Sequencer for a shared channel global positioning system receiver

• US 5,192,957 A
• Filed: 07/01/1991
• Issued: 03/09/1993
• Est. Priority Date: 07/01/1991
• Status: Expired due to Term

• Current Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Kennedy, Howard L.
• Primary Examiner(s): BLUM, THEODORE M
• Application Number:
  US07/724,261
• Time in Patent Office: 617 Days
• Field of Search: 342/357, 342/356, 342/352
• US Class Current: 342/357.63
• CPC Class Codes: G01S 19/30 code related G01S19/246 takes precedence
• CPC Class Codes: G01S 19/37 Hardware or software details of the signal processing chain

Abstract

A shared channel GPS (Global Positioning System) receiver for receiving a plurality of coded satellite signals. The plurality of satellite signals is transmitted by a corresponding plurality of satellites. Since these satellites are moving rapidly with respect to the receiver, Doppler shifting of the signals is exhibited. The signals are converted from analog to digital at intermediate frequency levels. The signals are then separated simultaneously into a plurality of digital signals corresponding to channel information for each transmitting satellite. One channel of the receiver sequence through a number of the satellites on a time division multiplexed basis. The channel estimates a plurality of parameter pertaining to each satellite so that re-acquisition of the satellite'"'"'s transmission may be facilitated. A processor then converts these channel information signals to pseudo-range and broadcast data for navigation and time purposes.

Claims

1. A shared channel Global Positioning System (GPS) receiver for receiving a plurality of coded satellite signals from a plurality of satellites, said signals exhibiting Doppler shifting, said GPS receiver comprising:

means for converting said coded satellite signals to intermediate frequency signals;

A/D means coupled to said means for converting, said A/D means for simultaneously translating said intermediate frequency signals for said plurality of coded satellite signals to a plurality of digital signals;

correlation means coupled to said A/D means, said correlation means for simultaneously separating each of said plurality of digital signals corresponding to each said satellite to provide channel information signals for each said satellite;

channel means coupled to said correlation means, said channel means for estimating a plurality of parameters describing each satellite'"'"'s expected position and an expected frequency of transmission of said coded satellite signals including Doppler compensation for each of said plurality of said satellites on a time division multiplexed basis; and

processor means coupled to said correlation means and to said channel means, said processor means for retrieving information transmitted from each of said satellites in response to channel information signals.

2. A GPS receiver as claimed in claim 1, wherein said processor means includes:

processor unit means;

read only memory (ROM) means coupled to said processor unit means, said ROM means for storing operating programs for execution by said processor unit means; and

random access memory (RAM) means coupled to said processor unit means, said RAM means for storing dynamically changing data including said plurality of parameters.

3. A GPS receiver as claimed in claim 2, wherein said correlation means includes numerically controlled oscillator (NCO) means coupled to said processor unit means, said numerically controlled oscillator means including:

adding means coupled to said processor unit means;

register means coupled to said adding means and to said processor unit means, said register means for storing a plurality of bits representing a phase of the expected satellite frequency; and

delay means coupled between said register means and said adding means, said delay means for delaying by at least one clock cycle bits output from said register means to said adding means.

4. A GPS receiver as claimed in claim 3, wherein said channel means includes:

means for determining an estimated pseudorange of each said satellites coupled to said processor unit means;

means for determining an estimated code positions for each said satellite coupled to said processor unit means;

means for determining an estimated NCO phase coupled to said processor unit means and to said NCO means; and

means for determining an estimated NCO frequency for each satellite coupled to said processor unit means and to said NCO means.

5. A GPS receiver as claimed in claim 4, wherein said means for determining said estimated pseudorange includes means for smoothing said estimated pseudorange to remove noise from said estimated pseudorange to produce an accurate pseudorange for accurate position location by said GPS receiver.

6. A GPS receiver as claimed in claim 5, wherein said means for smoothing said estimated pseudorange includes:

first adder means coupled to said means for determining said estimated pseudorange and to a source of said pseudorange+noise, said first adder means producing a first sum;

low pass filter means coupled to said adder means, said low pass filter means for removing said noise from said first sum to produce a bias output; and

second adder means coupled to said low pass filter means and to said means for determining said estimated pseudorange, said second adder means for adding a negative of said bias output with a pseudorange+bias output of said means for determining said estimated pseudorange to produce a smoothed estimated pseudorange.

7. A GPS receiver as claimed in claim 4, wherein said means for determining said pseudorange includes:

first means for obtaining a present cycle count from said RAM means;

second means for obtaining a previous cycle count from said RAM means; and

third means for obtaining a cycle count two cycles previous to said present cycle count from said RAM means.

8. A GPS receiver as claimed in claim 7, wherein said means for determining said pseudorange further includes:

first multiplier means coupled to said first means for obtaining, said first multiplier means multiplying said current cycle count by a first constant to produce a first output;

second multiplier means coupled to said second means for obtaining, said second multiplier means multiplying said previous cycle count by a second constant to produce a second output;

third multiplier means coupled to said third means for obtaining, said third multiplier means multiplying said cycle count two cycles previous by a third constant to produce a third output; and

third adder means coupled to said first, second and third multiplier means and to said first and second adder means, said third adder means for adding said first, second and a negative of said third output to produce said pseudorange+bias output.

9. A GPS receiver as claimed in claim 8, wherein:

said first constant is approximately equal to 4.75;

said second constant is approximately equal to 6.0; and

said third constant is approximately equal to 0.75.

10. A GPS receiver as claimed in claim 7, wherein said means for determining code positions includes:

code generator means;

first multiplier means coupled to said first means for obtaining, said first multiplier means multiplying said current cycle count by a first constant to produce a first output;

second multiplier means coupled to said second means for obtaining, said second multiplier means multiplying said previous cycle count by a second constant to produce a second output;

third multiplier means coupled to said third means for obtaining, said third multiplier means multiplying said cycle count two cycles previous by a third constant to produce a third output; and

third adder means coupled to said first, second and third multiplier means, said third adder means for adding said first, a negative of said second and third outputs to produce an estimate of a cycle count for each said satellite.

11. A GPS receiver as claimed in claim 10, wherein:

said first constant is approximately equal to 14.386;

said second constant is approximately equal to 9.2178; and

said third constant is approximately equal to 2.8314.

12. A GPS receiver as claimed in claim 10, wherein said means for determining code positions further includes means for dividing said estimated cycle count by approximately 55 to produce a divided cycle count estimate.

13. A GPS receiver as claimed in claim 12, wherein means for determining code positions further includes fourth adder means coupled to said processor unit means, means for dividing and to said code generator means, said fourth adder means adding said divided cycle count estimate with a last code position from said RAM means to produce said estimated code position for said code generator means.

14. A GPS receiver as claimed in claim 10, wherein said means for determining an estimated NCO phase includes:

fourth adder means coupled to said first means for obtaining, to said third adder means and to said NCO, said fourth adder means adding said current cycle count and said estimated cycle count for each said satellite to produce a cycle count sum; and

means for extracting a fractional part of said cycle count sum, said means for extracting coupled to said fourth adder means, said means for extracting further transmitting said fractional part to said NCO as said estimated NCO phase.

15. A GPS receiver as claimed in claim 7, wherein said means for determining an estimated NCO frequency includes:

first multiplier means coupled to said first means for obtaining, said first multiplier means multiplying said current cycle count by a first constant to produce a first output;

second multiplier means coupled to said second means for obtaining, said second multiplier means multiplying said previous cycle count by a second constant to produce a second output;

third multiplier means coupled to said third means for obtaining, said third multiplier means multiplying said cycle count two cycles previous by a third constant to produce a third output; and

third adder means coupled to said first, second and third multiplier means, said third adder means for adding said first, a negative of said second and said third outputs to produce said estimated NCO frequency output.

16. A GPS receiver as claimed in claim 15, wherein:

said first constant is approximately equal to 27.284;

said second constant is approximately equal to 25.669; and

said third constant is approximately equal to 8.395.

17. A multiplexed sequential scanning method for use in a shared channel GPS receiver which receives a plurality of coded satellite signals from a plurality of satellites, the signals exhibiting Doppler shifting, the shared channel GPS receiver including a processor, random access memory (RAM), read only memory (ROM), and numerically controlled oscillator (NCO), a shared channel, and a code generator, the processor performing the multiplexed sequential scanning method comprising the steps of:

determining by the shared channel an estimated pseudorange for a satellite being scanned;

determining by the shared channel an estimated code position for the satellite being scanned;

determining by the shared channel an estimated NCO phase;

determining by the shared channel an estimated NCO frequency; and

iterating said steps of determining an estimated pseudorange, determining an estimated code position, determining an estimated NCO phase and determining an estimated NCO frequency for each of said plurality of satellites on a time division multiplexed basis.

18. A scanning method as claimed in claim 17, wherein there is further included the step of determining the identity of the satellite being tracked.

19. A scanning method as claimed in claim 18, wherein there is further included the steps of:

determining an estimate of the number of cycles for the satellite being tracked;

dividing the estimated number of cycles by 55;

adding the last code position stored in the RAM memory with the divided number of cycles to produce said estimated code position for the satellite being tracked; and

transmitting said estimated code position to the code generator.

20. A scanning method as claimed in claim 19, wherein there is further included the steps of:

determining whether all the satellites have been scanned for this cycle period;

first setting the identity of the next satellite to be scanned in the cycle period, if all the satellites have not been scanned for this cycle period; and

iterating the steps of obtaining, determining an estimated pseudorange, determining an estimated code position, determining an estimated NCO phase, determining an estimated NCO frequency, determining an estimate of the number of cycles, dividing, adding, transmitting, determining whether all the satellites have been scanned and first setting for each of these satellites being scanned for the cycle period.

21. A scanning method receiver as claimed in claim 20 wherein there is further included the steps of:

second setting a new satellite identity to be scanned;

removing an existing satellite identity from the sequential scan; and

iterating the steps of obtaining, determining an estimated pseudorange, determining an estimated code position, determining an estimated NCO phase, determining an estimated NCO frequency, determining an estimate of the number of cycles, dividing, adding, transmitting, determining whether all the satellites have been scanned, first setting, second setting and removing for each satellite scan period.

22. A scanning method as claimed in claim 17, wherein the step of determining an estimated pseudorange includes the steps of:

obtaining the current cycle count from RAM memory;

first multiplying a current cycle count by a first constant to produce a first output;

obtaining the previous cycle count from RAM memory;

second multiplying a previous cycle count by a second constant to produce a second output;

obtaining the cycle count from two cycles ago from RAM memory;

third multiplying a cycle count of two cycles previous by a third constant to produce a third output; and

adding the first, second and a negative of the third output to produce a pseudorange+bias output.

23. A scanning method as claimed in claim 22, wherein:

said first constant is approximately equal to 4.75;

said second constant is approximately equal to 6.0; and

said third constant is approximately equal to 0.75.

24. A scanning method as claimed in claim 17, wherein the step of determining an estimated pseudorange further includes the steps of:

obtaining from the code generator a pseudorange+noise;

subtracting the pseudorange+noise from the pseudorange+bias to produce bias-noise;

filtering the noise from the bias-noise to produce the bias;

subtracting the bias from the pseudorange+bias to produce a smoothed estimated pseudorange; and

transmitting the smoothed estimated pseudorange to a navigation computer.

25. A scanning method as claimed in claim 24, wherein the step of determining an estimated pseudorange further includes the steps of storing the current cycle count in RAM as a function of the satellite being scanned.

26. A scanning method as claimed in claim 17, the step of determining an estimated code position setting includes the steps of:

obtaining the current cycle count from RAM memory;

first multiplying a current cycle count by a first constant to produce a first output;

obtaining the previous cycle count from RAM memory;

second multiplying a previous cycle count by a second constant to produce a second output;

obtaining the cycle count from two cycles ago from RAM memory;

third multiplying a cycle count of two cycles previous by a third constant to produce a third output; and

adding the first, a negative of the second and the third output to produce an estimate of the cycle count.

27. A scanning method as claimed in claim 26, wherein:

said first constant is approximately equal to 14.386;

said second constant is approximately equal to 9.2178; and

said third constant is approximately equal to 2.8314.

28. A scanning method as claimed in claim 26, wherein said step of determining an estimated NCO phase includes the steps of:

re-obtaining the current cycle count from RAM;

adding the current cycle count to the estimate of the cycle count to produce a first sum;

taking the fractional part of the first sum to produce the estimated NCO phase; and

transmitting the NCO phase to the NCO.

29. A scanning method as claimed in claim 17, wherein the step of determining as estimated NCO frequency includes the steps of:

obtaining the current cycle count from RAM memory;

first multiplying a current cycle count by a first constant to produce a first output;

obtaining the previous cycle count from RAM memory;

second multiplying a previous cycle count by a second constant to produce a second output;

obtaining the cycle count from two cycles ago from RAM memory;

third multiplying a cycle count of two cycles previous by a third constant to produce a third output;

adding the first, a negative of the second and third outputs to produce the estimate of the NCO frequency; and

transmitting the estimated NCO frequency to the NCO.

30. A scanning method as claimed in claim 29, wherein

said first constant is approximately equal to 27.284;

said second constant is approximately equal to 25.669; and

said third constant is approximately equal to 8.395.

31. In a Global Positioning System (GPS), a GPS receiver for receiving a plurality of coded satellite signals from a plurality of satellites, said signals exhibiting Doppler shifting, said GPS receiver comprising:

means for converting said coded satellite signals to intermediate frequency signals;

A/D means coupled to said means for converting, said A/D means for simultaneously translating said intermediate frequency signals for said plurality of coded satellite signals to a plurality of digital signals;

correlation means coupled to said A/D means, said correlation means for simultaneously separating each of said plurality of digital signals corresponding to each said satellite to provide channel information signals for each said satellite;

first channel means coupled to said correlation means, said first channel means for continuously receiving said coded satellite signals from a particular one of said plurality of satellites for a period;

second channel means coupled to said correlation means, said channel means for estimating a plurality of parameters describing said satellite'"'"'s expected position and an expected frequency of transmission of said coded satellite signals including Doppler compensation for all of said plurality of said satellites except said particular one of said satellites on a time division multiplexed basis; and

processor means coupled to said correlation means and to said first and second channel means, said processor means for retrieving information transmitted from each of said satellites in response to channel information signals.

32. A GPS receiver as claimed in claim 31, wherein there is further included means for selecting which said particular satellite of said plurality of satellites is continuously being received by said first channel means.