GPS system and method for deriving pointing or attitude from a single GPS receiver

• US 5,185,610 A
• Filed: 08/20/1990
• Issued: 02/09/1993
• Est. Priority Date: 08/20/1990
• Status: Expired due to Term

• Current Assignee: Texas Instruments, Inc.
• Original Assignee: Texas Instruments, Inc.
• Inventors: Ward, Phillip W., Holmes, Jerry D., Scott, H. Logan, LaPadula, Leonard J.
• Primary Examiner(s): Blum, Theodore M.
• Application Number:
  US07/569,890
• Time in Patent Office: 904 Days
• Field of Search: 342/352, 342/357, 342/356, 364/449
• US Class Current: 342/357.24
• CPC Class Codes: G01S 19/53 Determining attitude
• CPC Class Codes: H04B 7/24 for communication between two or more posts wireless communication networks H04W

Abstract

A GPS single-receiver pointing/attitude system derives pointing/attitude measurements by correlating a selected GPS code (either P or C/A), recovered from GPS navigation signals using a single GPS receiver with multiple GPS antennas (a reference antenna and at least two slave antennas for pointing or three for attitude). For a two antenna pointing application, the GPS receiver (FIG. 4) includes, for each receiver channel, the incoming GPS signals are applied to three code correlators (72-75) assigned to the reference antenna, and three code correlators (76-77) assigned to the slave antenna, which provide corresponding reference and slave I and Q correlation outputs. The single-receiver pointing technique involves: (a) using the reference I and Q correlation outputs to establish a conventional reference antenna tracking loop; and (b) processing the reference and slave I and Q correlation outputs (using differential carrier doppler phase or code phase measurements) to determine phase differences from which pointing can be computed.

Claims

1. A GPS pointing and attitude measurement system using a single GPS receiver and multiple antennas to derive pointing and attitude measurement using a selected PRN code recovered from GPS navigation signals, wherein azimuth and elevation are determined in pointing application and roll, pitch, and yaw are determined in attitude application, comprising:

a reference and at least one slave antenna mounted to a foundation, such that the separation is significantly less than the correlation interval for the selected PRN code;

reference and, for each slave antenna, slave precorrelation electronics for providing respective digital representations of the GPS signals received by said reference and slave antennas;

at least one replica carrier generator for generating a replica of the GPS carrier signal;

at least one replica code generator for generating a replica of the selected GPS PRN code signal;

reference correlation electronics, including a carrier mixer and a selected number of code correlators, responsive to the reference GPS signal, and to replica carrier and replica code signals, for generating reference I and Q correlation outputs;

for each slave antenna, slave correlation electronics including a carrier mixer and at least one code correlator responsive to the slave GPS signals, and to replica carrier and replica code signals, for generating slave I and Q correlation outputs; and

a GPS processor responsive to the reference I and Q correlation outputs for tracking with the reference antenna, and responsive to the reference and slave I and Q correlation outputs for computing pointing and attitude measurements.

2. The GPS single-receiver pointing and attitude system of claim 1, wherein the selected PRN code is C/A-code.

3. The GPS single-receiver pointing and attitude system of claim 1, wherein the selected PRN code is P-code.

4. The GPS single-receiver pointing and attitude system of claim 1, wherein pointing and attitude measurements are computed from differential carrier doppler phase measurements.

5. The GPS single-receiver pointing and attitude system of claim 4, wherein the carrier doppler phase measurement is computed using reference and slave prompt I and Q correlation outputs.

6. The GPS single-receiver pointing and attitude system of claim 5, wherein pointing and attitude measurements are based on computations of carrier phase differences between said reference and slave antennas according to the relationship:

space="preserve" listing-type="equation">TAN.sup.- ((I.sub.RP *Q.sub.SP -Q.sub.RP *I.sub.SP)/(I.sub.RP *I.sub.SP +Q.sub.RP *Q.sub.SP))

where I_RP and Q_RP are respectively in-phase and quadrature prompt correlator outputs for the reference antenna, and I_SP and Q_SP are respectively in-phase and quadrature prompt correlator outputs for the slave antenna.

7. The GPS single-receiver pointing and attitude system of claim 6, wherein differential code phase measurements are used as a coarse measurement for ambiguity resolution.

8. The GPS single-receiver pointing and attitude system of claim 1, wherein said reference correlation electronics includes early, prompt and late code correlators.

9. The GPS single-receiver pointing and attitude system of claim 8, wherein at least one additional code correlator is used for search/ acquisition operations, and after tracking is established with the reference antenna, said additional correlator is assigned to said slave correlation electronics.

10. The GPS single-receiver pointing and attitude system of claim 8, wherein said slave correlation electronics includes early, prompt and late code correlators, and wherein pointing and attitude measurements are computed from differential code phase measurements.

11. The GPS single-receiver pointing and attitude system of claim 10, wherein the pointing and attitude measurements are computed from the early and late reference and slave I and Q correlation outputs.

13. The GPS single-receiver pointing and attitude system of claim 10, wherein the pointing and attitude measurements are computed from the early and late slave I and Q correlation outputs.

14. The GPS single-receiver pointing and attitude system of claim 13, wherein the differential code phase measurements are computed according to the relationship:

space="preserve" listing-type="equation">(1/SLOPE)*((L-E)/L+E))=0.5*((L-E)/(L+E))

where;

L=(I_SL² +Q_SL²)^1/2

E=(I_SE² +Q_SE²)^1/2

SLOPE=2 C/A CHIP^-1

and where I_SE² /Q_SE² are in-phase and quadrature slave early correlation outputs, and I_SL² /Q_SL² are in-phase and quadrature slave late correlation outputs.

15. The GPS single-receiver pointing and attitude system of claim 1, wherein a single set of replica carrier and code generators is used in common in generating both the reference and slave I and Q correlation outputs.

16. The GPS single-receiver pointing and attitude system of claim 1, wherein each antenna includes an index, such that the antennas can mounted to said foundation with a selected relative orientation to minimize antenna phase center migration errors.

17. The GPS single-receiver pointing and attitude system of claim 1, further comprising external sensors are used to provide pointing vector boundary conditions to facilitate ambiguity resolution.

18. The GPS single-receiver pointing and attitude system of claim 1, further comprising, for each slave antenna, an intermediate slave antenna mounted asymmetrically with respect to the slave antenna, and an antenna switching circuit, such that said slave precorrelation and correlation electronics are switched between the slave and intermediate antennas to facilitate ambiguity resolution.

19. The GPS single-receiver pointing and attitude system of claim 1, wherein the GPS receiver is a P-code receiver that tracks both the Ll and L2 GPS signals, producing two different standing wave patterns that facilitate ambiguity resolution and which can be used to correct for differential multi-path error.

20. The GPS single-receiver pointing and attitude system of claim 1, wherein a single slave antenna is mounted on said foundation, and wherein the resulting reference and slave I and Q correlation outputs are used to compute pointing measurements.

21. The GPS single-receiver pointing and attitude system of claim 20, wherein said reference and slave antennas are mounted on a pointing fixture beam with a separation of about 1-5 meters.

22. The GPS single-receiver pointing and attitude system of claim 20, wherein at least one additional slave antenna is mounted co-linearly on said foundation, and wherein the resulting reference and slave I and Q correlation outputs are used to compute pointing measurements with an oversolution.

23. The GPS single-receiver pointing and attitude system of claim 1, wherein two slave antennas are mounted non-co-linearly on a planar foundation, and wherein the resulting reference and slave I and Q correlation outputs are used to compute attitude measurements.

24. The GPS single-receiver pointing and attitude system of claim 23, wherein at least one additional slave antenna mounted to the foundation, and wherein the resulting reference and slave I and Q correlation outputs are used to compute attitude measurements with an oversolution.

27. The GPS single-receiver pointing and attitude method of claim 24, wherein the selected PRN is P-code.

12. The GPS single-receiver pointing and attitude system of claim wherein the differential code phase measurements are computed according to the relationship:

space="preserve" listing-type="equation">(RLE-REE-SLE+SEE)/(RLE+REE+SLE+SEE)

where

REE=SQRT (I_RE² +Q_RE²)

RLE=SQRT (I_RL² +Q_RL²)

SEE=SQRT (I_SE² +Q_SE²)

SLE=SQRT (I_SL² +Q_SL²)

and where I_RE² /Q_RE² are in-phase and quadrature reference Early correlation outputs, I_RL² /Q_RL² are in-phase and quadrature reference late correlation outputs, I_SE² /Q_SE² are in-phase and quadrature slave Early correlation outputs, and I_SL² /Q_SL² are in-phase and quadrature slave Late correlation outputs.

25. A GPS pointing and attitude measurement method using a single GPS receiver and multiple antennas to derive pointing and attitude measurements using a selected PRN code recovered from GPS navigation signals, wherein azimuth and elevation are determined in pointing applications and roll, pitch and yaw are determined in attitude applications, comprising the steps:

mounting a reference and at least one slave antenna mounted to a foundation, such that the separation is significantly less than the correlation interval for the selected PRN code;

for the reference antenna, establishing a reference antenna tracking loop to generate reference I and Q correlation outputs using a set of reference code correlators and the selected PRN code signals;

for each slave antenna, generating slave I and Q correlation outputs using at lest one slave code correlator and the selected PRN code signals; and

processing the reference and slave I and Q correlation outputs to compute pointing and attitude measurements.

26. The GPS single-receiver pointing and attitude method of claim 25, wherein the selected PRN code is C/A-code.

28. The GPS single-receiver pointing and attitude method of claim 25, wherein pointing and attitude measurements are computed from differential carrier doppler phase measurements.

29. The GPS single-receiver pointing and attitude method of claim 28, wherein the carrier doppler phase measurement is computed using reference and slave prompt I and Q correlation outputs.

30. The GPS single-receiver pointing and attitude method of claim 29, wherein pointing and attitude measurements are based on computing carrier phase differences between said reference and slave antennas according to the relationship:

space="preserve" listing-type="equation">TAN.sup.-1 ((I.sub.RP *Q.sub.SP -Q.sub.RP *I.sub.SP)/(I.sub.RP *I.sub.SP +Q.sub.RP *Q.sub.SP ((

where I_RP and Q_RP are respectively in-phase and quadrature prompt correlator outputs for the reference antenna, and I_SP and Q_SP are respectively in-phase and quadrature prompt correlator outputs for the slave antenna.

31. The GPS single-receiver pointing and attitude method of claim 30, further comprising the step of using differential code phase measurements as a coarse measurement for ambiguity resolution prior to computing pointing and attitude.

32. The GPS single-receiver pointing and attitude method of claim 25, wherein pointing and attitude measurements are computed from differential code phase measurements using early and late reference and slave correlation outputs.

33. The GPS single-receiver pointing and attitude method of claim 32, wherein the differential code phase measurements are computed according to the relationship:

space="preserve" listing-type="equation">(RLE-REE-SLE+SEE)/(RLE+REE+SLE+SEE)

where;

REE=SQRT (I_RE² +Q_RE²)

RLE=SQRT (I_RL² +Q_RL²)

SEE=SQRT (I_SE² +Q_SE²)

SLE=SQRT (I_SL² +Q_SL²)

and where I_RE² /Q_RE² are in-phase and quadrature reference Early correlation outputs, I_RL² /Q_RL² are in-phase and quadrature reference late correlation outputs, I_SE² /Q_SE² are in-phase and quadrature slave Early correlation outputs, and I_SL² /Q_SL² are in-phase and quadrature slave Late correlation outputs.

34. The GPS single-receiver pointing and attitude method of claim 31, wherein the pointing and attitude measurements are computed using early and late slave I and Q correlation

35. The GPS single-receiver pointing and attitude method of claim 34, wherein the differential code phase measurements are computed according to the relationship:

space="preserve" listing-type="equation">(1/SLOPE)*((L-E)/L+E))=0.5*((L-E)/(L+E))

where;

L=(I_SL² +Q_SL²)^1/2

E=(I_SE² +Q_SE²)^1/2

SLOPE=2 C/A CHIP^-1

and where I_SE² /Q_SE² are in-phase and quadrature slave early correlation outputs, and I_SL² /Q_SL² are in-phase and quadrature slave late correlation outputs.

36. The GPS single-receiver pointing and attitude method of claim 25, wherein the reference and slave I and Q correlation outputs are generated using a single set of replica carrier and code signals.

37. The GPS single-receiver pointing and attitude method of claim 25, wherein a single slave antenna is used, and wherein the resulting reference and slave I and Q correlation outputs are processed to compute pointing measurements.

38. The GPS single-receiver pointing and attitude method of claim 37, wherein at least one additional slave antenna is mounted on said foundation co-linearly, and wherein the resulting reference and slave correlation outputs are used to compute pointing measurements with an oversolution.

39. The GPS single-receiver pointing and attitude method of claim 25, wherein two slave antennas are mounted non-co-linearly on a planar foundation, and wherein the resulting reference and slave I and Q correlation outputs are processed to compute attitude measurements.

40. The GPS single-receiver pointing and attitude method of claim 39, wherein at least one additional slave antenna is mounted to the foundation, and wherein the resulting reference and slave I and Q correlation outputs are processed to compute attitude measurements with an oversolution.