Inverse differential corrections for SATPS mobile stations

• US 5,495,257 A
• Filed: 07/19/1994
• Issued: 02/27/1996
• Est. Priority Date: 07/19/1994
• Status: Expired due to Fees

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Loomis, Peter V. W.
• Primary Examiner(s): Tarcza, Thomas H.
• Assistant Examiner(s): PHAN, DAO LINDA
• Application Number:
  US08/277,149
• Time in Patent Office: 588 Days
• Field of Search: 342/357, 342/352, 364/449
• US Class Current: 342/357.29
• CPC Class Codes: G01S 19/07 providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 5/0036 of measured values, i.e. measurement on mobile and position calculation on base station

Abstract

A method for enhancing the accuracy of location coordinates and/or clock bias computed for a mobile user station that is part of a Satellite Positioning System (SATPS), such as GPS or GLONASS. A reference SATPS station is provided with known location coordinates, and pseudoranges PR(t) and pseudorange corrections ΔPR(t) for the reference station are computed as in a conventional differential GPS approach. A matrix equation H(t) ΔW(t)=ΔPR(t) relates the corrections for the spatial location coordinates and clock bias at the mobile station (or at the reference station) to the pseudorange correction values at that station, where H is an M×N matrix (M≦N; N=3 or 4) with known entries. Each of the N rows of the matrix H has M entries and forms a row vector, and these row vectors are linearly independent in an M-dimensional vector space. These row vectors span an N-dimensional vector space. The matrix H is augmented by M-N rows representing independent vectors in an M-dimensional vector space, to produce an augmented M×M matrix H*, for which an inverse H*(t)^-1 exists. An augmented matrix equation ΔW*(t;mobile)=H*(t)^-1 ΔPR(t) is formed, and N of the entries in the M×1 matrix ΔW*(t) are interpreted as corrections for the spatial location coordinates and/or clock bias for the mobile station. In another embodiment, an M×1 projected vector v is formed from all the uncorrected pseudorange components for the mobile station and a reduced set of these components are transmitted to the reference station. The full vector v is then reconstructed from this reduced set and used to reconstruct the mobile station uncorrected pseudorange values. Corrected mobile station pseudorange values are computed and used to determine the spatial location and clock bias coordinates for the mobile station.

Claims

1. A method for determining spatial location and clock bias coordinates with enhanced accuracy for a mobile user Satellite Positioning System (SATPS) station, the method comprising the steps of:

providing an SATPS reference station, having location coordinates that are known with high accuracy, the reference station having an SATPS signal antenna and associated SATPS signal receiver/processor for receiving and processing SATPS signals from a plurality of SATPS satellites to determine spatial location and clock bias coordinates for that station;

providing an SATPS station that is mobile, having an SATPS signal antenna and associated SATPS signal receiver/processor for receiving and processing SATPS signals from a plurality of SATPS satellites to determine spatial location and clock bias coordinates for that station;

providing the mobile station with a radiowave transmitter and providing the reference station with a radiowave receiver so that the mobile station can transmit signals at a selected frequency that are received by the reference station;

causing each of the reference station and the mobile station to receive SATPS signals from a plurality of M SATPS satellites (M≧

4) in common with each other, and to determine the pseudorange values PR(t;

i;

j) as a function of time t for that station, numbered i (i=reference, i=mobile), from the signals received from the M common SATPS satellites, numbered j=j1, j2, . . . , jM;

causing the reference station to determine pseudorange corrections Δ

PR(t;

i;

j) that, when added to the pseudorange values PR(t;

i;

j) measured at the reference station, produce spatial location and clock bias coordinates that agree with the known spatial location and clock bias coordinates for the reference station;

providing the mobile station with the spatial location and clock bias coordinates of a nominal solution of the pseudorange equations

space="preserve" listing-type="equation">{(x0(t)-x.sub.j (t)).sup.2 +(y0(t)-y.sub.j (t)).sup.2 +(z0(t)-z.sub.j (t)).sup.2 }.sup.1/2 +b0(t)=PR(t;

i;

j),

where (x0(t),y0(t),z0(t)) are the spatial location coordinates and b0(t) is the clock bias for this nominal solution, and (x_j (t),y_j (t),z_j (t)) are the location coordinates of satellite number j;

determining the spatial location and clock bias coordinates (x'"'"',y'"'"',z'"'"',b'"'"') for the mobile station from the SATPS signals received at that station;

forming a 4×

1 matrix Δ

W(t;

mobile)={x'"'"'-x0 y'"'"'-y0 z'"'"'-z0 b'"'"'-b0}^tr, having matrix entries that are offset from the mobile station coordinates values (x'"'"',y'"'"',z'"'"',b'"'"') by the nominal solution coordinates values (x0,y0,z0,b0);

transmitting the entries of the matrix Δ

W(timobile) to the reference station;

providing at the reference station an M×

4 matrix H(t) whose entries are defined by the relations

H(t)=(h_ji (t)),

h_j1 (t)=α

_j1 (t)=(x0-x_j (t))/r_0j,

h_j2 (t)=α

_j2 (t)=(y0-y_j (t))/r_0j,

h_j3 (t)=α

_j3 (t)=(z0-z_j (t))/r_0j,

h_j4 (t)=1, (j=1, 2, 3, . . . , M) ,

r_0j (t)={(x0=x_j (t))² +(y0-y_j (t))² +(z0-z_j (t))² }^1/2 ;

augmenting the matrix H(t) by adding M-4 columns of matrix entries to produce an augmented M×

M matrix H*(t) for the reference station, where four columns of the matrix H*(t) are identical with four columns of the matrix H(t) and each of the columns of H*(t) forms an M×

1 column matrix that is independent of the other M-1 column matrices of the matrix H*(t);

forming an inverse matrix H*(t)^-1, determining an M×

1 matrix Δ

W* by the matrix equation Δ

W*(t)=H*(t)^-1 Δ

PR(t), where Δ

PR(t) is an M×

1 matrix whose entries are the values Δ

PR(t;

i;

j) (j=1, 2, . . . , M) for the reference station;

interpreting four entries w₁ *(t), w₂ *(t), w₃ *(t), and w₄ *(t) of the matrix Δ

W*(t) as corrections to the location coordinates and clock bias values (x'"'"',y'"'"',z'"'"',b'"'"') for the mobile station; and

determining the corrected spatial location coordinates (x,y,z) and corrected clock bias b for the mobile station using the relations

x(t)=x'"'"'(t)+w₁ *(t),

y(t)=y'"'"'(t)+w₂ *(t),

z(t)=z'"'"'(t)+w₃ *(t),

b(t)=b'"'"'(t)+w₄ *(t).

2. The method of claim 1, further comprising the step of selecting said integer M=4.

3. The method of claim 1, further comprising the step of selecting said integer M≧

5.

4. The method of claim 3, wherein the step of augmenting the matrix H(t) comprises the steps of:

forming an M-dimensional column vector from the values of said M entries in each of said four columns of said M×

4 matrix H(t);

using the Gram-Schmidt orthogonalization procedure to form M-4 additional M-dimensional column vectors, with each such vector being orthogonal to each of the M-dimensional column vectors formed from said matrix H(t) and with these M-4 additional vectors being orthogonal to each other; and

forming an augmented M×

M matrix H*(t) matrix whose column entries are the entries of the four column vectors formed from the matrix H(t) and the entries of the additional M-4 column vectors formed using the Gram-Schmidt orthogonalization procedure.

5. A method for determining two-dimensional spatial location coordinates and clock bias with enhanced accuracy for a mobile user Satellite Positioning System (SATPS) station, the method comprising the steps of:

providing an SATPS reference station, having location coordinates that are known with high accuracy, the reference station having an SATPS signal antenna and associated SATPS signal receiver/processor for receiving and processing SATPS signals from a plurality of SATPS satellites to determine spatial location and clock bias coordinates for that station;

providing an SATPS station that is mobile, having an SATPS signal antenna and associated SATPS signal receiver/processor for receiving and processing SATPS signals from a plurality of SATPS satellites to determine spatial location and clock bias coordinates for that station;

providing the mobile station with a radiowave transmitter and providing the reference station with a radiowave receiver so that the mobile station can transmit signals at a selected frequency that are received by the reference station;

causing each of the reference station and the mobile station to receive SATPS signals from a plurality of M SATPS satellites (M≧

3) in common with each other, and to determine the pseudorange values PR(t;

i;

j) as a function of time t for that station, numbered i (i=reference, i=mobile), from the signals received from the M common SATPS satellites numbered j=j1, j2, . . . , jM;

causing the reference station to determine pseudorange corrections Δ

PR(t;

i;

j) that, when added to the pseudorange values PR(t;

i;

j) measured at the reference station, produce spatial location and clock bias coordinates that agree with the known spatial location and clock bias coordinates for the reference station;

providing the mobile station with the spatial location and clock bias coordinates of a nominal solution of the pseudorange equations

space="preserve" listing-type="equation">{(x0(t)-x.sub.j (t)).sup.2 +(y0(t)-y.sub.j (t)).sup.2 }.sup.1/2 +b0(t)=PR(t;

i;

j),

where (x0(t),y0(t)) are the spatial location coordinates and b0(t) is the clock bias for this nominal solution, and (xj(t),yj(t)) are the location coordinates of satellite number j;

determining the spatial location and clock bias coordinates (x'"'"',y'"'"',b'"'"') for the mobile station from the SATPS signals received at that station;

forming a 3×

1 matrix Δ

W(t;

mobile)={x'"'"'-x0 y'"'"'-y0 b'"'"'-b0}^tr, having matrix entries that are offset from the mobile station coordinates values (x'"'"',y'"'"',b'"'"') by the nominal solution coordinates values (x0,y0,b0);

transmitting the entries of the matrix Δ

W(t;

mobile) to the reference station;

providing at the reference station an M×

3 matrix H(t) whose entries are defined by the relations

H(t)=(h_ji (t)),

h_j1 (t)=α

_j1 (t)=(x0-x_j (t))/r_0j,

h_j2 (t)=α

_j2 (t)=(y0-y_j (t))/r_0j,

h_j3 (t)=1, (j=1, 2, 3, . . . , M) ,

r_0j (t)={(x0-x_j (t))² +(y0-y_j (t))² }^1/2 ;

augmenting the matrix H(t) by adding M-3 rows of matrix entries to produce an augmented M×

M matrix H*(t) for the reference station, where three columns of the matrix H*(t) are identical with three columns of the matrix H(t) and each of the columns of H*(t) forms a 1×

M column matrix that is independent of the other M-1 column matrices of the matrix H*(t);

forming an inverse matrix H*(t)^-1, determining an M×

1 matrix Δ

W* by the matrix equation Δ

W*(t)=H*(t)^-1 Δ

PR(t), where Δ

PR(t) is an M×

1 matrix whose entries are the values Δ

PR(t;

i;

j) (j=1, 2, . . . , M) for the reference station;

interpreting three entries w₁ *(t), w₂ *(t) and w₃ *(t) of the matrix Δ

W*(t) as corrections to the location coordinates and clock bias values (x'"'"',y'"'"',b'"'"') for the mobile station; and

determining the corrected location coordinates (x,y) and corrected clock bias coordinate b for the mobile station using the relations

x(t)=x'"'"'(t)+w₁ *(t),

y(t)=y'"'"'(t)+w₂ *(t),

b(t)=b'"'"'(t)+w₃ *(t).

6. The method of claim 5, further comprising the step of selecting said integer M=3.

7. The method of claim 5, further comprising the step of selecting said integer M≧

4.

8. The method of claim 7, wherein the step of augmenting the matrix H(t) comprises the steps of:

forming an M-dimensional vector from the values of said M entries in each of said three columns of said M×

3 matrix H(t);

using the Gram-Schmidt orthogonalization procedure to form M-3 additional M-dimensional column vectors, with each such vector being orthogonal to each of the M-dimensional vectors formed from said matrix H(t) and with these M-3 additional vectors being orthogonal to each other; and

forming an augmented M×

M matrix H*(t) matrix whose column entries are the entries of the three column vectors formed from the matrix H(t) and the entries of the additional M-3 column vectors formed using the Gram-Schmidt orthogonalization procedure.

9. A method for determining spatial location coordinates with enhanced accuracy for a mobile user Satellite Positioning System (SATPS) station, the method comprising the steps of:

providing an SATPS reference station, having location coordinates that are known with high accuracy, the reference station having an SATPS signal antenna and associated SATPS signal receiver/processor for receiving and processing SATPS signals from a plurality of SATPS satellites to determine spatial location and clock bias coordinates for that station;

providing an SATPS station that is mobile, having an SATPS signal antenna and associated SATPS signal receiver/processor for receiving and processing SATPS signals from a plurality of SATPS satellites to determine spatial location and clock bias coordinates for that station;

providing the mobile station with a radiowave transmitter and providing the reference station with a radiowave receiver so that the mobile station can transmit signals at a selected frequency that are received by the reference station;

causing each of the reference station and the mobile station to receive SATPS signals from a plurality of M SATPS satellites (M≧

3) in common with each other, and to determine the pseudorange values PR(t;

i;

j) as a function of time t for that station, numbered i (i=reference, i=mobile), from the signals received from the M common SATPS satellites numbered j=j1, j2, . . . , jM;

causing the reference station to determine pseudorange corrections Δ

PR(t;

i;

j) that, when added to the pseudorange values PR(t;

i;

j) measured at the reference station, produce spatial location and clock bias coordinates that agree with the known spatial location and clock bias coordinates for the reference station;

providing the mobile station with the spatial location and clock bias coordinates of a nominal solution of the pseudorange equations

space="preserve" listing-type="equation">{(x0(t)-x.sub.j (t)).sup.2 +(y0(t)-y.sub.j (t)).sup.2 +(z0(t)-z.sub.j (t)).sup.2 }.sup.1/2 =PR(t;

i;

j),

where (x0(t),y0(t),z0(t)) are the spatial location coordinates for this nominal solution, and (x_j (t),y_j (t),z_j (t)) are the location coordinates of satellite number j;

determining the spatial location coordinates (x'"'"',y'"'"',z'"'"') for the mobile station from the SATPS signals received at that station;

forming a 3×

1matrix Δ

W(t;

mobile)={x'"'"'-x0 y'"'"'-y0 z'"'"'-z0 }^tr, having matrix entries that are offset from the mobile station coordinates values (x'"'"',y'"'"',z'"'"') by the nominal solution coordinates values (x0,y0,z0);

transmitting the entries of the matrix Δ

W(t;

mobile) to the reference station;

providing at the reference station an M×

3 matrix H(t) whose entries are defined by the relations

H(t)=(h_ji (t)),

h_j1 (t)=α

_j1 (t)=(x0-x_j (t))/r_0j,

h_j2 (t)=α

_j2 (t)=(y0-y_j (t))/r_0j,

h_j3 (t)=α

_j3 (t)=(z0-z_j (t))/r_0j,

r_0j (t)={(x0-x_j (t))² +(y0-y_j (t))² +(z0-zj(t))² }^1/2 ;

augmenting the matrix H(t) by adding M-3 columns of matrix entries to produce an augmented M×

M matrix H*(t) for the reference station, where three columns of the matrix H*(t) are identical with three columns of the matrix H(t) and each of the columns of H*(t) forms an M×

1 column matrix that is independent of the other M×

1 column matrices of the matrix H*(t);

forming an inverse matrix H*(t)^-1, determining an M×

1 matrix Δ

W* by the matrix equation Δ

W*(t)=H*(t)^-1 Δ

PR(t), where Δ

PR(t) is an M×

1 matrix whose entries are the values Δ

PR(t;

i;

j) (j=1, 2, . . . , M) for the reference station;

interpreting three entries w₁ *(t), w₂ *(t) and w₃ *(t) of the matrix Δ

W*(t) as corrections to the location coordinates (x'"'"',y'"'"',z'"'"') for the ;

mobile station; and

determining the corrected location coordinates (x,y,z) for the mobile station using the relations

x(t)=x'"'"'(t)+w₁ *(t),

y(t)=y'"'"'(t)+w₂ *(t),

z(t)=z'"'"'(t)+w₃ *(t).

10. The method of claim 9, further comprising the step of selecting said integer M=3.

11. The method of claim 9, further comprising the step of selecting said integer M≧

4.

12. The method of claim 11, wherein the step of augmenting the matrix H(t) comprises the steps of:

forming an M-dimensional vector from the values of said M entries in each of said three columns of said M×

3 matrix H(t);

using the Gram-Schmidt orthogonalization procedure to form M-3 additional M-dimensional column vectors, with each such vector being orthogonal to each of the M-dimensional column vectors formed from said matrix H(t) and with these M-3 additional column vectors being orthogonal to each other; and

forming an augmented M×

M matrix H*(t) matrix whose column entries are the entries of the three column vectors formed from the matrix H(t) and the entries of the additional M-3 column vectors formed using the Gram-Schmidt orthogonalization procedure.

13. A method for determining spatial location and clock bias coordinates with enhanced accuracy for a mobile user Satellite Positioning System (SATPS) station, the method comprising the steps of:

providing an SATPS reference station, having location coordinates that are known with high accuracy, the reference station having an SATPS signal antenna and associated SATPS signal receiver/processor for receiving and processing SATPS signals from a plurality of SATPS satellites to determine spatial location and clock bias coordinates for that station;

providing an SATPS station that is mobile, having an SATPS signal antenna and associated SATPS signal receiver/processor for receiving and processing SATPS signals from a plurality of SATPS satellites to determine spatial location and clock bias coordinates for that station;

providing the mobile station with a radiowave transmitter and providing the reference station with a radiowave receiver so that the mobile station can transmit signals at a selected frequency that are received by the reference station;

causing each of the reference station and the mobile station to receive SATPS signals from a plurality of M SATPS satellites (M≧

5) in common with each other, and to determine the pseudorange values PR(t;

i;

j) as a function of time t for that station, numbered i (i=reference, or i=mobile), from the signals received from the M common SATPS satellites, numbered j=j1, j2, . . . , jM, where the satellites j=j1, j2, j3, j4 form a fundamental set of SATPS satellites used for determination of the location of the mobile station;

determining spatial location and clock bias coordinates (x'"'"',y'"'"',z'"'"',b'"'"') for the mobile station from the SATPS signals received at that station;

causing the reference station to determine pseudorange corrections Δ

PR(t;

ref;

j) that, when added to the pseudorange values PR(t;

ref;

j) measured at the reference station, produce spatial location and clock bias coordinates that agree with the known spatial location and clock bias coordinates for the reference station;

providing at the reference and mobile stations an M×

4 matrix H(t;

ref), determined from the reference station location coordinates, whose entries are defined by the relations

H(t;

ref)=(h_ji (t)),

h_j1 (t)=α

_j1 (t)=(x0-x_j (t))/r_0j,

h_j2 (t)=α

_j2 (t)=(y0-y_j (t))/r_0j,

h_j3 (t)=α

_j3 (t)=(z0-z_j (t))/r_0j,

h_j4 (t)=1, (j=1, 2, 3, . . . , M),

r_0j (t)={(x0-x_j (t))² +(y0-y_j (t))² +(z0-z_j (t))² }^1/2 ;

decomposing the matrix H(t;

ref) into a 4×

4 matrix H_f =(h_ji)_f (j=j1, j2, j3, j4) and an (M-4)×

4 matrix H_nf =(h_ji)_nf (j=j5, . . . , jM);

forming an M×

1 matrix v={I-H(H^tr H)^-1 H^tr } PR(t;

mobile) at the mobile station, where PR(t;

mobile) is an M×

1 vector whose ordered entries are the pseudorange values PR(t;

mobile;

j) (j=j1, j2, . . . , jM);

decomposing the matrix v into a 4×

1 column matrix v_f, consisting of the first four entries of the matrix v, and an (M-4)×

1 column matrix v_nf, consisting of the last M-4 entries of the matrix v;

transmitting the M-4 entries of the matrix v_nf and the mobile station coordinates (x'"'"',y'"'"',z'"'"',b'"'"') to the reference station;

constructing at the reference station the matrix v_f by the relation v_f =-(H_f^tr)^-1 H_nf^tr v_nf ;

reconstructing the vector v={v_f |v_nf }^tr at the reference station as a concatenation of the vectors v_f and v_nf ;

reconstructing the matrix of pseudorange values PR(t;

mobile) from the vector v at the reference station;

adding the pseudorange corrections Δ

PR(t;

ref;

j) to the pseudorange values PR(t;

mobile;

j) for the fundamental set (j=j1, j2, j3, j4) to form corrected pseudorange values PR(t;

mobile;

j)_cor for the fundamental set; and

determining corrected spatial location and clock bias coordinates for the mobile station, using the corrected pseudorange values PR(t;

mobile;

j)_cor for the fundamental set.