Differential GPS for fleet base stations with vector processing mechanization

• US 5,638,077 A
• Filed: 05/04/1995
• Issued: 06/10/1997
• Est. Priority Date: 05/04/1995
• Status: Expired due to Term

• Current Assignee: CSR Technology Incorporated (Qualcomm, Inc.)
• Original Assignee: Rockwell International Corporation
• Inventors: Martin, Edward H.
• Primary Examiner(s): Issing, Gregory C.
• Application Number:
  US08/433,654
• Time in Patent Office: 768 Days
• Field of Search: 342/357, 342/451
• US Class Current: 342/357.44
• CPC Class Codes: G01S 19/071 DGPS corrections
• CPC Class Codes: G01S 19/09 providing processing capability normally carried out by the receiver
• CPC Class Codes: G01S 5/009 Transmission of differential positioning data to mobile

Abstract

A fleet management system for a base station to obtain differential GPS corrections to the location information for the fleet vehicles. A fleet vehicle first sends the information of "position solution" back to the base station with time annotation, where the position solution only needs to specify position, velocity and the satellites observed. The base station, which already has an a priori fixed position vector for its location, generates a potential solution set for all the possibly observable satellites. This allows the base station to vector-process to determine the differential correction for each combinatorial set of satellites observed by the fleet vehicle. This way, equivalent differential GPS accuracy of 10 meters or better can be achieved for the fleet management system without imposing the communications burden to the system.

Claims

1. A method for a base station of a fleet management system to generate differential GPS corrections for at least one fleet vehicle, said base station being coupled to a base station antenna and a base station GPS receiver for observing a plurality of GPS satellites, each of said plurality of GPS satellites having an identification number, said fleet vehicle using a fleet GPS receiver to generate GPS location data at a predetermined time, said GPS location data comprising a position vector P_j, a velocity vector V_j and n satellite identification numbers with each number corresponding to a fleet-observable satellite out of said plurality of GPS satellites, where n≧

4, the method comprising;

a) providing a predetermined position vector P corresponding to a position of said base station antenna;

b) receiving from said base station GPS receiver a plurality of observable signals comprising a plurality of pseudo-range signals S and a plurality of pseudo-range rate signals S* from said corresponding plurality of GPS satellites;

c) generating M group(s) of satellite identification numbers, said M representing a maximum number of ways of arranging an n₁ -satellite group out of said n satellites observed by said fleet GPS receiver, where n₁ ≦

n;

d) for each of said M group(s) of satellite identification numbers, selecting out of said S and S* a set of pseudo-range and pseudo-range rate signals corresponding to said group of satellite identification numbers;

e) forming M group(s) of n₁ -by-1 vectors S_M * for pseudo-range signals selected from said S and n₁ -by-1 vectors S_M * for pseudo-range rate signals selected from said S*;

f) for each of said M group(s) of S_M and S_M *, converting each group of S_M and S_M * to generate a position solution P_M and a velocity solution P_M * corresponding to said S_M and S_M *, respectively, corresponding to said predetermined time;

g) calculating DGPS corrections relative to said base station'"'"'s position vector P, Δ

P_M, and velocity corrections, Δ

V_M, for said predetermined time, according to the following;

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

P.sub.M =P-P.sub.M and Δ

V.sub.M =P.sub.M *,

wherein the DGPS position and velocity corrections for said fleet vehicle are obtained.

2. The method according to claim 1, wherein said n₁ =4.

3. The method according to claim 1, further comprising:

applying said DGPS position and velocity corrections, Δ

P_M and Δ

V_M, to said position vector P_j and velocity vector V_j to obtain corrected position and velocity vectors corresponding to said fleet vehicle.

4. The method according to claim 1, wherein said Step (f) of converting comprises applying one of closed form simultaneous equations, iterative least squares filtering estimation and iterative Kalman filtering estimation.

5. The method according to claim 2, wherein said Step (f) of converting comprises applying one of closed form simultaneous equations, iterative least squares filtering estimation and iterative Kalman filtering estimation.

6. A fleet management system for a base station to track the location of at least one fleet vehicle within a predetermined fleet area by using a plurality of GPS satellites, each of said GPS satellites having an identification, said fleet vehicle being coupled to a fleet GPS receiver for observing at least a subset, n, of said plurality of GPS satellites at a predetermined time, said fleet vehicle transmitting a position vector P_j, a velocity vector V_j and identifications, corresponding to the identifications of said n observable GPS satellites by said fleet vehicle, said fleet management system comprising:

a base station antenna coupled to said base station for observing said plurality of GPS satellites;

a base station GPS receiver coupled to said base station antenna for receiving a plurality of pseudo-range and pseudo-range rate signals S and S* corresponding to said plurality of GPS satellites, said base station GPS receiver also generating a position vector P corresponding to said base station;

data interface coupled to said base station for receiving said position vector P_j, said velocity vector V_j and said identifications, from said fleet vehicle;

a processor coupled to said base station for selecting, based on said identifications, a base station solution of pseudo-range signals S_M and pseudo-range rate signals S_M * out of S and S*, respectively, for each 4-satellite combination out of said n observable GPS satellites as viewed by said fleet vehicle;

navigation computation unit coupled to said processor for generating a navigation solution of position vector and velocity vector P_M and P_M * based on said pseudo-range signals S_M and pseudo-range rate signals S_M * at said predetermined time;

correction unit coupled to said navigation computation for determining DGPS corrections relative to said base station'"'"'s position vector P, Δ

P_M, and velocity corrections, Δ

V_M, for said predetermined time, according to the following;

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

P.sub.M =P-P.sub.M and Δ

V.sub.M =P.sub.M *,

wherein the DGPS position and velocity corrections for said fleet vehicle are obtained.

7. A system according to claim 6, wherein said navigation computation unit applies one of Closed Form simultaneous equations, Iterative Least Squares filtering estimation and Iterative Kalman filtering estimation to obtain said navigation solution.

8. A system according to claim 6, further comprising:

updating unit coupled to said correction unit for applying said DGPS position and velocity corrections, Δ

P_M and Δ

V_M, to said position vector P_j and velocity vector V_j to obtain corrected position and velocity vectors corresponding to said fleet vehicle.

9. A system according to claim 7, further comprising:

updating unit coupled to said correction unit for applying said DGPS position and velocity corrections, Δ

P_M and Δ

V_M, to said position vector P_j and velocity vector V_j to obtain corrected position and velocity vectors corresponding to said fleet vehicle.

10. A fleet management system for a base station to provide differential GPS corrections to at least one fleet vehicle, said base station being coupled to an N-channel base station GPS receiver for observing pseudo-range and pseudo-range rate signal vectors S and S* from at most said N GPS receiver, said GPS receiver also generating a position vector P corresponding to the location of said base station, said fleet vehicle being coupled to a fleet GPS receiver for observing n GPS satellites, where n≦

N, and n GPS satellites generating signals comprising uncorrected time-annotated GPS location data and identification of said n GPS satellites, said fleet vehicle transmitting said uncorrected time-annotated GPS location data and said identification to said base station, said base station being coupled to an I/O control for receiving from said fleet vehicle and generating a time-annotated vehicle data record comprising position and velocity vectors P_j, V_j and said identification, said fleet management system comprising;

means for determining a maximum number, M, of possible satellite combinatorials out of said n satellites taken 4 at a time, according to the following equations;

space="preserve" listing-type="equation">M=n(n-1)(n-2)(n-3)/4!;

means for forming annotated S_m and S_m * vectors where m is a specific subset of M;

means for generating P_m and P_m * using navigation computation for each annotated S_m and S_m * vectors;

means for calculating DGPS correction Δ

P_m =P-P_m and Δ

V_m =P_m *;

means for updating said uncorrected GPS location data based on;

P'"'"'_j =P_j -Δ

P_m and V'"'"'_j =V_j -Δ

V_m, where P'"'"'_j is the updated position vector and V'"'"'_j is the updated velocity vector for the j-th vehicle.

11. A fleet management system according to claim 10, wherein said means of generating P_m and P_m * uses navigation computation by applying one of closed form simultaneous equations, iterative least squares filtering estimation and iterative Kalman filtering estimation.