Direction indicating apparatus and method

• US 5,266,958 A
• Filed: 11/27/1992
• Issued: 11/30/1993
• Est. Priority Date: 11/27/1992
• Status: Expired due to Term

• Current Assignee: Voice Signals LLC (Intellectual Ventures LLC)
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Durboraw, Isaac N. III
• Primary Examiner(s): Blum, Theodore M.
• Application Number:
  US07/982,348
• Time in Patent Office: 368 Days
• Field of Search: 342/357, 342/419
• US Class Current: 342/357.31
• CPC Class Codes: G01S 19/55 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
• CPC Class Codes: G01S 3/48 the waves arriving at the antennas being continuous or intermittent and the phase difference of signals derived therefrom being measured

Abstract

A GPS receiver (10) with processor (14, 16), memory (18), input (20) and indicator (22), uses conventional code pseudorange and carrier phase to provide a compass function. The receiver antenna (12) is desirably held stationary while the directional vectors toward the satellites and for the desired heading (21) are computed, the rate of change of carrier phase determined and future carrier phase predicted. The antenna (12) is then moved in a closed path (11) while the differences between predicted and actual carrier phase are measured and converted to positional perturbations which are resolved along the desired heading (21) and normal thereto. As the antenna (12) moves around the closed path (11), the resolved perturbations have maxima, minima or change sign and the processor (14, 16) uses this to trigger the indicator (22, 222) so that the desired heading is apparent to the user.

Claims

1. A portable direction indicating apparatus comprising:

input means for receiving information determinative of a heading a user desires to be indicated;

an indicator for indicating the desired heading;

a geolocation receiver for providing code pseudorange and carrier phase information and having an antenna;

a memory for storing at least, the information determinative of the desired heading and forecasted carrier phase information; and

computation means coupled to the input means, indicator, geolocation receiver and the memory for, (a) while the antenna is in one or more known positions, determining current carrier phase and forecasted carrier phase, (b) while the antenna is moving in a substantially closed path, determining phase differences between the forecasted carrier phase and the current carrier phase, and (c) actuating the indicator to identify when the location of the antenna in the approximately closed path corresponds to the desired heading to be indicated.

2. The apparatus of claim 1 wherein step (c) comprises determining antenna location perturbations based on the differences between the forecasted carrier phase and actual carrier phase.

3. The apparatus of claim 2 wherein the step of determining antenna location perturbations comprises determining location perturbations at least in a direction parallel to the desired heading to be indicated.

4. The apparatus of claim 3 wherein the actuating step comprises actuating the indicator based on the location perturbations in the direction parallel to the desired heading to be indicated.

5. The apparatus of claim 1 wherein the computation means comprises:

means for determining directional vectors at the initial position between the geolocation receiver and geolocation satellites; and

means for resolving the phase differences into vectors parallel to and normal to the desired heading.

6. The apparatus of claim 1 wherein the computation means comprises means for resolving the phase differences into first location differences when the antenna is moving along the desired heading or second location differences when the antenna is moving along a normal to the desired heading or both.

7. The apparatus of claim 6 wherein the computation means comprises means for actuating the indicator when the first or second location differences reach a maximum or minimum or change sign.

8. A heading indicating device comprising:

a GPS apparatus having an antenna for receiving geolocation signals from multiple GPS satellites, said GPS apparatus including a computation means for computing location and current heading, a memory means for storing information and program instructions, an input means for receiving information sufficient to determine a heading desired to be indicated and an indicator means for indicating the direction of the heading desired to be indicated, said computation, memory, input and indicator means being coupled together, wherein said GPS apparatus is acted upon by said program instructions to,

(i) determine GPS signal carrier phase Φ

_mk (t) at predetermined time epochs t=1,2, . . . , N for signals from k=1,2, . . . , K satellites, and based thereon, forecast GPS signal carrier phase Φ

_pk (t) at predetermined time epochs t>

N, and

(ii) while the antenna is moving in a substantially closed path, determine phase differences Δ

Φ

_k (t)=Φ

_mk (t)-Φ

_pk (t) for t>

N,

(iii) derive from the phase differences Δ

Φ

_k (t), positional perturbations parallel to or normal to the desired heading or both, and

(iv) actuate the indicator when at least one of the positional perturbations is a maximum or a minimum or changes sign.

9. The device of claim 8, further comprising motorized means for moving the antenna in said substantially closed path.

10. A method for indicating heading using a portable geolocation apparatus comprising an input for receiving information determinative of a heading desired to be indicated, an indicator for indicating the desired heading, a geolocation receiver providing code pseudorange and phase information and having an antenna, a memory and a computation means coupled together, the method comprising steps of:

(a) while the antenna is in one or more known positions, determining then current carrier phase and future forecasted carrier phase;

(b) while the antenna is moving in a substantially closed path, determining phase differences between the forecasted carrier phase and now current carrier phase; and

(c) actuating the indicator to identify when the location of the antenna in the substantially closed path corresponds to the heading desired to be indicated.

11. The method of claim 10 wherein step (c) comprises determining antenna location perturbations based on the differences between the forecasted carrier phase and the now current carrier phase.

12. The method of claim 11 wherein the step of determining the location perturbations comprises determining location perturbations at least in a direction parallel to the heading desired to be indicated.

13. The method of claim 12 wherein the actuating step comprises actuating the indicator based on a maximum of the location perturbations in the direction parallel to the heading desired to be indicated.

14. The method of claim 10 further comprising, prior to the actuating step, determining unit vector directions from the antenna to geolocation satellites from which the antenna is receiving signals.

15. The method of claim 14 further comprising determining a unit heading vector in the direction of the heading desired to be indicated.

16. The method of claim 15 further comprising determining positional differences along and normal to the unit heading vector based on the phase differences.

17. A method for indicating a desired heading in an apparatus comprising a GPS receiver having an antenna for receiving geolocation signals from multiple GPS satellites, said receiver including coupled computation, memory, input and indicator means, said method comprising:

(i) determining GPS signal carrier phase Φ

_mk (t) at predetermined time epochs t=1,2, . . . , N for signals from k=1,2, . . . , K satellites, and based thereon, forecasting carrier phase Φ

_pk (t) at predetermined time epochs t>

N, and

(ii) while the antenna is moving in a substantially closed path, determining phase differences Δ

Φ

_k (t) =Φ

_mk (t) -Φ

_pk (t) for t>

N,

(iii) deriving from the phase differences Δ

Φ

_k (t), positional perturbations parallel to or normal to the desired heading or both, and

(iv) actuating the indicator means substantially when at least one of the positional perturbations is a maximum or a minimum or changes sign.

18. The method of claim 17 wherein step (iii) comprises, determining a vector corresponding to the heading desired to be indicated and then resolving the positional perturbations into scalar factors related to magnitudes of phase perturbations along and normal to the desired heading.

19. The method of claim 18 wherein the step of deriving positional perturbations comprises determining prior thereto, vectors corresponding to directions from the antenna to the satellites k=1,2, . . . , K.

20. The method of claim 19 wherein step (ii) takes place while the antenna is moved in a substantially closed path by rotation around a pivot or motor spindle.