Dual satellite navigation system

• US 5,017,926 A
• Filed: 12/05/1989
• Issued: 05/21/1991
• Est. Priority Date: 12/05/1989
• Status: Expired due to Term

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Ames, William G., Gilhousen, Klein S., Jacobs, Irwin M., Weaver, Lindsay A. Jr.
• Primary Examiner(s): Issing, Gregory C.
• Application Number:
  US07/446,979
• Time in Patent Office: 532 Days
• Field of Search: 342/357, 342/353
• US Class Current: 342/353
• CPC Class Codes: G01S 13/46 Indirect determination of position data
• CPC Class Codes: G01S 13/876 Combination of several spaced transponders or reflectors of known location for determining the position of a receiver G01S13/874 takes precedence
• CPC Class Codes: G01S 19/00 Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
• CPC Class Codes: G01S 19/38 Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
• CPC Class Codes: G01S 2013/466 by Trilateration, i.e. two antennas or two sensors determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the antennas or sensors, the position data of the target is determined
• CPC Class Codes: G01S 5/14 Determining absolute distances from a plurality of spaced points of known location

Abstract

A method and system for determining the position of an object using a fixed station and a plurality of earth orbit satellites whose positions are known. Separate periodic signals are transmitted from the fixed station via first and second satellites to the object whose postion is to be determined. The phase offset in periodic characteristics of the periodic signals as received from the first and second satellites is measured at the object. The phase offset corresponds to a relative time difference in propagation of the signals traveling two different paths to the object. The object transmits via the first satellite a return signal indicative of the measured relative time difference. This return signal is activated some time in the future according to the object local time, which is slaved to receipt of the periodic signal sent through the first satellite. This future time is the start of the particular time period as decided by the fixed station'"'"'s schedule. At the fixed station, an instantaneous round trip delay, determined by the time offset of the current transmission clock time relative to the receive clock time of reception of the return signal, along with the measured relative time difference sent back on the return signal, is used to calculate the distances between the first and second satellites to the object. From these distances the position of the object is calculated.

Claims

1. A method for determining the position of an object in a reference coordinate system using a fixed station and a plurality of earth orbit satellites wherein the positions of said fixed station and said satellites are known in said reference coordinate system with respect to a reference point and the distances from said fixed station to said satellites are also known, said method comprising the steps of:

transmitting from said fixed station a forward periodic signal synchronized to a fixed station transmission clock via first and second satellites to an object whose position is to be determined;

receiving at said object said forward periodic signal;

synchronizing at said object an object clock to said received forward periodic signal transmitted via said first satellite;

measuring at said object a first relative time difference in said forward periodic signal as transmitted via said first and second satellites and received at said object;

transmitting from said object to said fixed station via said first satellite a return signal synchronized with said object clock and modulated with information indicative of said first relative time difference;

receiving at said fixed station said return signal;

synchronizing at said fixed station a fixed station reception clock to said received return signal;

measuring at said fixed station a second relative time difference between said fixed station transmission and reception clocks;

calculating at said fixed station, from said first and second relative time differences, respective distances from said first and second satellites to said object; and

computing the position of said object in said reference coordinate system.

2. The method of claim 1 wherein said step of transmitting said forward signal comprises the steps of:

generating a first forward periodic signal having a signal carrier swept linearly in frequency in a cyclical fashion over a first predetermined frequency range with each cycle of said first forward periodic signal carrier being of a predetermined time period, said first periodic signal capable of being modulated with information;

generating a second forward periodic signal having a signal carrier swept linearly in frequency in said cyclical fashion over a second predetermined frequency range with each cycle of said second forward periodic signal carrier being of said predetermined time period, said first and second periodic signals both synchronized to said fixed station transmission clock; and

radiating said first and second forward signals from a respective fixed station antenna to a respective one of said first and second satellites.

3. The method of claim 1 wherein the step of measuring said first relative time difference comprises the step of:

measuring a percent phase offset, with respect to a forward periodic signal period, between a portion in cyclic modulation of said forward signal as received at said object via said second satellite with respect to a similar portion in cyclic modulation of said forward signal as received at said object via said first satellite.

4. The method of claim 1 wherein said step of transmitting said return signal comprises the steps of:

generating said return signal, said return signal encoded with information indicative of said first relative time difference between said forward signal as received at said object via said first and second satellites as measured just prior to transmission of said return signal; and

radiating said return signal from an object antenna to said fixed station via said first satellite.

5. The method of claim 1 wherein said step of calculating respective distances from said first and second satellites to said object comprises the steps of:

determining from said second relative time difference a round trip time value corresponding to a round trip signal propagation delay of a signal traveling from said fixed station to said object and back via said first satellite;

determining from said return signal said first relative time difference by demodulating said information modulated on said return signal indicative of said first relative time difference;

determining from said round trip time value and said first relative time difference, forward propagation times for said forward signal as transmitted via said first and second satellites to said object;

determining distances that said forward signal traversed by multiplying a value corresponding to each forward propagation time by a known value corresponding to a velocity of propagation of said forward signal; and

subtracting from values each corresponding to said distances said forward signal traversed, a respective value corresponding to said known distance from said fixed station to each respective satellite.

6. The method of claim 4 wherein said step of calculating respective distances from said first and second satellites to said object comprises the steps of:

determining from said second relative time difference a round trip time value corresponding to a round trip signal propagation delay of a signal traveling from said fixed station to said object and back via said first satellite;

determining from said return signal said first relative time difference by demodulating said information modulated on said return signal indicative of said first relative time difference;

determining from said round trip time value and said first relative time difference, forward propagation times for said forward signal as transmitted via said first and second satellites to said object;

determining distances that said forward signal traversed by multiplying a value corresponding to each forward propagation time by a known value corresponding to a velocity of propagation of said forward signal; and

subtracting from values each corresponding to said distances said forward signal traversed, a respective value corresponding to said known distance from said fixed station to each respective satellite.

7. The method of claim 4 wherein the step of calculating the distance from said first satellite to said object comprises the steps of:

commanding, on said forward signal, for said object at a particular identifiable future time referenced to said object clock to begin transmitting said return signal;

generating a round trip signal propagation time value corresponding to said second relative time difference;

dividing said round trip signal propagation time value in half to provide a first one-way signal propagation time value indicative of a first propagation time for said forward signal sent via said first satellite to said object;

multiplying said first one-way signal propagation time value by a first predetermined constant value corresponding to a velocity of propagation of an electromagnetic signal between said fixed station and said first satellite, and between said first satellite and said object, to provide a first distance value corresponding to a distance travelled by said forward signal between said fixed station and said object via said first satellite; and

subtracting from said first distance value a first known distance value corresponding to said known distance between said fixed station and said first satellite to provide a second distance value corresponding to said distance between said first satellite and said object.

8. The method of claim 7 wherein the step of calculating the distance from said second satellite to said object comprises the steps of:

demodulating said return signal to provide a first relative time difference value corresponding to said first relative time difference;

adding said first relative time difference value to said first one-way signal propagation time value to provide a second one-way signal propagation time value indicative of a second propagation time for said forward signal transmitted via said second satellite to said object;

multiplying said second one-way signal propagation time value by said first predetermined constant value corresponding to a velocity of propagation of an electromagnetic signal between said fixed station and said second satellite, and between said second satellite and said object, to provide a third distance value corresponding to a distance travelled by said forward signal between said fixed station and said object via said second satellite; and

subtracting from said third distance value a second known distance value corresponding to said known distance between said fixed station and said second satellite to provide a fourth distance value corresponding to said distance between said second satellite and said object.

9. The method of claim 4 further comprising the steps of spread spectrum modulating said return signal for transmission.

10. The method of claim 2 wherein said step of transmitting said return signal comprises the steps of:

generating said return signal, said return signal encoded with information indicative of said first relative time difference between said forward signal as received at said object via said first and second satellites as measured just prior to transmission of said return signal; and

radiating said return signal from an object antenna to said fixed station via said first satellite.

11. The method of claim 10 further comprising the steps of:

modulating information, intended for said object of a first user group, upon said first forward signal for communication to said object; and

modulating other information intended for said fixed station upon said object return signal for communication to said fixed station.

12. The method of claim 11 further comprising the steps of:

modulating information, intended for another object of a second user group, upon said second forward signal for communication to said another object;

transmitting another return signal from said another object, said another return signal containing information indicative of a measured time difference at said another object in reception of said first and second forward signals; and

modulating other information intended for said fixed station upon said another object return signal for communication to said fixed station.

13. The method of claim 12 further comprising the steps of:

relaying said first forward signal through a first transponder of said first satellite to said object and said another object;

relaying said second forward signal through a first transponder of said second satellite to said object and said another object;

relaying said return signal through a second transponder of said first satellite to said fixed station and

relaying said another return signal through a second transponder of said second satellite to said fixed station.

14. The method of claim 12 further comprising the steps of:

relaying said first forward signal through a first transponder of said first satellite to said object and said another object;

relaying said second forward signal through a first transponder of said second satellite to said object and said another object;

relaying said return signal and said another return signal through a second transponder of said first satellite to said fixed station.

15. The method of claim 12 further comprising the steps of:

relaying said first forward signal through a first transponder of said first satellite to said object and said another object;

relaying said second forward signal through a first transponder of said second satellite to said object and said another object;

relaying said return signal through said first satellite first transponder to said fixed station; and

relaying said another return signal through said second satellite first transponder to said fixed station.

16. The method of claim 1 wherein the steps of computing the position of said object relative to the position of said first and second satellites comprises:

trilaterating the position of said object by solving a set of three independent nonlinear equations having unknown object position components in cartesian x-y-z coordinates, known satellite components in cartesian x-y-z coordinates, a known approximate distance from the center of the earth to said object and measured respective distances from said first and second satellites to said object.

17. A method of object position determination using a plurality of earth orbiting satellites and a fixed station whose positions are known in an Earth-Centered-Earth-Fixed (ECEF) coordinate frame and an earth shape model in which the distance from the center of the earth to any location on the surface of the earth is known within said ECEF coordinate frame, comprising the steps of:

simultaneously transmitting from a fixed station first and second forward periodic signal, synchronized to a fixed station forward transmission clock, via first and second satellites respectively to an object whose position is to be determined;

receiving said first and second forward signals at said object, said first forward signal bearing information indicative of a future time frame which said object will begin transmitting a return signal according to an object clock synchronized to said first forward signal as received at said object;

measuring at said object a percent phase offset of a total modulation period between similar portions or received carrier modulation of said first and second forward signals, said percent offset corresponding to a first relative time difference in said first and second forward signals as received at said object;

transmitting from said object via said first satellite to said fixed station said return signal encoded with information indicative of said first relative time difference;

measuring at said fixed station a round trip delay where said round trip delay is a second relative time difference between said fixed station forward transmission clock and a fixed station return reception clock synchronized with said return signal as received at said fixed station;

calculating a first distance from said first satellite to said object according to said round trip delay;

calculating a second distance from said second satellite to said object according to said round trip delay and said first relative time difference; and

calculating a position of said object within said ECEF coordinate frame according to said first and second distances and said earth shape model.

18. The method of claim 17 wherein said object whose position is to be determined is a vehicle having a mobile communication terminal capable of two-way communications with said fixed station via at least one of said plurality of earth satellites.

19. The method of claim 18 wherein said fixed station is capable of independently initiating a vehicle location determination command and capable of two-way communications with said vehicle mobile communication terminal.

20. The method of claim 17 further comprising the step of initially determining the respective positions of said first and second satellites within said reference ECEF coordinate system.

21. The method of claim 20 wherein the step of determining said positions of said first and second satellites comprises:

determining respective distances from each of said first and second satellites to first, second and third fixed observing sites whose positions are known relative to an approximate center of the earth; and

trilaterating said positions of said first and second satellites by solving for each of said first and second satellites a set of three independent nonlinear equations having unknown satellite position components in cartesian x-y-z coordinates, known fixed observing site position components in ECEF cartesian x-y-z coordinates and measured respective distances from said first, second and third fixed observing sites to a corresponding one of said first and second satellites.

22. A system for determining the position of an object in an Earth-Centered-Earth-Fixed reference coordinate system using a fixed station located at a known position and a plurality of earth orbit satellites whose positions are also known along with the distances between the fixed station and the satellites, comprising:

first communication means located at said fixed station for, generating a periodic signal synchronized to a first communication means transmission clock and transmitting said periodic signal to said object via at least two of said satellites;

second communications means located at said object for, receiving said periodic signal, synchronizing a second communications means clock to said received periodic signal transmitted via a first satellite of said at least two of said satellites and received by said second communications means, measuring a first relative time difference between said periodic signal as transmitted via said first satellite and a second satellite of said at least two of said satellites and received by said second communications means, generating a return signal indicative of said first relative time difference, and transmitting said return signal via said first satellite to said first communications means; and

wherein said first communication means further is for, receiving said return signal, synchronizing a first communications means reception clock to said received return signal, measuring a second relative time difference between said first communications means transmission and reception clocks, determining from said first and second relative time differences and said known distances between said first and second satellites respective distances between said first and second satellites and said object, and for determining from said known positions of said first and second satellites, said distances between said first and second satellites to said object and a known distance from said object to a reference point within said reference coordinate system, said object position.

23. The system of claim 22 wherein said first and second communications means are capable of two-way communications with respect to one another via said plurality of satellites.

24. The system of claim 22 wherein said first communications means is capable of independently initiating an object position determination.

25. The system of claim 22 further comprising satellite tracking means for determining the respective position of each one of said satellites within said ECEF coordinate system.