Position estimation using satellite range rate measurements

• US 5,552,794 A
• Filed: 04/29/1994
• Issued: 09/03/1996
• Est. Priority Date: 04/29/1994
• Status: Expired due to Term

• Current Assignee: CSR Technology Incorporated (Qualcomm, Inc.)
• Original Assignee: Rockwell International Corporation
• Inventors: Niemi, Thomas A., Colley, Jaime B.
• Primary Examiner(s): Blum, Theodore M.
• Assistant Examiner(s): PHAN, DAO LINDA
• Application Number:
  US08/235,845
• Time in Patent Office: 858 Days
• Field of Search: 342/352, 342/357, 364/458, 364/459
• US Class Current: 342/357.25
• CPC Class Codes: G01S 19/42 Determining position

Abstract

A method for using a value of range rate observed by a receiver, such as a GPS receiver, to determine the coordinates of points on the surface of the earth from which this value of range rate would be observed. These coordinates are given in an earth-centered, earth-fixed (ECEF) coordinate system, and they form a locus of points of equal range rate. The coordinates of these points provide general estimates of the location of the receiver. By calculating multiple loci of points which intersect each other, a more precise determination of the location of the receiver may be made.

Claims

1. A method of determining approximate coordinates of a particular geographical location on the earth, the method comprising the steps of:

receiving, at the particular geographical location on the earth, signals from first and second earth-orbiting satellites, the signals including information indicating the general location of the associated satellites with respect to an earth-centered, earth-fixed (ECEF) coordinate system;

measuring an actual rate of change of the range, relative to the particular geographical location, of each satellite as the satellite orbits the earth;

estimating a clock drift error;

calculating true rates of change of the ranges of the satellites based upon the measured actual rates of change of ranges and the estimated clock drift error; and

calculating first and second pluralities of points representing first and second lines on the earth'"'"'s surface along which the true rates of change of ranges of the first and second satellites, respectively, are constant.

2. The method of claim 1, further comprising the steps of:

determining whether the first and second lines intersect, wherein if no intersections are found, iteratively adjusting the estimated clock drift;

calculating revised true rates of change of the ranges, based upon the measured rate of change of range and the adjusted estimated clock drift error;

calculating revised first and second pluralities of points representing revised first and second lines on the earth'"'"'s surface, wherein the particular geographical location on the earth is approximately located near the revised first and second lines; and

repeating the above steps until at least one intersection between the iteratively revised first and second lines is obtained, wherein the at least one intersection is called the reference intersection.

3. The method of claim 2, further comprising the steps of:

receiving signals from one or more additional earth-orbiting satellites;

measuring actual rates of change of the ranges, relative to the particular geographical location on the earth, of the one or more additional satellites as they orbit the earth;

calculating true rates of change of the ranges of the one or more satellites, based upon the measured actual rates of change of ranges and the estimated clock drift error; and

calculating one or more pluralities of points corresponding to one or more additional lines on the earth'"'"'s surface along which the rates of change of the ranges of the one or more additional satellites are constant, wherein the particular geographical location on the earth is approximately located near the one or more additional lines and the reference intersection of the first and second lines.

4. The method of claim 3, further comprising the step of determining whether the first, second and one or more additional lines intersect, wherein if more than one intersection is obtained between the one or more additional lines and either the first or second lines, determining which intersection point is closest to the reference intersection, and calling this the closest intersection.

5. The method of claim 4, further comprising the steps of:

specifying a threshold distance from the reference intersection and the closest intersection; and

determining whether the threshold distance is met, wherein if the distance from the reference intersection to the closest intersection is larger than the threshold distance,

reestimating the clock drift error,

recalculating the true rates of change of the ranges of the first, second, and one or more additional satellites relative to the particular geographical location on the earth, and

recalculating first, second, and one or more additional pluralities of points representing revised first, second, and one or more additional lines on the earth'"'"'s surface along which the true rates of change of the ranges of the first, second, and one or more additional satellites, respectively, are constant,

determining a revised reference intersection representing at least one intersection between the revised first and second lines,

determining whether the revised first, second and one or more additional lines intersect, wherein if more than one intersection is obtained between the one or more additional lines and either the first or second lines, determining which intersection point is closest to the revised reference intersection, and calling this the revised closest intersection, and

determining whether the threshold distance is met, wherein if the distance from the revised reference intersection to the revised closest intersection is larger than the threshold distance, repeating the above steps, and further wherein if the distance from the revised intersection to the revised closest point is less than the threshold distance, determining that the particular geographical location on the earth is approximately located at the revised closest point.

6. The method of claim 1, wherein the satellite signals are received by a global positioning system receiver at the particular geographical location on the earth.

7. In a method for determining location coordinates of a particular geographical point on the earth, at least one earth-orbiting satellite is searched and tracked, each satellite transmitting radio frequency signals which indicate satellite position, velocity, and range rate relative to a predesignated coordinate system on the earth, the method comprising the steps of:

(A) if four or more satellites are tracked, calculating the coordinates of the particular geographical point corresponding to the coordinates of the four or more satellites;

(B) if less than four satellites are tracked, executing the following steps;

(1) if one satellite is tracked,

(a) considering the satellite position, velocity, and range rate information,

(b) determining an actual rate of change of the range of the satellite to the particular geographical point,

(c) estimating a clock drift error,

(d) calculating a true rate of change of the range of the satellite based upon the measured actual rate of change of range and the estimated clock drift error,

(e) calculating a first plurality of points representing a first line on the earth'"'"'s surface along which the true rate of change of range of the first satellite is constant, wherein the particular geographical point is approximately located near the first line, and

(f) searching for additional satellites;

(2) if two satellites are tracked,

(a) considering the position, velocity, and range rate information of the two satellites,

(b) determining actual rates of change of the ranges of the satellites to the particular geographical point,

(c) estimating a clock drift error,

(d) calculating true rates of change of the ranges of the satellites based upon the measured actual rates of change of the ranges and the estimated clock drift error,

(e) calculating first and second pluralities of points representing first and second lines on the earth'"'"'s surface along which the true rates of change of ranges of the first and second satellites are constant, wherein the particular geographical point is approximately located near the first and second lines,

(f) determining whether the first and second lines intersect, wherein if no intersections are found, iteratively adjusting the estimated clock drift,

(g) calculating revised true rates of change of the ranges, based upon the measured rates of change of the ranges and the adjusted estimated clock drift error,

(h) calculating revised first and second pluralities of points representing revised first and second lines on the earth'"'"'s surface,

(i) repeating the above steps until at least one intersection between the iteratively revised first and second lines is obtained, wherein the at least one intersection is called the reference intersection, and

(j) searching for additional satellites;

(3) if three satellites are tracked,

(a) considering the position, velocity, and range rate information of the three satellites,

(b) determining actual rates of change of the ranges of the satellites to the particular geographical point,

(c) estimating a clock drift error,

(d) calculating true rates of change of the ranges of the satellites based upon the measured actual rates of change of the ranges and the estimated clock drift error,

(e) calculating first, second, and third pluralities of points representing first, second and third lines on the earth'"'"'s surface along which the true rates of change of ranges of the corresponding satellites are constant,

(f) determining whether the first and second lines intersect, wherein if no intersections are found, iteratively adjusting the estimated clock drift, and calculating revised true rates of change of the ranges of the first and second satellites and calculating revised first and second pluralities of points representing revised first and second lines on the earth'"'"'s surface until at least one intersection between the iteratively revised first and second lines is obtained, wherein the at least one intersection is called the reference intersection,

(g) determining whether the third line intersects the first and second lines, wherein if more than one intersection is obtained between the third line and either the first or second lines, determining which intersection point is closest to the reference intersection, and calling this the closest intersection,

(h) specifying a threshold distance from the reference intersection and the closest intersection, and

(i) determining whether the threshold distance is met, wherein if the distance from the reference intersection to the closest intersection is larger than the threshold distance,

i. reestimating the clock drift error,

ii. recalculating the true rates of change of the ranges of the first, second, and third satellites relative to the particular geographical point, and

iii. recalculating first, second, and third pluralities of points representing revised first, second, and one or more additional lines on the earth'"'"'s surface along which the true rates of change of the ranges of the first, second, and one or more additional satellites, respectively, are constant,

iv. determining a revised reference intersection representing at least one intersection between the revised first and second lines,

v. determining whether the revised first, second, and third lines intersect, wherein if more than one intersection is obtained between the third line and either the first or second lines, determining which intersection point is closest to the revised reference intersection, and calling this the revised closest intersection, and

vi. determining whether the threshold distance is met, wherein if the distance from the revised reference intersection to the revised closest intersection is larger than the threshold distance, repeating the above steps, and further wherein if the distance from the revised intersection to the revised closest point is less than the threshold distance, determining that the particular geographical point is approximately located at the revised closest point, and

(j) searching for additional satellites and repeating steps (3)(a)-(i) until corresponding intersections have been determined, wherein the intersection of the maximum number of satellite lines is approximately at the position of the particular geographical point.

8. An apparatus for establishing an initial position on the earth of a global positioning system (GPS) in which signals from earth-orbiting satellites are detected, the signals including satellite position and velocity data, the apparatus comprising:

a receiver for receiving signals from a plurality of satellites, the receiver including a clock having an estimated clock bias error;

means for measuring an actual range from each satellite to the initial position according to the satellite position and velocity data;

means for calculating a rate of change of the range of each satellite, relative to the initial position and the estimated clock bias error; and

means for generating a plurality of points representing a plurality of lines on the earth'"'"'s surface, each line corresponding to one of the satellites, along which the rate of change of range of each satellite is constant, wherein

if signals from at least four satellites are detected, the position of the initial location may be determined from the satellite data, or

if signals from less than four satellites are detected, the intersections of the plurality of lines indicates the general position of the initial location.

9. The apparatus of claim 8, wherein if signals from two satellites are detected, their respective rates of change of ranges and corresponding lines on the earth'"'"'s surface are determined, and if the two lines intersect, the intersection is called the reference intersection.

10. The apparatus of claim 9, further comprising means for searching for and detecting additional satellite signals, wherein if signals for a third satellite are detected, its rate of change of range and corresponding line on the earth'"'"'s surface is determined and compared with the lines corresponding to those of the first two satellites, further wherein if one or more intersections of the third line with the first or second lines is found, the intersection closest to the reference intersection is determined and is deemed to be the approximate location of the initial position.

11. The apparatus of claim 10, wherein if no intersections between the third line and the first and second lines occur, the clock bias error is iteratively reestimated and new lines corresponding to the first, second and third satellites generated until at least one intersection of the third line with one of the first two lines occurs, further wherein any intersections between the first and second lines is called a revised reference intersection, such that the intersection of the third line with one of the first two lines closest to the reference intersection is deemed to be the approximate location of the initial position.

12. The apparatus of claim 11, wherein the clock bias error is reestimated and the first, second and third lines regenerated until the distance between the revised reference intersection and the intersection of the third line with the first two lines falls within a specified threshold distance.

13. The apparatus of claim 10, wherein signals from a fourth satellite are detected.

14. A method of determining approximate coordinates of a particular geographical location on the earth, the method comprising the steps of:

receiving, at the particular geographical location on the earth, signals from first and second earth-orbiting satellites, the signals including information indicating the general location of the associated satellites with respect to an earth-centered, earth-fixed (ECEF) coordinate system;

measuring an actual rate of change of the range, relative to the particular geographical location, of each satellite as the satellite orbits the earth;

estimating a clock drift error;

calculating true rates of change of the ranges of the satellites based upon the measured actual rates of change of ranges and the estimated clock drift error;

calculating first and second pluralities of points representing first and second lines on the earth'"'"'s surface along which the true rates of change of ranges of the first and second satellites, respectively, are constant;

determining whether the first and second lines intersect, wherein if no intersections are found, iteratively adjusting the estimated clock drift;

calculating revised true rates of change of the ranges, based upon the measured rate of change of range and the adjusted estimated clock drift error;

calculating revised first and second pluralities of points representing revised first and second lines on the earth'"'"'s surface, wherein the particular geographical location on the earth is approximately located near the revised first and second lines; and

repeating the above steps until at least one intersection between the iteratively revised first and second lines is obtained, wherein the at least one intersection is called the reference intersection.

15. The method of claim 14, further comprising the steps of:

receiving signals from one or more additional earth-orbiting satellites;

measuring actual rates of change of the ranges, relative to the particular geographical location on the earth, of the one or more additional satellites as they orbit the earth;

calculating true rates of change of the ranges of the one or more satellites, based upon the measured actual rates of change of ranges and the estimated clock drift error; and

calculating one or more pluralities of points corresponding to one or more additional lines on the earth'"'"'s surface along which the rates of change of the ranges of the one or more additional satellites are constant, wherein the particular geographical location on the earth is approximately located near the one or more additional lines and the reference intersection of the first and second lines.

16. The method of claim 15, further comprising the step of determining whether the first, second and one or more additional lines intersect, wherein if more than one intersection is obtained between the one or more additional lines and either the first or second lines, determining which intersection point is closest to the reference intersection, and calling this the closest intersection.

17. The method of claim 16, further comprising the steps of:

specifying a threshold distance from the reference intersection and the closest intersection; and

determining whether the threshold distance is met, wherein if the distance from the reference intersection to the closest intersection is larger than the threshold distance,

reestimating the clock drift error,

recalculating the true rates of change of the ranges of the first, second, and one or more additional satellites relative to the particular geographical location on the earth, and

recalculating first, second, and one or more additional pluralities of points representing revised first, second, and one or more additional lines on the earth'"'"'s surface along which the true rates of change of the ranges of the first, second, and one or more additional satellites, respectively, are constant,

determining a revised reference intersection representing at least one intersection between the revised first and second lines,

determining whether the revised first, second and one or more additional lines intersect, wherein if more than one intersection is obtained between the one or more additional lines and either the first or second lines, determining which intersection point is closest to the revised reference intersection, and calling this the revised closest intersection, and

determining whether the threshold distance is met, wherein if the distance from the revised reference intersection to the revised closest intersection is larger than the threshold distance, repeating the above steps, and further wherein if the distance from the revised intersection to the revised closest point is less than the threshold distance, determining that the particular geographical location on the earth is approximately located at the revised closest point.