Method and reciever using a low earth orbiting satellite signal to augment the global positioning system

• US 5,812,961 A
• Filed: 12/28/1995
• Issued: 09/22/1998
• Est. Priority Date: 12/28/1995
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Talbot, Nicholas Charles, Enge, Per K.
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US08/580,504
• Time in Patent Office: 999 Days
• Field of Search: 364/449.1, 364/449.7, 364/449.9, 364/459, 364/460, 342/357, 342/356, 342/352, 342/457, 342/450, 342/442
• US Class Current: 701/207
• CPC Class Codes: G01S 19/04 providing carrier phase data
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
• CPC Class Codes: H04B 7/18552 using a telephonic control signal and a second ranging satellite determining absolute distances from a plurality of spaced points of known location G01S5/14

Abstract

A method and an apparatus using a low Earth orbiting (LEO) satellite signal to augment the Global Positioning System (GPS) for finding a location vector between a GPS user receiver and a GPS reference receiver. The GPS user receiver computes a LEO user-reference carrier phase difference and a GPS user-reference carrier phase difference for the LEO satellite signal and a GPS satellite signal, respectively, received simultaneously at the GPS user receiver and the GPS reference receiver. Carrier phase double differences are computed from a difference between the GPS user-reference carrier phases from two GPS satellites and either the LEO user-reference carrier phases from two LEO satellites or the GPS user-reference carrier phase from one GPS satellite and the LEO user-reference carrier phase from one LEO satellite. The location vector is computed from a difference between the double differences for two satellite geometries. The GPS reference receiver communicates the reference carrier phase data to the GPS user receiver through the LEO satellite. An ionospheric delay model is determined by tracking the LEO satellite signal as the LEO satellite traverses the sky. An optional calibrator corrects for measurement delay in determining the carrier phases in the GPS user receiver and the GPS reference receiver.

Claims

1. A method in a GPS receiver system for using a low Earth orbiting (LEO) satellite signal from a LEO satellite for augmenting the global positioning system for computing a location vector, comprising steps of:

receiving a GPS satellite signal having a GPS carrier from a GPS satellite with a GPS user receiver;

determining a GPS/user carrier phase for said GPS satellite signal;

receiving said LEO satellite signal having a LEO carrier from said LEO satellite with said GPS user receiver;

determining a LEO/user carrier phase for said LEO satellite signal;

receiving a reference data signal including reference data for a GPS/reference carrier phase for said GPS satellite signal received at a GPS reference receiver and a LEO/reference carrier phase for said LEO satellite signal received at said GPS reference receiver;

computing a GPS user-reference phase corresponding to a difference between said GPS/user carrier phase and said GPS/reference carrier phase;

computing a LEO user-reference phase corresponding to a difference between said LEO/user carrier phase and said LEO/reference carrier phase; and

computing said location vector, based upon said GPS user-reference phase and said LEO user-reference phase, for a geographical location of said GPS user receiver with respect to a geographical location of said GPS reference receiver.

2. The method of claim 1, further including steps of:

computing an ionospheric delay model parameter based upon said LEO satellite signal; and

computing said location vector further based upon said parameter.

3. The method of claim 2, further including steps of:

receiving said LEO satellite signal including a code modulated on said LEO carrier, said code having a time of arrival;

determining a divergence between said time of arrival and said LEO/user carrier phase as said LEO satellite traverses the sky above said GPS user receiver; and

computing said parameter from said divergence.

4. The method of claim 1, wherein:

the step of computing said location vector includes steps of computing a GPS double difference corresponding to a difference between said GPS user-reference phase for said GPS satellite signal from a first and a second said GPS satellite; and

computing a LEO double difference corresponding to a difference between said LEO user-reference phase for said LEO satellite signal from a first and a second said LEO satellite.

5. The method of claim 1, wherein:

the step of computing said location vector includes steps of computing a GPS double difference corresponding to a difference between said GPS user-reference phase for said GPS satellite signal from a first and a second said GPS satellite; and

computing a cross double difference corresponding to a difference between said GPS user-reference phase for said GPS satellite signal from said first GPS satellite and said LEO satellite signal from said LEO satellite.

6. The method of claim 5, further including steps of:

determining a cross user delay for a difference between a GPS measurement delay between receiving said GPS satellite signal at said GPS user receiver and determining said GPS/user carrier phase and a LEO measurement delay between receiving said LEO satellite signal at said GPS user receiver and determining said LEO/user carrier phase; and

computing a cross delay difference for a difference between said cross user delay and a cross reference delay for a difference between a GPS measurement delay between receiving said GPS satellite signal at said GPS reference receiver and determining said GPS/reference carrier phase and a LEO measurement delay between receiving said LEO satellite signal at said GPS reference receiver and determining said LEO/reference carrier phase; and

wherein said reference data further includes information for said reference delay.

7. The method of claim 6, wherein:

the step of determining a cross user delay includes steps of generating a simulated GPS signal;

measuring a simulated GPS/user carrier phase from said simulated GPS signal; and

using said simulated GPS/user carrier phase in determining said cross user delay.

8. The method of claim 6, wherein:

the step of determining a cross user delay includes steps of generating a simulated LEO signal;

measuring a simulated LEO/user carrier phase from said simulated LEO signal; and

using said simulated LEO/user carrier phase in determining said cross user delay.

9. The method of claim 1, wherein:

the step of receiving a reference data signal includes receiving said reference data in said LEO satellite signal.

10. The method of claim 9, wherein:

said reference data further includes data for a parameter of an ionospheric delay model.

11. A method of augmenting the global positioning system, comprising steps of:

receiving a global positioning system (GPS) satellite signal having a GPS carrier from a GPS satellite with a GPS reference receiver;

determining a GPS/reference carrier phase for said GPS satellite signal;

receiving a low earth orbiting (LEO) satellite signal having a LEO carrier from said LEO satellite with said GPS reference receiver;

determining a LEO/reference carrier phase for said LEO satellite signal; and

issuing a reference data signal including reference data for said GPS/reference carrier phase and said LEO/reference carrier phase for use in a differential carrier phase measurement of a location vector.

12. The method of claim 11, further including steps of:

computing an ionospheric delay model parameter based upon said LEO satellite signal; and

issuing said reference data signal further including reference data for said parameter.

13. The method of claim 12, further including steps of:

receiving said LEO satellite signal including a code on said LEO carrier, said code having a time of arrival;

determining a divergence between said time of arrival and said LEO/user carrier phase as said LEO satellite traverses the sky above said GPS reference receiver; and

computing said parameter from said divergence.

14. The method of claim 11, further including steps of:

determining a cross reference delay corresponding to a difference between a GPS measurement delay between receiving said GPS satellite signal at said GPS reference receiver and determining said GPS/reference carrier phase and a LEO measurement delay between receiving said LEO satellite signal at said GPS reference receiver and determining said LEO/reference carrier phase; and

wherein said reference data further includes said cross reference delay.

15. The method of claim 14, wherein:

the step of determining a cross reference delay includes steps of generating a simulated GPS signal;

measuring a simulated GPS/reference carrier phase from said simulated GPS signal; and

using said simulated GPS/reference carrier phase in determining said cross reference delay.

16. The method of claim 14, wherein:

the step of determining a cross reference delay LEO reference delay includes steps of generating a simulated LEO signal;

measuring a simulated LEO/reference carrier phase from said simulated LEO signal; and

using said simulated LEO/reference carrier phase in determining said cross reference delay.

17. The method of claim 11, further includes steps of:

determining a GPS reference delay between receiving said GPS satellite signal at said reference receiver and determining said GPS/reference carrier phase;

determining a LEO reference delay between receiving said LEO satellite signal at said GPS reference receiver and determining said LEO/reference carrier phase; and

issuing said reference data signal further including reference data for said GPS reference delay and said LEO reference delay.

18. The method of claim 11, wherein:

the step of issuing a reference data signal includes a step of issuing said reference data signal to said LEO satellite.

19. The method of claim 18, wherein:

said reference data includes data for a parameter of an ionospheric delay model.

20. A GPS user receiver for computing a location vector between a geographical location of the GPS user receiver and a geographical location of a GPS reference receiver, comprising:

a radio frequency (RF) section for a) receiving a GPS signal having a GPS carrier and determining a GPS/user carrier phase for said GPS signal, b) receiving a low earth orbiting (LEO) satellite signal having a LEO carrier from a LEO satellite and determining a LEO/user carrier phase for said LEO satellite signal, and c) issuing an intermediate signal including information for said GPS/user carrier phase and said LEO/user carrier phase; and

a processor coupled to the RF section for a) receiving said intermediate signal, b) receiving reference data including a GPS/reference carrier phase for said GPS signal received at said GPS reference receiver and a LEO/reference carrier phase for said LEO satellite signal received at said GPS reference receiver, and c) for computing said location vector using both of (i) a GPS user-reference phase corresponding to a difference between said GPS/user carrier phase and said GPS/reference carrier phase and (ii) a LEO user-reference phase corresponding to a difference between said LEO/user carrier phase and said LEO/reference carrier phase.

21. The GPS receiver of claim 20, wherein:

the processor is further for computing a parameter of an ionospheric delay model from a divergence between a carrier phase and a time of arrival of a code modulated on said LEO satellite signal as said LEO satellite traverses the sky and for computing said location vector further based upon said parameter.

22. The GPS receiver of claim 21, wherein:

the processor is further for determining a divergence between said time of arrival and said LEO/user carrier phase as said LEO satellite traverses the sky above the GPS user receiver and for computing said parameter from said divergence.

23. The GPS receiver of claim 20, wherein:

the processor is further for computing said location vector by computing a GPS double difference corresponding to a difference between said GPS user-reference phase for said GPS signal from a first GPS satellite and a second GPS satellite and computing a LEO double difference corresponding to a difference between said LEO user-reference phase for said LEO satellite signal from a first said LEO satellite and a second said LEO satellite.

24. The GPS receiver of claim 20, wherein:

the processor is further for computing said location vector by computing a GPS double difference corresponding to a difference between said GPS user-reference phase for said GPS signal from a first and a second GPS satellite and computing a cross double difference corresponding to a difference between said GPS user-reference phase for said GPS signal from said first GPS satellite and said LEO satellite signal from said LEO satellite.

25. The GPS receiver of claim 24, further including:

calibration means, coupled to the processor, for determining a cross user delay for a difference between a GPS measurement delay between receiving said GPS signal at said GPS user receiver and determining said GPS/user carrier phase and a LEO measurement delay between receiving said LEO satellite signal at said GPS user receiver and determining said LEO/user carrier phase; and

wherein the processor is further for computing a cross delay difference for a difference between said cross user delay and a cross reference delay for a difference between a GPS measurement delay between receiving said GPS signal at said GPS reference receiver and determining said GPS/reference carrier phase and a LEO measurement delay between receiving said LEO satellite signal at said GPS reference receiver and determining said LEO/reference carrier phase; and

for computing said location vector based upon a difference between said cross user delay and a cross reference delay; and

said reference data further includes said cross reference delay.

26. The GPS receiver of claim 25, wherein:

the calibration means further includes a GPS simulator for generating a simulated GPS signal;

means for measuring a simulated GPS/user carrier phase from said simulated GPS signal; and

means for determining said GPS user delay based upon said simulated GPS/user carrier phase.

27. The GPS receiver of claim 25, wherein:

the calibration means farther includes a LEO simulator for generating a simulated LEO signal;

means for measuring a simulated LEO/user carrier phase from said simulated LEO signal; and

means for determining said LEO user delay based upon said simulated LEO/user carrier phase.

28. The GPS receiver of claim 20, further including:

a radio receiver for receiving said LEO satellite signal including said reference data and passing said reference data to the processor.

29. The GPS receiver of claim 28, wherein:

said reference data further includes data for a parameter for an ionospheric delay model, and the processor is further for computing said location vector from said parameter.

30. A GPS reference receiver, comprising:

a radio frequency (RF) section for a) receiving a GPS signal having a GPS carrier and determining a GPS/reference carrier phase for said GPS signal, b) receiving a low earth orbiting (LEO) satellite signal having a LEO carrier from a LEO satellite and determining a LEO/reference carrier phase for said LEO satellite signal, and c) issuing an intermediate signal including information for said GPS/reference carrier phase and said LEO/reference carrier phase; and

a processor coupled to the RF section for receiving said intermediate signal and issuing a reference data signal including reference data for said GPS/reference carrier phase and said LEO/reference carrier phase for use in a differential carrier phase measurement of a location vector.

31. The GPS receiver of claim 30, wherein:

the processor is further for computing a parameter of an ionospheric delay model from said LEO satellite signal and for issuing said reference data signal further including said reference data including said parameter.

32. The GPS receiver of claim 31, wherein:

said LEO satellite signal further includes a code modulated on said LEO carrier, said code having a time of arrival; and

the processor is further for determining a divergence between said time of arrival and said LEO/user carrier phase as said LEO satellite traverses the sky above the GPS reference receiver and for computing said parameter from said divergence.

33. The GPS receiver claim 30, further including:

calibration means for determining a cross reference delay for a difference between a GPS reference delay between receiving said GPS signal and determining said GPS/reference carrier phase and a LEO reference delay between receiving said LEO satellite signal and determining said LEO/reference carrier phase; and

wherein said reference data further includes said cross reference delay.

34. The GPS receiver of claim 33, wherein:

the calibration means further includes a GPS simulator for generating a simulated GPS signal;

means for measuring a simulated GPS/reference carrier phase from said simulated GPS signal; and

means for determining said GPS reference delay based upon said simulated GPS/reference carrier phase.

35. The GPS receiver of claim 33, wherein:

the calibration means further includes a LEO simulator for generating a simulated LEO signal;

means for measuring a simulated LEO/reference carrier phase from said simulated LEO signal; and

means for determining said LEO reference delay based upon said simulated LEO/reference carrier phase.

36. The GPS receiver of claim 30, further including:

a radio transmitter, coupled to the processor, for transmitting said reference data signal to said LEO satellite.

37. The GPS receiver of claim 36, wherein:

said reference data further includes data for a parameter of an ionospheric delay model.