Wide area differential GPS reference system and method

• US 5,621,646 A
• Filed: 07/22/1996
• Issued: 04/15/1997
• Est. Priority Date: 01/17/1995
• Status: Expired due to Fees

• Current Assignee: Stanford University
• Original Assignee: Stanford University
• Inventors: Chao, Yi-Chung, Walter, Todd F., Enge, Per K.
• Primary Examiner(s): Teska, Kevin J.
• Assistant Examiner(s): PHAN, THAI Q
• Application Number:
  US08/681,087
• Time in Patent Office: 267 Days
• Field of Search: 364/443, 364/449, 364/458, 364/459, 364/463, 364/439, 342/356, 342/357, 342/358
• US Class Current: 701/120
• CPC Class Codes: G01S 19/05 providing aiding data
• CPC Class Codes: G01S 19/071 DGPS corrections
• CPC Class Codes: G01S 19/072 Ionosphere corrections
• CPC Class Codes: G01S 19/074 providing integrity data, e.g. WAAS

Abstract

A GPS reference system and corresponding method utilizing a network of reference stations and a master station. Each reference station receives GPS signals from GPS satellites it observes and computes in response a pseudo-range residual for each GPS satellite it observes. The master station is in communication with the reference stations to receive the computed pseudo-range residuals and comprises a pseudo-range residual synchronizer, an ephemeris and clock correction estimator for each GPS satellite observed by the reference stations, and a transmitter. The pseudo-range residual synchronizer is responsive to the received pseudo-range residuals in order to compute clock differences between the reference stations and remove the clock differences from the received pseudo-range residuals so as to synchronize them. Each ephemeris and clock correction estimator computes an ephemeris correction and a clock correction for the corresponding GPS satellite in response to each synchronized pseudo-range residual for the corresponding GPS satellite. The transmitter transmits to users the computed ephemeris and clock corrections for each GPS satellite observed by the reference stations.

Claims

1. A GPS reference system for providing ephemeris and/or clock corrections for GPS satellites to users at measurement epochs of the GPS reference system, the GPS reference system comprising:

a network of reference stations, each of the reference stations receiving GPS signals from those of the GPS satellites it observes and computing in response at each of the measurement epochs a pseudo-range residual for each of the GPS satellites it observes at the measurement epoch; and

a master station in communication with the reference stations to receive the computed pseudo-range residuals at each of the measurement epochs, the master station comprising;

a pseudo-range residual synchronizer to remove at each of the measurement epochs clock differences between the reference stations from the received pseudo-range residuals at the measurement epoch so as to synchronize them in time;

for each of the GPS satellites observed at each of the measurement Epochs by at least one of the reference stations, a corresponding, independent ephemeris and clock correction estimator to compute at the measurement epoch an ephemeris correction and a clock correction for the corresponding GPS satellite in response to each of the synchronized pseudo-range residuals at the measurement for the corresponding GPS satellite and independent of the synchronized pseudo-range residuals at the measurement for the other GPS satellites observed by the reference stations; and

a transmitter to transmit to users at each of the measurement epochs the computed ephemeris and/or clock corrections for each of the GPS satellites observed at the measurement epoch by at least one of the reference stations;

wherein, for at least a subset of the measurement epochs, at least a subset of the GPS satellites for which the ephemeris and/or clock corrections are transmitted are observed by at least one but no more than three of the reference stations such that the transmitted ephemeris and/or clock corrections for each of the at least subset of GPS satellites at each of the at least subset of measurement epochs are computed in response to at least one but no more than three synchronized pseudo-range residuals for the GPS satellite at the measurement epoch.

2. A GPS reference system as recited in claim 1 wherein the network of reference stations comprises no more than three reference stations.

3. A GPS reference system as recited in claim 1 wherein the network of reference stations comprises at least four reference stations.

4. A GPS reference system as recited in claim 1 wherein:

the network of reference stations comprises no more than three reference stations;

each of the ephemeris and clock correction estimators computes at each of the measurement epochs the ephemeris and clock corrections for the corresponding GPS satellite when it is observed at the measurement epoch by at least one of the reference stations in accordance with;

space="preserve" listing-type="equation">x.sup.k =G.sub.W.sup.T (G.sub.W G.sub.W.sup.T).sup.-1 Δ

ρ

.sup.k

where;

k represents the corresponding GPS satellite;

x^k is a state vector containing the ephemeris and clock corrections at the measurement epoch for the corresponding GPS satellite;

Δ

ρ

^k is a vector containing, for each of the reference stations that observes the corresponding GPS satellite at the measurement epoch, the corresponding synchronized pseudo-range residual at the measurement epoch for the corresponding GPS satellite; and

G_W is a matrix containing, for each of the reference stations that observes the corresponding GPS satellite at the measurement epoch, a line of sight from the reference station to the corresponding GPS satellite and an element that indicates that the corresponding synchronized pseudo-range residual in the vector Δ

ρ

^k should be adjusted by the clock correction in the state vector x^k for the corresponding GPS satellite.

5. A GPS reference system as recited in claim 1 wherein:

the network of reference stations comprises at least four reference stations;

each of the ephemeris and clock correction estimators computes at each of the measurement epochs the ephemeris and clock corrections for the corresponding GPS satellite when it is observed at the measurement epoch by at least one but no more than three of the reference stations in accordance with;

space="preserve" listing-type="equation">x.sup.k =G.sub.W.sup.T (G.sub.W G.sub.W.sup.T).sup.-1 Δ

ρ

.sup.k

and when it is observed at the measurement epoch by at least four of the reference stations in accordance with;

space="preserve" listing-type="equation">x.sup.k =(G.sub.W.sup.T G.sub.W).sup.-1 G.sub.W.sup.T Δ

ρ

.sup.k

where;

k represents the corresponding GPS satellite;

x^k is a state vector containing the ephemeris and clock corrections at the measurement epoch for the corresponding GPS satellite;

Δ

ρ

^k is a vector containing, for each of the reference stations that observes the corresponding GPS satellite at the measurement epoch, the corresponding synchronized pseudo-range residual at the measurement epoch for the corresponding GPS satellite; and

G_W is a matrix containing, for each of the reference stations that observes the corresponding GPS satellite at the measurement epoch, a line of sight from the reference station to the corresponding GPS satellite and an element that indicates that the corresponding synchronized pseudo-range residual in the vector Δ

ρ

^k should be adjusted by the clock correction in the state vector x^k for the corresponding GPS satellite.

6. A GPS reference system for providing ephemeris and/or clock corrections for GPS satellites to users at measurement epochs of the GPS reference system, the GPS reference system comprising:

a network of reference stations including a primary reference station and secondary reference stations, each of the reference stations receiving GPS signals from those of the GPS satellites it observes and computing in response at each of the measurement epochs a pseudo-range residual for each of the GPS satellites it observes at the measurement epoch, each of the secondary reference stations positioned with respect to the primary reference station such that at least one of the GPS satellites it observes at each of the measurement epochs is simultaneously observed by the primary reference station; and

a master station in communication with the reference stations to receive the computed pseudo-range residuals at each of the measurement epochs, the master station comprising;

a pseudo-range residual synchronizer remove at each of the measurement epochs the clock differences from the received pseudo-range residuals at the measurement epoch so as to synchronize them in time in response to the received pseudo-range residuals at the measurement for each of the GPS satellites that is simultaneously observed at the measurement epoch by the primary reference station and at least one of the secondary reference stations;

for each of the GPS satellites observed at each of the measurements epoch by the primary reference station and at least one of the secondary reference stations, a corresponding, independent ephemeris and clock correction estimator to compute at the measurement epoch an ephemeris correction and a clock correction for the corresponding GPS satellite in response to each of the synchronized pseudo-range residuals at the measurement epoch for the corresponding GPS satellite and independent of the synchronized pseudo-range residuals at the measurement epoch for the other GPS satellites observed by the reference stations; and

a transmitter to transmit to users at each of the measurement epochs the computed ephemeris and/or clock corrections for each of the GPS satellites observed at the measurement epoch by the primary reference station and at least one of the secondary reference stations;

wherein, for at least a subset of the measurement epochs, at least a subset of the GPS satellites for which the ephemeris and/or clock corrections are transmitted are observed by the primary reference station and at least one but no more than two of the secondary reference stations such that the transmitted ephemeris and/or clock corrections for each of the at least subset of GPS satellites at each of the at least subset of measurement epochs are computed in response to at least two but no more than three synchronized pseudo-range residuals for the GPS satellite at the measurement epoch.

7. A GPS reference system as recited in claim 6 wherein the network of reference stations comprises no more than three reference stations.

8. A GPS reference system as recited in claim 6 wherein the network of reference stations comprises at least four reference stations.

9. A GPS reference system as recited in claim 6 wherein:

the network of reference stations comprises no more than three reference stations;

each of the ephemeris and clock correction estimators computes at each of the measurement epochs the ephemeris correction for the corresponding GPS satellite when it is observed at the measurement epoch by the primary reference station and at least one of the secondary reference stations in accordance with;

space="preserve" listing-type="equation">Δ

r.sup.k =G.sub.W.sup.T (G.sub.W G.sub.W.sup.T).sup.-1 Δ

.sup.k

where;

k represents the corresponding GPS satellite;

Δ

r^k is a vector containing the ephemeris correction at the measurement epoch for the corresponding GPS satellite;

Δ

^k is a vector containing, for each of the secondary reference stations that observes the corresponding GPS satellite at the measurement epoch, the difference between the synchronized pseudo-range residual at the measurement epoch for the corresponding GPS satellite from the secondary reference station and the synchronized pseudo-range residual at the measurement epoch for the corresponding GPS satellite from the primary reference station;

G_W is a matrix containing, for each of the secondary reference stations that observes the corresponding GPS satellite at the measurement epoch, the difference between a line of sight from the secondary reference station to the corresponding GPS satellite and a line sight from the primary reference station to the corresponding GPS satellite; and

each of the ephemeris and clock correction estimators computes the clock correction at each of the measurement epochs for the corresponding GPS satellite in response to the computed ephemeris correction at the measurement epoch for the corresponding GPS satellite.

10. A GPS reference system as recited in claim 6 wherein:

the network of reference stations comprises at least four reference stations;

each of the ephemeris and clock correction estimators computes the ephemeris correction at each of the measurement epochs for the corresponding GPS satellite when it is observed at the measurement epoch by the primary reference station and at least one but no more than two of the secondary reference stations in accordance with;

space="preserve" listing-type="equation">Δ

r.sup.k =G.sub.W.sup.T (G.sub.W G.sub.W.sup.T).sup.-1 Δ

.sup.k

and when it is observed at the measurement epoch by the primary reference station and at least three of the secondary reference stations in accordance with;

where;

space="preserve" listing-type="equation">Δ

r.sup.k =(G.sub.W.sup.T G.sub.W).sup.-1 G.sub.W.sup.T Δ

.sup.k

k represents the corresponding GPS satellite;

Δ

r^k is a vector containing the ephemeris correction at the measurement epoch for the corresponding GPS satellite;

Δ

^k is a vector containing, for each of the secondary reference stations that observes the corresponding GPS satellite at the measurement epoch, the difference between the synchronized pseudo-range residual at the measurement epoch for the corresponding GPS satellite from the secondary reference station and the synchronized pseudo-range residual at the measurement epoch for the corresponding GPS satellite from the primary reference station; and

G_W is a matrix containing, for each of the secondary reference stations that observes the corresponding GPS satellite at the measurement epoch, the difference between a line of sight from the secondary reference station to the corresponding GPS satellite and a line of sight from the primary reference station to the corresponding GPS satellite; and

each of the ephemeris and clock correction estimators computes the clock correction at each of the measurement epochs for the corresponding GPS satellite in response to the computed ephemeris correction at the measurement epoch for the corresponding GPS satellite.

11. A method of providing ephemeris and/or clock corrections for GPS satellites to users at measurement epochs of the method utilizing a network of reference stations and a master station, the method comprising the steps of:

with each of the reference stations;

receiving GPS signals from those of the GPS satellites it observes and in response computing at each of the measurement epochs a pseudo-range residual for each of the GPS satellites it observes at the measurement epoch;

providing the computed pseudo-range residuals at each of the measurement epochs to the master station;

with the master station;

removing at each of the measurement epochs clock differences from the provided pseudo-range residuals so as to synchronize them in response to the provided pseudo-range residuals at the measurement epoch;

for each of the GPS satellites observed at each of the measurement epochs by the reference stations, computing at the measurement epoch an ephemeris correction and a clock correction for the corresponding GPS satellite in response to the synchronized pseudo-range residuals at the measurement epoch for the corresponding GPS satellite and independent of the synchronized pseudo-range residuals at the measurement epoch for the other GPS satellites observed by the reference stations; and

transmitting at each of the measurement epochs the ephemeris and/or clock corrections for each of the GPS satellites observed at the measurement epoch by at least one of the reference stations;

wherein, for at least a subset of the measurement epochs, at least a subset of the GPS satellites for which the ephemeris and/or clock corrections are transmitted are observed by at least one but no more than three of the reference stations such that the transmitted ephemeris and/or clock corrections for each of the at least subset of GPS satellites at each of the at least subset of measurement epochs are computed in response to at least one but no more than three synchronized pseudo-range residuals for the GPS satellite at the measurement epoch.

12. A method as recited in claim 11 wherein the network of reference stations comprises no more than three reference stations.

13. A method as recited in claim 11 wherein the network of reference stations comprises at least four reference stations.

14. A method as recited in claim 11 wherein:

the network of reference stations comprises no more than three reference stations;

the ephemeris and clock corrections at each of the measurement epochs are computed in the ephemeris and clock correction computing step for the corresponding GPS satellite when it is observed at the measurement epoch by at least one of the reference stations in accordance with;

space="preserve" listing-type="equation">x.sup.k =G.sub.W.sup.T (G.sub.W G.sub.W.sup.T).sup.-1 Δ

ρ

.sup.k

where;

k represents the corresponding GPS satellite;

x^k is a state vector containing the ephemeris and clock corrections at the measurement epoch for the corresponding GPS satellite;

Δ

ρ

^k is a vector containing, for each of the reference stations that observes the corresponding GPS satellite at the measurement epoch, the corresponding synchronized pseudo-range residual at the measurement epoch for the corresponding GPS satellite; and

G_W is a matrix containing, for each of the reference stations that observes the corresponding GPS satellite at the measurement epoch, a line of sight from the reference station to the corresponding GPS satellite and an element that indicates that the corresponding synchronized pseudo-range residual in the vector Δ

ρ

^k should be adjusted by the clock correction in the state vector x^k for the corresponding GPS satellite.

15. A method as recited in claim 11 wherein:

the network of reference stations comprises at least four reference stations;

the ephemeris and clock corrections at each of the measurement epochs are computed in the ephemeris and clock correction computing step for the corresponding GPS satellite when it is observed at the measurement epoch by at least one but no more than three of the reference stations in accordance with;

space="preserve" listing-type="equation">x.sup.k =G.sub.W.sup.T (G.sub.W G.sub.W.sup.T).sup.-1 Δ

ρ

.sup.k

and when it is observed at the measurement epoch by at least four of the reference stations in accordance with;

space="preserve" listing-type="equation">x.sup.k =(G.sub.W.sup.T G.sub.W).sup.-1 G.sub.W.sup.T Δ

ρ

.sup.k

where;

k represents the corresponding GPS satellite;

x^k is a state vector containing the ephemeris and clock corrections at the measurement epoch for the corresponding GPS satellite;

Δ

p^k is a vector containing, for each of the reference stations that observes the corresponding GPS satellite at the measurement epoch, the corresponding synchronized pseudo-range residual at the measurement epoch for the corresponding GPS satellite; and

G_W is a matrix containing, for each of the reference stations that observes the corresponding GPS satellite at the measurement epoch, a line of sight from the reference station to the corresponding GPS satellite and an element that indicates that the corresponding synchronized pseudo-range residual in the vector Δ

ρ

^k should be adjusted by the clock correction in the state vector x^k for the corresponding GPS satellite.