GPS receiver

• US 5,459,473 A
• Filed: 11/22/1993
• Issued: 10/17/1995
• Est. Priority Date: 03/09/1990
• Status: Expired due to Term

• Current Assignee: U-Blox AG (u-blox Holding AG)
• Original Assignee: SigNav Pty Ltd. (u-blox Holding AG)
• Inventors: Bryant, Roderick C., Dempster, Andrew G., Tagaris, Harry, Dougan, Stanley L.
• Primary Examiner(s): Issing, Gregory C.
• Application Number:
  US08/050,306
• Time in Patent Office: 694 Days
• Field of Search: 342/357, 375/1
• US Class Current: 342/357.25
• CPC Class Codes: G01S 19/09 providing processing capability normally carried out by the receiver
• CPC Class Codes: G01S 19/29 carrier including Doppler, related G01S19/246 takes precedence
• CPC Class Codes: G01S 19/42 Determining position
• CPC Class Codes: G01S 19/43 using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry

Abstract

A GPS receiver for use with the NAVSTAR global, satellite based radio navigation and time transfer system wherein transmission from each of a plurality of satellites, includes C/A code signals comprising a code and data modulated carrier, said receiver comprising means for receiving C/A code signals transmitted from at least four satellites and means to process the signals including an open loop estimator of signal parameters for phase-coherent estimation of a plurality of signal parameters including code delay, carrier frequency, carrier phase, carrier phase acceleration, data value and data delay.

Claims

1. In a GPS receiver for use with a satellite-based radio navigation system in which received signals from a plurality of satellites comprise a carrier signal modulated by phase reversals representing satellite-specific codes and data, said receiver comprising means for amplifying the signal received through an antenna, code generating means to generate any of said codes with a code delay of the generated code being controllable to sub-chip accuracy, code mixing and downconverting means to produce from the amplified signal a digital signal with a downconverted carrier frequency and multiplied by the generated code whereby the bandwidth of the portion of the digital signal originating from the satellite signal having the same code is despread when the code delay of the generated code matches or nearly matches the code delay of the satellite signal having the same code, means for computing signal parameters of the satellite signals including code delay, and means for utilizing said signal parameters from at least four of said satellite signals to provide information on the position of the antenna;

a method of determining the code delay of said satellite signal having the same code, said method comprising the steps of;

(1) generating a plurality of said digital signals, each of said digital signals corresponding to a different code delay of the generated code from said code generating means;

(2) computing a plurality of values corresponding to each digital signal, each value being a measure of the degree of code demodulation of the corresponding digital signal and utilizing both phase and frequency information; and

(3) computing an optimum code delay of the generated code from said plurality of corresponding values to provide the code delay of said satellite signal.

2. A method as defined by claim 1, wherein said step of computing a plurality of values comprises the steps of:

(1) computing a complex frequency spectrum of at least one of said digital signals over an integration period;

(2) locating a maximum bin in said frequency spectrum; and

(3) extracting the carrier frequency and carrier phase offset.

3. A method as defined by claim 1, wherein said step of computing a plurality of values comprises the steps of:

(1) computing a complex frequency spectrum of at least one of said digital signals over an integration period;

(2) locating a maximum bin in said frequency spectrum; and

(3) performing a further downconversion on each said digital signal in the time domain according to the position of said maximum bin to produce corresponding further downconverted signals with a residual carrier frequency.

4. A method as defined in claim 2, wherein said step of computing a plurality of corresponding values comprises the step of removing any data transitions from said at least one of said digital signals.

5. A method as defined in claim 3, wherein said step of computing a plurality of corresponding values comprises the step of removing any data transitions from said at least one of said further downconverted signals.

6. A method as defined in claim 1, wherein said plurality of said digital signals is generated sequentially.

13. A method as defined in claim 2, wherein the code mixing and downconverting means performs said downconverted carrier frequency in two steps, a latter of said two steps being performed after said code mixing, the amount of downconversion performed in the latter step being adjustable according to said extracted carrier frequency or the value of said maximum bin.

14. A method as defined in claim 1, wherein the code mixing and downconverting means performs a downsampling of the signal to a sampling rate appropriate for further manipulation by computer software.

15. A method as defined in claim 1, wherein said step of computing an optimum code delay of the generated code from said plurality of said corresponding values comprises comparing said plurality of corresponding values with an expected relationship between the corresponding values and the code delay of said satellite signal and determining the code delay of the satellite signal which gives a best match between the expected relationship and the corresponding values.

16. A GPS receiver which operates by the method defined in claim 1.

17. A GPS receiver which operates by the method defined in claim 1, wherein the signal parameters computed by said means for computing signal parameters include pseudorange differences between said at least four of said satellite signals, said pseudorange differences being computed from the code delay of each of said satellite signals.

18. A GPS receiver which operates by the method defined in claim 1, wherein the signal parameters computed by said means for computing signal parameters includes carrier phase offset computed from said digital signals.

19. A GPS receiver which operates by the method defined in claim 1, wherein the signal parameters computed by said means for computing signal parameters includes carrier phase acceleration computed from said digital signals.

20. A GPS receiver which operates by the method defined in claim 1, wherein the signal parameters computed by said means for computing signal parameters includes a carrier frequency computed from said digital signals.

23. A GPS receiver which operates by the method as defined in claim 1, wherein said means for utilizing said signal parameters includes a Kalman filter with said signal parameters as inputs.

7. In GPS receiver for use with a satellite-based radio navigation system in which received signals from a plurality of satellites comprise a carrier signal modulated by phase reversals representing satellite-specific codes and data, said receiver comprising means for amplifying the signal received through an antenna, code generating means to generate any of said codes with a code delay of the generated code being controllable to sub-chip accuracy, code mixing and downconverting means to produce from the amplified signal a digital signal with a downconverted carrier frequency and multiplied by the generated code whereby the bandwidth of the portion of the digital signal originating from the satellite signal having the same code is despread when the code delay of the generated code matches or nearly matches the code delay of the satellite signal having the same code, means for computing signal parameters of the satellite signals including code delay, and means for utilizing said signal parameters from at least four of said satellite signals to provide information on the position of the antenna;

A method of determining the code delay of said satellite signal having the same code, said method comprising the steps of;

(1) generating a plurality of said digital signals, each of said digital signals corresponding to a different code delay of the generated code from said code generating means; and

(2) computing a plurality of values corresponding to each digital signal, each value being a measure of the degree of code demodulation of the corresponding digital signal and utilizing both phase and frequency information, said step of computing a plurality of values comprising the steps of

(a) computing a complex frequency spectrum of at least one of said digital signals over an integration period;

(b) locating a maximum bin in said frequency spectrum; and

(c) performing a further downconversion on each said digital signal in the time domain to produce corresponding further downconverted signals with zero frequency and phase; and

(3) computing an optimum code delay of the generated code from said plurality of corresponding values to provide the code delay of said satellite signal.

8. A method as defined in claim 7, wherein said further downconversion to zero frequency and phase is performed in two steps, a first step comprising a downconversion according to said maximum frequency bin to a residual carrier frequency, and said step of computing a plurality of corresponding values further comprises the step of estimating the residual carrier frequency.

9. A method as defined in claim 8, wherein said step of computing a plurality of corresponding values further comprises the step of estimating the carrier phase offset of the further downconverted signal.

10. A method as defined in claim 8 wherein the digital signals and further downconverted signals are represented by a phase vector with in-phase (I) and quadrature (Q) components and the residual carrier frequency is estimated by measuring the rate of rotation of the phase vector of the further downconverted signals.

11. A method as defined in claim 10 wherein the rate of rotation of the phase vector is measured using a linear fit.

12. A method as defined in claim 7, wherein said step of performing a further downconversion to zero frequency and phase comprises the steps of rotating the phase vector to the real axis according to the measured carrier frequency and carrier phase offset, and said step of computing a plurality of values further comprises for each digital signal the steps of

(1) detecting and removing any data transitions;

and

(2) summing real values of the rotated phase vector during the integration period to provide said corresponding value.

21. A GPS receiver which operates by the method defined in claim 8, wherein the signal parameters computed by said means for computing signal parameters include a carrier frequency computed by summing the estimated residual carrier frequency, the amount of further downconversion in said first step and the amount of downconversion performed by said code mixing and downconverting means.

22. A GPS receiver which operates by the method defined in claim 10, wherein the signal parameters include phase acceleration computed by measuring the rate of change of the rate of rotation of the phase vector.

24. A GPS receiver which operates by the method defined in claim 7, wherein said means for utilizing said signal parameters includes a Kalman filter with said signal parameters as inputs and said signal parameters include:

(1) a carrier phase offset;

(2) a carrier phase acceleration;

(3) psuedorange differences between the satellite signals derived from the code delays of the satellite signals; and

(4) the carrier frequency.

25. A GPS receiver as defined in claim 24 wherein said further downconversion to zero frequency and phase is performed in two steps, a first step comprising a downconversion according to said maximum frequency bin to a residual carrier frequency, and wherein the carrier frequency is computed using the amount of further downconversion in said first step and the residual carrier frequency.