first mark with an upward looking omni-directional antenna;

(b) generating a first set of data representative of carrier phases implicit in said signals independently of externally derived knowIedge of the information content of the modulation thereof;

(c) generating a second set of data related to a second mark;

(d) processing said sets of data to determine the relative position of the marks.

7. The method of claim 6 wherein the step of generating the first set of data includes the steps of:

a. separating said composite into first and second components; and

b. correlating said components to generate data related to the implicit carrier phases.

8. The method of claim 7 including the step of distinguishing the contribution of the modulated carrier-suppressed signal received from a particular satellite from the contributions of the other concurrently received signals by using the Doppler shift of said modulated carrier suppressed signal.

9. The method of claim 7 wherein the first and second components are different spectral components.

10. The method of claim 9 wherein the spectral components are sidebands of the suppressed carrier.

11. The method of claim 6 wherein the signals received in step (a) are received concurrently.

12. The method of claim 6 including the step of distinguishing the modulated carrier-suppressed signal received from a particular satellite from the other concurrently received signals by using the Doppler shift of said modulated carrier suppressed signal.

13. The method of determining position information from carrier suppressed signals transmitted concurrently with the same frequencies by a plurality of satellites, comprising:

(a) collecting at a first mark a first composite signal simultaneously including components representing carrier suppressed signals received by an upward looking omni-directional antenna, from more than one of the satellites;

(b) deriving therefrom data related to a selected carrier implicit in the signals received from a selected satellite, independently of externally derived knowledge of the information content of the modulation of that selected carrier; and

(c) processing the data to determine position information.

14. The method of claim 13 wherein additional data are derived related to a second selected carrier implicit in the signals transmitted by the satellites.

15. The method of claim 14 wherein the first composite signal collecting step (a), further comprises:

(d) positioning an upward looking omni-directional antenna at the first mark to receive concurrently the signals from the plurality of satellites.

16. The method of claim 14, further comprising:

(e) deriving at a second mark data related to the signals concurrently transmitted by the plurality of satellites; and

(f) processing the data from both marks to determine relative position.

17. The methods of claims 14 or 16 wherein the data deriving step (b), further comprises:

(g) generating a reconstructed signal including a component whose frequency and phase are related to the frequency and phase of the selected carrier.

18. The method of claim 17 wherein the reconstructed signal generating step (g), further comprises:

(h) separating the first composite signal into first and second spectral components representing substantially different portions of the spectrum of the first composite signal; and

(i) combining the separated spectral components to form the reconstructed signal.

19. The method of claim 18 wherein the spectral component separation step (h) separates the signals received from the satellites into upper and lower sidebands of the selected carrier.

20. The method of claim 18 wherein the reconstructed signal generating step (g), further comprises:

(j) generating a first binary signal representing the time varying sign of the first spectral component;

(k) generating a second binary signal representing the time varying sign of the second spectral component; and

(l) combining the binary signals to form the reconstructed signal.

21. The method of claim 17 wherein the data deriving step (b), further comprises:

(m) generating an estimate of the frequency of the selected carrier component; and

(n) combining the estimate with the reconstructed signal to separate the selected carrier component.

22. The method of claim 21 wherein the data deriving step (b), further comprises:

(o) varying the estimate to track the frequency of the selected carrier component.

23. The method of claim 17 wherein the data deriving step (b), further comprises:

(p) generating a predicted signal based on a prediction, made before the first composite signal is collected, of the Doppler shift of the selected carrier; and

(q) combining the predicted signal with the reconstructed signal to separate the selected carrier component.

24. The method of claim 23 wherein the data deriving step (b), further comprises:

(r) varying the frequency of the predicted signal to maximize the separation of the selected carrier component.

25. The methods of claims 14 or 16 wherein the data deriving step (b), further comprises:

(s) generating a second composite signal including a plurality of reconstructed components having discrete frequencies and phases related to the frequencies and phases of carriers implicit in the signals received from each of the satellites.

26. The method of claim 25 wherein the second composite signal generating step (s), further comprises:

(t) separating the first composite signal into first and second spectral components representing substantially different portions of the spectrum of the first composite signal; and

(u) combining the first and second spectral components to form the second composite signal.

27. The method of claim 26 wherein the selected carrier is a center frequency carrier and the spectral component separation step (t) separates the first composite signal into upper and lower sidebands of the selected center frequency carrier.

28. The method of claim 26 wherein the second composite signal generating step (s), further comprises:

(v) generating a first binary signal representing the time varying sign of the first spectral component;

(w) generating a second binary signal representing the time varying sign of the second spectral component; and

(x) combining the first and second binary signals to form the second composite signal.

29. The method of claim 25 wherein the data deriving step (b), further comprises:

(y) generating an estimate of the frequency of the selected carrier as received; and

(z) combining the estimate with the second composite signal to separate the reconstructed component related to the selected carrier.

30. The method of claim 25 wherein the data deriving step (b), further comprises:

(aa) generating a series of estimates of the frequencies of selected carriers implicit in the signals received from the satellites; and

(ab) combining each of the series of estimates with the second composite signal to separate the reconstructed components.

31. The method of claim 30 wherein the estimate generating generating step (aa), further comprises:

(ac) varying the series of estimates to track the frequencies of the selected carriers.

32. The method of claim 25 wherein the data deriving step (b), further comprises:

(ad) generating a predicted signal based on a prediction, made before the first composite signal is collected, of the Doppler shift of the selected carrier; and

(ae) combining the predicted signal with the second composite signal to separate a reconstructed component related to the selected carrier.

33. The method of claim 25 wherein the data deriving step (b), further comprises:

(af) generating a series of predicted signals based on predictions, made before the first composite signal is collected, of the Doppler shifts of selected carriers implicit in the signals received from the satellites; and

(ag) combining each of the series of predicted signals with the second composite signal to separate the reconstructed components.

34. The method of claim 33 wherein the predicted signal generating step (af), further comprises:

(ah) varying the frequencies of the series of predicted signals to maximize the separation of the reconstructed components.

35. A system for determining position information from carrier suppressed signals transmitted concurrently with the same frequencies by a plurality of satellites, comprising:

(a) means for collecting at a first mark a first composite signal simultaneously including components representing carrier suppressed signals received from more than one of the satellites with an upward looking omni-directional antenna;

(b) means for deriving, from the first composite signal, data related to a selected carrier implicit in the signals transmitted by a selected satellite, independently of externally derived knowledge of the information content of the modulation of that selected carrier; and

(c) means for processing the data to determine position information.

36. The system of claim 35 wherein additional data are derived related to a second selected carrier implicit in the signals transmitted by the satellites.

37. The system of claim 36 wherein the signal collecting means (a), further comprises:

(d) upward looking omni-directional antenna means positioned at the first mark for concurrently receiving the signals from the plurality of satellites.

38. The system of claim 36 further comprising:

(e) means for deriving data at a second mark related to the signals concurrently transmitted by the satellites; and

(f) means for processing the data from both marks to determine relative position.

39. The systems of claims 36 or 38 wherein the data deriving means (b), further comprises:

(g) means for generating a reconstructed signal including a component whose frequency and phase are related to the frequency and phase of the selected carrier.

40. The system of claim 39 wherein the reconstructed signal means (g), further comprises:

(h) means for separating the first composite signal into first and second spectral components representing substantially different portions of the spectrum of the first composite signal; and

(i) means for combining the separated spectral components to form the reconstructed signal.

41. The system of claim 40 wherein the selected carrier is a center frequency carrier and the signal separating means (h), further comprises:

(j) means for separating the signals received from the satellites into upper and lower sidebands of the selected center frequency carrier.

42. The system of claim 40 wherein the reconstructed signal means (g), further comprises:

(k) means for generating a first binary signal representing the time varying sign of the first spectral component;

(l) means for generating a second binary signal representing the time varying sign of the second spectral component; and

(m) means for combining the binary signals to form the reconstructed signal.

43. The system of claim 39 wherein the data deriving means (b), further comprises:

(n) means for generating an estimate of the frequency of the selected carrier component as received; and

(o) means for combining the estimate with the reconstructed signal to separate the selected carrier component.

44. The system of claim 43 wherein the data deriving means (b), further comprises:

(p) means for varying the estimate to track the frequency of the selected carrier component.

45. The system of claim 39 wherein the data deriving means (b), further comprises:

(q) means for generating a predicted signal based on a prediction, made before the first composite signal is collected, of the Doppler shift of the signals from the selected satellite; and

(r) means for combining the predicted signal with the reconstructed signal to separate the selected carrier component.

46. The system of claim 45 wherein the data deriving means (b), further comprises:

(s) means for maximizing the separation of the selected carrier component by varying the frequency of the predicted signal.

47. The systems of claims 36 or 38 wherein the data deriving means (b), further comprises:

(t) means for generating a second composite signal including a plurality of reconstructed components having discrete frequencies and phases related to the frequencies and phases ot carriers implicit in the signals received from each of the satellites.

48. The system of claim 47 wherein the second composite signal generating means (t), further comprises:

(u) means for separating the first composite signal into first and second spectral components representing substantially different portions of the spectrum of the first composite signal; and

(v) means for combining the first and second spectral components to form the second composite signal.

49. The system of claim 48 wherein the selected carrier is a center frequency carrier and the signal separating means (u), comprises:

(w) means for separating the first composite signal into upper and lower sidebands of the selected center frequency carrier.

50. The system of claim 48 wherein the second composite signal generating means (t), further comprises:

(x) means for generating a first binary signal representing the time varying sign of the first spectral component;

(y) means for generating a second binary signal representing the time varying sign of the second spectral component; and

(z) means for combining the first and second binary signals to form the second composite signal.

51. The system of claim 47 wherein the data deriving means (b), further comprises:

(aa) means for generating a series of estimates of the frequencies of selected carriers implicit in the signals received from the satellites; and

(ab) means for combining each of the series with the second composite signal to separate the reconstructed components.

52. The system of claim 51 wherein the estimate generating means (aa), further comprises:

(ac) means for varying the estimates to track the frequencies of the selected carriers.

53. The system of claim 47 wherein the data deriving means (b), further comprises:

(ad) means for generating a series of predicted signals based on predictions, made before the first composite signal is collected, of the Doppler shifts of selected carriers implicit in the signals received from the satellites; and

(ae) means for combining each of the series of predicted signals with the second composite signal to separate the reconstructed components.

54. The system of claim 53 wherein the predicted signal generating means (ad), further comprises:

(af) means for maximizing the separation of the reconstructed components by varying the frequencies of the predicted signals.

55. The method of determining position information from wide spectrum signals transmitted concurrently with the same frequencies by a plurality of satellites, comprising;

(a) collecting at a first mark a first composite signal simultaneously including components representing signals having substantially overlapping wide spectra received from more than one of the satellites;

(aa) reconstructing the first composite to form a second composite simultaneously including a plurality of reconstructed components;

(b) using the frequency of a selected suppressed signal implicit in the signals received from a selected satellite to separate the component related to that satellite from other components of the second composite signal; and

(c) processing the separated component to determine position information.

56. The method of claim 55 wherein the component separation step (b), further comprises:

(d) using the frequencies of selected suppressed signals implicit in the signals from each of the satellites to separate reconstructed components related to each of the satellites.

57. The method of claim 55 wherein the frequency used is based upon the Doppler shift of the signals as received.

58. The method of claim 57 wherein the information determined is phase data related to a selected suppressed signal and such phase data is determined independently of externally derived knowledge of the information content of the modulation of that selected suppressed signal.

59. The method of claim 55 wherein the signal collecting step (a), comprises:

(e) positioning an upward looking omni-directional antenna at the first mark to receive concurrently the signals from the plurality of satellites.

60. The method of claim 55, further comprising:

(f) separating components representing signals received from the satellites at a second mark; and

62. The methods of claims 56 or 60 further comprising:

(h) generating a reconstructed component related in frequency to a suppressed signal implicit in the signals received from the satellite.

64. The method of claim 62 wherein the estimate generating step (i), further comprises:

(k) varying the estimate to track the frequency of the selected suppressed signal.

66. The method of claim 64 wherein the predicted and second composite combining step (m) further comprises:

(n) varying the frequency of the predicted signal to maximize the separation of the related component.

67. The methods of claims 56 or 60 wherein the reconstruction step (aa) further comprises:

(o) generating a second composite signal including a plurality of reconstructed components with discrete frequencies related in frequency to the suppressed signals implicit in the signals received from the satellites.

68. The method of claim 66 wherein the component separation step (b), further comprises:

(p) generating a series of estimates of the frequencies of selected suppressed signals; and

(q) combining the estimates with the second composite signal to separate the reconstructed components.

69. The method of claim 66 wherein the component separation step (b), further comprises:

(r) generating a series of predicted signals based on predictions, made before the first composite signal is collected, of the Doppler shifts of selected suppressed signals; and

(s) combining the predicted signals with the second composite signal to separate the reconstructed components.

71. The system of claim 69 wherein the component separation means (b), further comprises:

(d) means for separating reconstructed components related to each of the satellites by use of the frequencies of suppressed signals implicit in the signals therefrom.

72. The system of claim 69 wherein the frequency used is based upon the Doppler shift of the signals as received.

73. The system of claim 71 wherein the information determined is phase data related to a selected suppressed signal and is determined independently of externally derived knowledge of the information content of the modulation of that selected suppressed signal.

74. The system of claim 69 wherein the signal collecting means (a), further comprises:

(e) upward looking omni-directional antenna means positioned at the first mark to receive concurrently the signals from a plurality of satellites.

75. The system of claim 69, further comprising:

(f) means for separating components representing signals collected from the satellites at a second mark; and

(g) means for processing the components so separated from both marks to determine relative position.

77. The system of claim 75 wherein the component separation means (b), further comprises:

(i) means for generating an estimate of the frequency of the selected suppressed signal; and

(j) means for combining the estimate with the second composite to separate the related reconstructed signal component.

61. (g) processing the components so separated from both marks to determine relative position.

63. The method of claim 61 wherein the component separation step (b), further comprises:

(i) generating an estimate of the frequency of the selected suppressed signal; and

(j) combining the estimate with the second composite to separate the related reconstructed component.

65. The method of claim 61 wherein the component separation step (b), further comprises:

(l) generating a predicted signal based on a prediction, made before the first composite signal is collected, of the Doppler shift of the selected suppressed signal; and

(m) combining the predicted signal with the second composite to separate the related reconstructed signal component.

70. A system for determining position information from wide spectrum signals transmitted concurrently with the same frequencies by a plurality of satellites, comprising:

(a) means for collecting at a first mark a first composite signal simultaneously including components representing signals having substantially overlapping wide spectra received from more than one of the satellites;

(aa) means for reconstructing the first composite to form a second composite simultaneously including a plurality of reconstructed components;

(b) means responsive to the first composite signal for separating the component related to a selected satellite from other components of the first composite signal by use of the frequency of a selected suppressed signal implicit in the signals from that satellite;

(c) means for processing the component so separated to determine position information.

76. The system of claims 70 or 74 further comprising:

(h) means for generating a reconstructed component related in frequency to a suppressed signal implicit in the signals received from the selected satellite.

78. The system of claim 76 wherein the estimate generating means (i), further comprises:

(k) means for varying the estimate to track the frequency of the selected suppressed signal.

79. The systems of claims 70 or 74 wherein the reconstructing means (aa) further comprises:

(l) means for generating a second composite signal including a plurality of reconstructed components with discrete frequencies related in frequency to the suppressed signals implicit in the signals received from the satellites.

80. The system of claim 78 wherein the component separation means (b), further comprises:

(m) means for generating a series of estimates of the frequencies of selected suppressed signals; and

(n) means for combining the series of estimates with the second composite signal to separate the reconstructed components.

81. The system of claim 78 wherein the component separation means (b), further comprises:

(o) means for generating a series of predicted signals based on prediction, made before the first composite signal is collected, of the Doppler shifts of selected suppressed signals; and

(p) means for combining the predicted signals with the second composite signal to separate the reconstructed components.