Differential doppler velocity GPS receiver
First Claim
1. A GPS satellite receiver for computing the velocity of the receiver from information obtained from the apparent doppler frequency shift of four carrier signals each transmitted by a respective one of four satellites, the receiver comprising in combination:
- means for receiving each of the carrier signals;
means for computing,a first number which represents the difference between,the apparent doppler frequency shift of the received carrier signal which is transmitted by a first one of the satellites and which is measured over a first predetermined time period, andthe apparent doppler frequency shift of the received carrier signal which is transmitted by one of said satellites other than said first satellite and which is measured over a predetermined time period at least a portion of which includes at least a portion of said first predetermined time period,a second number which represents the difference between,the apparent doppler frequency shift of the received carrier signal which is transmitted by a second one of said satellites and which is measured over a second predetermined time period, andthe apparent doppler frequency shift of the received carrier signal which is transmitted by one of said satellites other than said second satellite and which is measured over a predetermined time period at least a portion of which includes at least a portion of said second predetermined time period,a third number which represents the difference between,the apparent doppler frequency shift of the received carrier signal which is transmitted by a third one of said satellites and which is measured over a third predetermined time period, andthe apparent doppler frequency shift of the received carrier signal which is transmitted by one of said satellites other than said third satellite and which is measured over a predetermined time period at least a portion of which includes at least a portion of said third predetermined time period; and
means for computing the velocity of the receiver from said first, said second, and said third numbers.
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Accused Products
Abstract
To reduce error introduced by the local oscillator in the velocity calculations, the receiver has two "tracking channels" and a microcomputer. With numbers required to, simultaneously, lock each of the "tracking channels" each to a respective satellite signal, the microcomputer employs a differential doppler technique to calculate the receiver velocity. The microcomputer calculates a number which represents the difference between the apparent doppler frequency shift of the carrier signal which is transmitted by the first "tracking channel" satellite and which is measured over a specific time period and the apparent doppler frequency shift of the carrier signal which is transmitted by the second "tracking channel" satellite and which is measured over substantially the same time period.
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Citations
10 Claims
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1. A GPS satellite receiver for computing the velocity of the receiver from information obtained from the apparent doppler frequency shift of four carrier signals each transmitted by a respective one of four satellites, the receiver comprising in combination:
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means for receiving each of the carrier signals; means for computing, a first number which represents the difference between, the apparent doppler frequency shift of the received carrier signal which is transmitted by a first one of the satellites and which is measured over a first predetermined time period, and the apparent doppler frequency shift of the received carrier signal which is transmitted by one of said satellites other than said first satellite and which is measured over a predetermined time period at least a portion of which includes at least a portion of said first predetermined time period, a second number which represents the difference between, the apparent doppler frequency shift of the received carrier signal which is transmitted by a second one of said satellites and which is measured over a second predetermined time period, and the apparent doppler frequency shift of the received carrier signal which is transmitted by one of said satellites other than said second satellite and which is measured over a predetermined time period at least a portion of which includes at least a portion of said second predetermined time period, a third number which represents the difference between, the apparent doppler frequency shift of the received carrier signal which is transmitted by a third one of said satellites and which is measured over a third predetermined time period, and the apparent doppler frequency shift of the received carrier signal which is transmitted by one of said satellites other than said third satellite and which is measured over a predetermined time period at least a portion of which includes at least a portion of said third predetermined time period; and means for computing the velocity of the receiver from said first, said second, and said third numbers.
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2. A GPS satellite receiver for computing the velocity of the receiver from information obtained from the apparent doppler frequency shift of four carrier signals each transmitted by a respective one of four satellites, the receiver comprising in combination:
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means for receiving each of the carrier signals; means for computing a first number which represents the difference between the apparent doppler frequency shift of the received carrier signal which is transmitted by a jth one of the satellites and which is measured over a first predetermined time period and the apparent doppler frequency shift of the received carrier signal which is transmitted a kth one of said satellites and which is measured over a predetermined time period at least a portion of which includes at least a portion of said first predetermined time period, said first number being equal to;
space="preserve" listing-type="equation">((v.sub.j ·
r.sub.j +v.sub.u ·
r.sub.j)-(v.sub.k ·
r.sub.k +v.sub.u ·
r.sub.k))(2f.sub.c /c)where; vj is the (three dimensional) velocity of said jth satellite, rj is a unit vector pointing from said jth satellite to the receiver, vk is the velocity of said kth satellite, rk is a unit vector pointing from said kth satellite to said receiver, vu is said receiver velocity, fc is the carrier frequency of said satellites, and c is the speed of light, a second number which represents the difference between the apparent doppler frequency shift of the received carrier signal which is transmitted by an lth one of said satellites and which is measured over a second predetermined time period and the apparent doppler frequency shift of the received carrier signal which is transmitted by an mth one of said satellites and which is measured over a predetermined time period at least a portion of which includes at least a portion of said second predetermined time period, said second number being equal to;
space="preserve" listing-type="equation">((v.sub.l ·
r.sub.l +v.sub.u ·
r.sub.l)-(v.sub.m ·
r.sub.m +v.sub.u ·
r.sub.m))(2f.sub.c /c)where; vl is the (three dimensional) velocity of said lth satellite, rl is a unit vector pointing from said lth satellite to said receiver, vm is the velocity of said mth satellite, rm is a unit vector pointing from said mth satellite to said receiver, and a third number which represents the difference between the apparent doppler frequency shift of the received carrier signal which is transmitted by an nth one of said satellites and which is measured over a third predetermined time period and the apparent doppler frequency shift of the received carrier signal which is transmitted by an oth one of said satellites and which is measured over a predetermined time period at least a portion of which includes at least a portion of said third predetermined time period, said third number being equal to;
space="preserve" listing-type="equation">((v.sub.n ·
r.sub.n +v.sub.u ·
r.sub.n)-(v.sub.o ·
r.sub.o +v.sub.u ·
r.sub.o))(2f.sub.c /c)where; vn is the (three dimensional) velocity of said nth satellite, rn is a unit vector pointing from said nth satellite to said receiver, vo is the velocity of said oth satellite, ro is a unit vector pointing from said oth satellite to said receiver; and means for computing the velocity of said receiver from said first, said second, and said third numbers.
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3. A GPS satellite receiver for computing the velocity of the receiver from information obtained from the apparent doppler frequency shift of four carrier signals each transmitted by a respective one of four satellites, the receiver comprising in combination:
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a receiver channel for receiving each of the carrier signals; a first tracking channel connected to said receiver channel, said first tracking channel for determining the apparent doppler frequency shift of the one of said received carrier signals which is transmitted by a first one of the satellites; a second tracking channel connected to said receiver channel, said second tracking channel for determining the apparent doppler frequency shift of the one of said received carrier signals which is transmitted by a second one of said satellites; and computing means connected to said first and said second tracking channels, said computing means for computing a first number which represents the difference between the apparent doppler frequency shift of said first satellite-received-carrier signal measured over a first predetermined time period and the apparent doppler frequency shift of said second satellite-received-carrier signal measured over a predetermined time period at least a portion of which includes at least a portion of said first predetermined time period and for computing the velocity of the receiver with said first number. - View Dependent Claims (4, 5, 6)
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7. A GPS satellite receiver for computing the velocity of the receiver from information obtained from the apparent doppler frequency shift of four carrier signals each transmitted by a respective one of four satellites and each biphase modulated by a respective PRN code, the receiver comprising in combination:
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a receiver channel for receiving and for down-converting the frequency of each of the carrier signals; a first tracking channel connected to said receiver channel, said first tracking channel for determining the apparent doppler frequency shift of the one of said down-converted-carrier signals which is transmitted by a first one of the satellites, said first tracking channel including, carrier-synthesizer means for generating a first signal having a frequency established by a first set of number signals; PRN-code-synthesizer means for generating an early, a punctual, and a late signal each representing said first satellite-PRN code and each having a phase established by first tracking-channel-PRN-code-synthesizer-means-driving signals; exclusive-OR-gate means connected to said first tracking-channel-PRN-code-synthesizer means and connected to said receiver channel, said first tracking-channel-exclusive-OR-gate means for comparing the state of a signal developed from said first satellite-down-converted-signal with the state of said first tracking-channel-PRN-code-synthesizer-means-generated punctual signal to develop a signal, Q-counter means connected to said first tracking-channel-carrier-synthesizer means and connected to said first tracking-channel-exclusive-OR-gate means, said first tracking-channel-Q-counter means for developing signals representing a count which is incremented at each of a series of times marked by said first tracking-channel-carrier-synthesizer-means-generated first signal when said first tracking-channel-exclusive-OR-gate-developed signal has a predetermined one of two states and decremented at each of said first tracking-channel-carrier-synthesizer-means-generated-first-signal marked times otherwise; a second tracking channel connected to said receiver channel, said second tracking channel for determining the apparent doppler frequency shift of the one of said received carrier signals which is transmitted by a second one of the satellites, said second tracking channel including, carrier-synthesizer means for generating a first signal having a frequency established by a second set of number signals; PRN-code-synthesizer means for generating an early, a punctual, and a late signal each representing said second satellite-PRN code and each having a phase established by second tracking-channel-PRN-code-synthesizer-means-driving signals; exclusive-OR-gate means connected to said second tracking-channel-PRN-code-synthesizer means and connected to said receiver channel, said second tracking-channel-exclusive-OR-gate means for comparing the state of a signal developed from said second satellite-down-converted-signal with the state of said second tracking-channel-PRN-code-synthesizer-means-generated punctual signal to develop a signal, Q-counter means connected to said second tracking-channel-carrier-synthesizer means and connected to said second tracking-channel-exclusive-OR-gate means, said second tracking-channel-Q-counter means for developing signals representing a count which is incremented at each of a series of times marked by said second tracking-channel-carrier-synthesizer-means-generated first signal when said second tracking-channel-exclusive-OR-gate-developed signal has a predetermined one of two states and decremented at each of said second tracking-channel-carrier-synthesizer-means-generated-first-signal marked times otherwise; and computer means connected to said first tracking-channel-carrier-synthesizer means, connected to said first tracking-channel-Q-counter means, connected to said second tracking-channel-carrier-synthesizer means, and connected to said second tracking-channel-Q-counter means, said computer means being responsive to said first tracking-channel-Q-counter-means-developed signals and operative to develop said first tracking-channel-carrier-synthesizer-means-driving first number signals so as to lock the frequency of said first tracking-channel-carrier-synthesizer-means-generated first signal to the frequency of said first satellite-down-converted-signal and responsive to said second tracking-channel-Q-counter-means-developed signals and operative to develop said second tracking-channel-carrier-synthesizer-means-driving second number signals so as to lock the frequency of said second tracking-channel-carrier-synthesizer-means-generated first signal to the frequency of said second satellite-down-converted-signal. - View Dependent Claims (8, 9, 10)
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Specification