Method and system for post-processing differential global positioning system satellite positional data

• US 5,764,184 A
• Filed: 03/10/1997
• Issued: 06/09/1998
• Est. Priority Date: 03/10/1997
• Status: Expired due to Term

• Current Assignee: Navcom Technology, Inc. (Deere & Company)
• Original Assignee: Deere & Company
• Inventors: Nelson, Frederick, Hatch, Ronald R.
• Primary Examiner(s): Blum, Theodore M.
• Application Number:
  US08/814,033
• Time in Patent Office: 456 Days
• Field of Search: 342/357, 364/449.9
• US Class Current: 342/357.44
• CPC Class Codes: G01S 19/27 creating, predicting or correcting ephemeris or almanac data within the receiver
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 5/009 Transmission of differential positioning data to mobile

Abstract

In a DGPS, accurate post-processed corrections to user receiver locations are made while minimizing the amount of data required to be stored at reference station and user receiver positions. Further, such corrections are available even if reference station corrections cannot be received by the user in real-time. The user receiver acquires in-view GPS satellites, computes, and stores user stand-alone position, time of computation, and acquired satellite identification. Reference stations generate correction data for the same satellites at the same time period, which correction data are broadcast but need not be received by the user in real-time. Almanac information for the relevant satellites is also made available to at least the user receiver. Stand-alone user receiver positional data and the almanac data for the same acquired satellites are used by a CPU, located at a remote site able to receive reference station transmissions and/or in the user receiver, to compute corrections to user receiver positions.

Claims

1. For use with a differential global positioning system (GPS) that includes:

a plurality of GPS satellites that transmit to earth navigational signals including at least satellite orbital position data, GPS time data, and satellite identification data;

at least one earth-based reference station that receives said navigational signals and computes at least pseudo-range correction data; and

an earth-based user receiver, at a user location, able to receive said navigational signals and compute a user position;

a method for recovering accurate post-processed information as to said user position even if said pseudo-range correction data are not received in real-time, the method comprising the following steps;

(a) computing and storing stand-alone position of said user receiver at at least one time, using said navigational signals;

(b) storing time at which said navigational signals were used to compute said stand-alone position;

(c) storing identity of each of said GPS satellites whose navigational signals were used to compute said stand-alone position;

(d) using pre-stored almanac data for each of said GPS satellites whose navigational signals were used in step (a) and using information stored at step (a), step (b) and step (c) to compute a direction cosine from said user receiver to each of said GPS satellites whose navigational signals were used to compute said stand-alone position (hereinafter, said used GPS satellites);

wherein at least one said reference station computed and transmitted pseudo-range correction data for each of said used GPS satellites; and

(e) using direction cosine data computed at step (d) to map each of said pseudo-range correction data corresponding to each of said used GPS satellites and for each time at which said stand-alone position was computed to obtain corrections to said user position.

2. The method of claim 1, wherein said user receiver includes at least a central processing unit coupled to a memory, and wherein at least one step of step (a), step (b), and step (c) is carried out by said user receiver.

3. The method of claim 1, wherein at least one step of step (a), step (b), and step (c) is carried out by a processing system remote from said user receiver, said processing system including at least a central processing unit coupled to a memory.

4. The method of claim 1, wherein step (a) includes converting said stand-alone position from geodetic coordinates of latitude, longitude, and height, to earth-centered earth-fixed frame (x, y, z) coordinates.

5. The method of claim 1, wherein step (e) is carried out using a least squares method.

6. The method of claim 1, wherein step (e) includes using said pseudo-range correction data and using said stand-alone position from step (a) and said time from step (b) and said identity of each satellite from step (c) to compute a weighted correction for each of said used GPS satellites.

7. The method of claim 6, wherein said weighted correction is computed as a function of approximate distance separating said stand-alone position from step (a) and a stored position of each said reference station providing said pseudo-range correction data at step (e).

8. The method of claim 6, wherein said weighted correction is computed as a function of at least one of (i) recorded ionospheric correction data, and (ii) orbital correction data for each said used GPS satellite.

9. The method of claim 1, wherein step (e) includes:

when received, using said pseudo-range correction data corresponding to each of said used GPS satellites and for each time at which said stand-alone position was computed, and using computed direction cosine information from step (d) to form a measurement vector;

wherein said measurement vector contains data from which said user position may be corrected.

10. The method of claim 1, wherein at step (e), each said direction cosine represents a unit vector between said user receiver and one of said used GPS satellites.

11. The method of claim 1, wherein at step (d) said almanac data are available in Kepler parameters for each said used GPS satellite, said almanac data being converted to earth-centered earth-fixed frame (x, y, z) coordinates.

12. The method of claim 11, further including computing orbital positions for each of said used GPS satellites, and using the computed said orbital positions to compute said direction cosines.

13. The method of claim 5, wherein at step (d) said direction cosines are available in earth-centered earth-fixed frame (x, y, z) coordinates;

and

further including appending to said coordinates a value of one for clock sensitivity and a measurement correction from said weighted correction.

14. The method of claim 1, wherein step (e) includes forming a measurement matrix in which a row therein includes data defining a measurement vector whose data includes at least one said direction cosine and data representing unity clock sensitivity, and extending a size of said measurement matrix using said pseudo-range correction data and coupling data in said so-extended measurement matrix to a least-squares square-root information filter matrix.

15. The method of claim 14, wherein said information filter matrix uses a triangular Householder transformation to incorporate said so-extended measurement matrix into a least-squares information filter matrix.

16. The method of claim 14, further including computing a least-squares correction to positional coordinates associated with said so-extended measurement matrix by inverting a measurement appended least-squares matrix used to form said so-extended measurement matrix.

17. The method of claim 1, wherein said pseudo-range correction data is not available to said user receiver in real-time.

18. For use with a differential global positioning system (GPS) that includes at least:

a plurality of GPS satellites that transmit navigational signals to earth including at least satellite orbital position data, GPS time data, and satellite identification data;

at least one earth-based reference station that includes a central processor unit coupled to a memory, and receives said navigational signals and computes and transmits at least pseudo-range correction data;

a system that recovers accurate post-processed information as to a user position even if said pseudo-range correction data are not available in real-time, the system including;

an earth-based user receiver that includes at least a central processor unit (CPU) coupled to a memory, said user receiver disposed at a user location and able to receive said navigational signals and, whether in real-time or subsequently, able to receive said pseudo-range correction data;

a software routine, loadable into said memory for execution by said CPU to carry out the following steps;

(a) storing in said memory a correction data file that is formed by (i) computing stand-alone position of said user receiver using said navigational signals, (ii) storing time at which said navigational signals were used to compute said stand-alone position, and (iii) storing identity of each of said GPS satellites whose navigational signals were used to compute said stand-alone position (said used GPS satellites);

wherein at least one said reference station tracks each of said used GPS satellites;

(b) loading into said memory pre-stored almanac data for each of said used GPS satellites;

(c) using the stored said correction data file and the loaded said almanac data to compute a direction cosine from said user receiver to each said used GPS satellite; and

(d) using direction cosine data computed at step (c) to map each of said pseudo-range correction data corresponding to each of said used GPS satellites and for each time at which said stand-alone position was computed to obtain corrections to said user position.

19. The system of claim 18, wherein said reference station transmits said navigational signals other than in real-time.

20. The system of claim 18, wherein said system is selected from the group consisting of a local area differential global positioning system, and a wide area differential global positioning system.