Precise inverse differential corrections for location determination

• US 5,825,328 A
• Filed: 05/29/1997
• Issued: 10/20/1998
• Est. Priority Date: 01/11/1997
• Status: Expired due to Fees

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Loomis, Peter, Schipper, John F.
• Primary Examiner(s): Blum, Theodore M.
• Application Number:
  US08/865,480
• Time in Patent Office: 509 Days
• Field of Search: 342/357, 342/457, 701/214, 701/215
• US Class Current: 342/357.29
• CPC Class Codes: G01S 19/42 Determining position
• CPC Class Codes: G01S 19/425 by combining or switching between signals derived from different satellite radio beacon positioning systems

Abstract

A method for determining J location fix coordinates, such as (x,y,z,b) for J=2-4, for a selected location, such as a mobile station location, with increased accuracy, for a satellite-based or ground-based location determination (LD) system such as GPS, GLONASS or LORAN. Pseudorange corrections for the pseudorange values measured at the reference station approximately at an observation time t'"'"' are used to correct the pseudorange values measured at the selected location. Location fix coordinates are computed from the pseudorange values at the selected location or at the reference station, using an exact, invertible transformation T(t'"'"') between the J location fix coordinates and J pseudorange values. Information including the location fix coordinates is transmitted from one station to another with a reduced or minimal number of information bytes and with small dynamic ranges. Locations fix coordinates, as corrected using the pseudorange corrections, for the selected location are computed at the selected location, at the reference station or at a supplemental data processor, using the transformation T(t'"'"') and/or its inverse.

Claims

1. A method for determining location fix coordinates with enhanced accuracy for a mobile user location determination station, the method comprising the steps of:

(1) receiving location determination (LD) signals from a selected constellation of J LD signal sources with known locations at a selected location, and measuring a pseudorange value associated with each of the J LD signals received at approximately a selected signal observation time, where J is an integer satisfying J≧

2;

(2) computing location fix coordinate values for the selected observation time from the pseudorange values measured at the selected location, using an exact, invertible transformation between a set of J pseudorange values and a corresponding set of J location fix coordinates;

(3) forming a location fix signal that includes the J location fix coordinates for the selected location computed using the selected location pseudorange values, the signal observation time, and an indicium that represents the selected constellation of sources of LD signals whose pseudorange values are measured at the selected location, and transmitting the location fix signal to a selected LD signal processing station;

(4) receiving the location fix signal at the selected LD signal processing station, and computing pseudorange values for the selected location at the selected observation time from the information contained in the location fix signal;

(5) receiving LD signals from the selected constellation of LD signal sources at a reference station having a known location at approximately the selected observation time, and measuring a pseudorange value associated with an LD signal received from each of the LD signal sources in the selected constellation at the reference station;

(6) determining a pseudorange correction for each of the J pseudorange values measured at the reference station, based on the known locations of the LD signal sources and the known location of the reference station; and

(7) computing a selected location corrected pseudorange value for the selected location at the selected LD signal processing station as a sum of a selected location pseudorange value, for an LD signal received at the selected location from an LD signal source, plus the reference station pseudorange correction for the LD signal received from the same LD signal source, for each of the J LD signal sources.

2. The method of claim 1, further comprising the step of selecting said LD system from the class of LD systems consisting of GPS, GLONASS and LORAN.

3. The method of claim 1, further comprising the step of computing corrected location fix coordinates for said selected location, using said selected location corrected pseudorange values and said exact, invertible transformation.

4. The method of claim 1, wherein said step of computing said location fix coordinates from said pseudorange values measured at said selected location comprises the steps of:

selecting said integer J=4; and

selecting said exact, invertible transformation to provide exact solutions (x(t),y(t),z(t),b(t)) of pseudorange equations

space="preserve" listing-type="equation"> (x(t)-xj(t)).sup.2 +(y(t)-yj(t)).sup.2 +(z(t)-zj(t)).sup.2 !.sup.1/2 +b(t)=PR(t;

j;

loc),

where PR(t;

j;

loc) is a value including a measured pseudorange from said LD signal source number j(j=1,2,3,4) to said selected location, where x(t). y(t), z(t) and b(t) are location fix coordinates for said selected location, and where (xj(t),yj(t),zj(t)) are the location coordinates of said LD signal source number j, at approximately said observation time t.

5. The method of claim 1, wherein said step of computing said location fix coordinates from said pseudorange values measured at said selected location comprises the steps of:

selecting said integer J=3; and

selecting said exact, invertible transformation to provide exact solutions (x(t),y(t),z(t),b(t)) of pseudorange equations

space="preserve" listing-type="equation"> (x(t)-xj(t)).sup.2 +(y(t)-yj(t)).sup.2 +(z(t)-zj(t)).sup.2 !.sup.1/2 +b(t)=PR(t;

j;

loc),

where PR(t;

j;

loc) is a value including a measured pseudorange from said LD signal source number j(j=1, 2, 3,

     4) to said selected location, where x(t). y(t), z(t) and b(t) are location fix coordinates for said selected location, with b(t) known, and where (xj(t),yj(t),zj(t)) are the location coordinates of said LD signal source number j, at said approximately observation time t.

6. The method of claim 1, wherein said step of computing said location fix coordinates from said pseudorange values measured at said selected location comprises the steps of:

selecting said integer J=3; and

selecting said exact, invertible transformation to provide exact solutions (x(t),y(t),z(t),b(t)) of pseudorange equations

space="preserve" listing-type="equation"> (x(t)-xj(t)).sup.2 +(y(t)-yj(t)).sup.2 +(z(t)-zj(t)).sup.2 !.sup.1/2 +b(t)=PR(t;

j;

loc),

where PR(t;

j;

loc) is a value including a measured pseudorange from said LD signal source number j(j=1, 2, 3,

     4) to said selected location, where x(t). y(t), z(t) and b(t) are location fix coordinates for said selected location, with z(t) known, and where (xj(t),yj(t),zj(t)) are the location coordinates of said LD signal source number j, at approximately said observation time t.

7. The method of claim 1, wherein said step of computing said location fix coordinates from said pseudorange values measured at said selected location comprises the steps of:

selecting said integer J=2; and

selecting said exact, invertible transformation to provide exact solutions (x(t),y(t),z(t),b(t)) of said pseudorange equations

space="preserve" listing-type="equation"> (x(t)-xj(t)).sup.2 +(y(t)-yj(t)).sup.2 +(Z(t)-zj(t)).sup.2 !.sup.1/2 +b(t)=PR(t;

j;

loc),

where PR(t;

j;

loc) is a value including a measured pseudorange from said LD signal source number j(j=1, 2, 3,

     4) to said selected location, where x(t). y'"'"'(t), z(t) and b(t) are location fix coordinates for said selected location, with z(t) and b(t) known, and where (xj(t),yj(t),zj(t)) are the location coordinates of said LD signal source number j, at approximately said observation time t.

8. The method of claim 1, wherein said step of computing said location fix coordinates from said pseudorange values measured at said selected location comprises the steps of:

selecting said integer J=2; and

selecting said exact, invertible transformation to provide exact solutions (x(t),y(t),z(t),b(t)) of pseudorange equations

space="preserve" listing-type="equation"> (x(t)-xj(t)).sup.2 +(y(t)-yj(t)).sup.2 +(z(t)-zj(t)).sup.2 !.sup.1/2 +b(t)=PR(t;

j;

loc),

where PR(t;

j;

loc) is a value including a measured pseudorange from said LD signal source number j(j=1, 2, 3,

     4) to said selected location, where x(t). y'"'"'(t), z(t) and b(t) are location fix coordinates for said selected location, with y(t) and z(t) known, and where (xj(t),yj(t),zj(t)) are the location coordinates of said LD signal source number j, at approximately said observation time t.

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

providing a supplemental data processor as said selected LD signal processing station; and

providing for the supplemental data processor at least one of (1) said pseudorange value for said LD signal received at said reference station and (2) said reference station pseudorange correction for said LD signal received at said reference station.

10. The method of claim 1, further comprising the step of providing said reference station as said selected LD signal processing station.

11. A method for determining location fix coordinates with enhanced accuracy for a mobile user location determination station, the method comprising the steps of:

(1) receiving location determination (LD) signals from a selected constellation of J LD signal sources with known locations at a reference station having a known location, and measuring a pseudorange value associated with each of the J LD signals received at approximately a selected signal observation time, where J is an integer satisfying J≧

2;

(2) computing location fix coordinate values for the selected observation time from the pseudorange values measured at the reference station, using an exact, invertible transformation between a set of J pseudorange values and a corresponding set of J location fix coordinates;

(3) forming a reference station location fix signal that includes at least one of (1) the J location fix coordinates for the reference station, computed using the reference station pseudorange values, and (2) differences between the J location fix coordinates for the reference station, computed using the reference station pseudorange values, and known values of the J location fix coordinates for the reference station, plus the signal observation time and an indicium that represents the selected constellation of sources of LD signals whose pseudorange values are measured at the reference station, and transmitting the location fix signal;

(4) receiving the reference station location fix signal at a selected location, and computing pseudorange values for the reference station at approximately the selected observation time from the information contained in the location fix signal;

(5) receiving LD signals from the selected constellation of LD signal sources at the selected location at approximately the selected observation time, and measuring a pseudorange value associated with an LD signal received at the selected location from each of the LD signal sources in the selected constellation;

(6) determining a pseudorange correction for each of the J pseudorange values measured at the reference station, based on the known locations of the LD signal sources and the known location of the reference station; and

(7) computing a corrected pseudorange value for the selected location as a sum of a selected location pseudorange value, for an LD signal received at the selected location from an LD signal source, plus the reference station pseudorange correction for the LD signal received from the same LD signal source, for each of the J LD signal sources.

12. The method of claim 11, further comprising the step of selecting said LD system from the class of LD systems consisting of GPS, GLONASS and LORAN.

13. The method of claim 11, further comprising the step of computing corrected location fix coordinates for said selected location, using said selected location corrected pseudorange values and said exact, invertible transformation.

14. The method of claim 11, wherein said step of computing said location fix coordinates from said pseudorange values measured at said reference station comprises the steps of:

selecting said integer J=4; and

selecting said exact, invertible transformation to provide exact solutions (x(t),y(t),z(t),b(t)) of pseudorange equations

space="preserve" listing-type="equation"> (x(t)-xj(t)).sup.2 +(y(t)-yj(t)).sup.2 +(z(t)-zj(t)).sup.2 !.sup.1/2 +b(t)=PR(t;

j;

loc),

where PR(t;

j;

loc) is a value including a measured pseudorange from said LD signal source number j(j=1, 2, 3,

     4) to said reference station, where x(t). y(t), z(t) and b(t) are location fix coordinates for said reference station, and where (xj(t),yj(t),zj(t)) are the location coordinates of said LD signal source number j, at approximately said observation time t.

15. The method of claim 11, wherein said step of computing said location fix coordinates from said pseudorange values measured at said reference station comprises the steps of:

selecting said integer J=3; and

selecting said exact, invertible transformation to provide exact solutions (x(t),y(t),z(t),b(t)) of pseudorange equations

space="preserve" listing-type="equation"> (x(t)-xj(t)).sup.2 +(y(t)-yj(t)).sup.2 +(z(t)-zj(t)).sup.2 !.sup.1/2 +b(t)=PR(t;

j;

loc),

where PR(t;

j;

loc) is a value including a measured pseudorange from said LD signal source number j(j=1, 2, 3,

     4) to said reference station, where x(t). y(t), z(t) and b(t) are location fix coordinates for said reference station, with b(t) known, and where (xj(t),yj(t),zj(t)) are the location coordinates of said LD signal source number j, at said approximately observation time t.

16. The method of claim 11, wherein said step of computing said location fix coordinates from said pseudorange values measured at said reference station comprises the steps of:

selecting said integer J=3; and

selecting said exact, invertible transformation to provide exact solutions (x(t),y(t),z(t),b(t)) of pseudorange equations

space="preserve" listing-type="equation"> (x(t)-xj(t)).sup.2 +(y(t)-yj(t)).sup.2 +(z(t)-zj(t)).sup.2 !.sup.1/2 +b(t)=PR(t;

j;

loc),

where PR(t;

j;

loc) is a value including a measured pseudorange from said LD signal source number j(j=1, 2, 3,

     4) to said reference station, where x(t). y(t), z(t) and b(t) are location fix coordinates for said reference station, with z(t) known, and where (xj(t),yj(t),zj(t)) are the location coordinates of said LD signal source number j, at approximately said observation time t.

17. The method of claim 11, wherein said step of computing said location fix coordinates from said pseudorange values measured at said reference station comprises the steps of:

selecting said integer J=2; and

selecting said exact, invertible transformation to provide exact solutions (x(t),y(t),z(t),b(t)) of pseudorange equations

space="preserve" listing-type="equation"> (x(t)-xj(t)).sup.2 +(y(t)-yj(t)).sup.2 +(z(t)-zj(t)).sup.2 !.sup.1/2 +b(t)=PR(t;

j;

loc),

where PR(t;

j;

loc) is a value including a measured pseudorange from said LD signal source number j(j=1, 2, 3,

     4) to said reference station, where x(t). y'"'"'(t), z(t) and b(t) are location fix coordinates for said reference station, with z(t) and b(t) known, and where (xj(t),yj(t),zj(t)) are the location coordinates of said LD signal source number j, at approximately said observation time t.

18. The method of claim 11, wherein said step of computing said location fix coordinates from said pseudorange values measured at said reference station comprises the steps of:

selecting said integer J=2; and

selecting said exact, invertible transformation to provide exact solutions (x(t),y(t),z(t),b(t)) of pseudorange equations

space="preserve" listing-type="equation"> (x(t)-xj(t)).sup.2 +(y(t)-yj(t)).sup.2 +(z(t)-zj(t)).sup.2 !.sup.1/2 +b(t)=PR(t;

j;

loc),

where PR(t;

j;

loc) is a value including a measured pseudorange from said LD signal source number j(j=1, 2, 3,

     4) to said reference station, where x(t). y'"'"'(t), z(t) and b(t) are location fix coordinates for said reference station, with y(t) and z(t) known, and where (xj(t),yj(t),zj(t)) are the location coordinates of said LD signal source number j, at approximately said observation time t.

19. A system for determining location fix coordinates with enhanced accuracy for a mobile user location determination station, the system comprising:

a first location determination (LD) station, including a first microprocessor that is programmed;

(1) to receive LD signals from a selected constellation of J LD signal sources with known locations at a selected location, and to measure a pseudorange value associated with each of the J LD signals received at approximately a selected signal observation time, where J is an integer satisfying J≧

2;

(2) to compute location fix coordinate values for the selected observation time from the pseudorange values measured at the selected location, using an exact, invertible transformation between a set of J pseudorange values and a corresponding set of J location fix coordinates; and

(3) to form a location fix signal that includes the J location fix coordinates for the selected location computed using the selected location pseudorange values, the signal observation time, and an indicium that represents the selected constellation of sources of LD signals whose pseudorange values are measured at the selected location;

a signal transmitter, connected to the first microprocessor, that transmits the location fix signal;

a signal receiver that receives the transmitted location fix signal; and

a second LD station, having a known location and including a second microprocessor that is connected to the signal receiver and that is programmed;

(i) to receive the location fix signal at the selected LD signal processing station, and to compute pseudorange values for the selected location at the selected observation time from the information contained in the location fix signal;

(ii) to receive LD signals from the selected constellation of LD signal sources at approximately the selected observation time, and to measure a pseudorange value associated with an LD signal received from each of the LD signal sources in the selected constellation at the second LD station;

(iii) to determine a pseudorange correction for each of the J pseudorange values measured at the reference station, based on the known locations of the LD signal sources and the known location of the second LD station; and

(iv) to compute a selected location corrected pseudorange value for the selected location at the selected LD signal processing station as a sum of a selected location pseudorange value, for an LD signal received at the selected location from an LD signal source, plus the second LD station pseudorange correction for the LD signal received from the same LD signal source, for each of the LD signal sources.

20. A system for determining location fix coordinates with enhanced accuracy for a mobile user location determination station, the system comprising:

a first location determination (LD) station, having a known location and including a first microprocessor that is programmed;

(1) to receive location determination (LD) signals from a selected constellation of J LD signal sources with known locations, and to measure a pseudorange value associated with each of the J LD signals received at approximately a selected signal observation time, where J is an integer satisfying J≧

2;

(2) to compute location fix coordinate values for the selected observation time from the pseudorange values measured at the first LD station, using an exact, invertible transformation between a set of J pseudorange values and a corresponding set of J location fix coordinates; and

(3) to form a location fix signal that includes at least one of (1) the J location fix coordinates for the first LD station, computed using the first LD station pseudorange values, and (2) differences between the J location fix coordinates for the first LD station, computed using the first LD station pseudorange values, and known values of the J location fix coordinates for the first LD station, plus the signal observation time and an indicium that represents the selected constellation of sources of LD signals whose pseudorange values are measured at the first LD station;

a signal transmitter that transmits the location fix signal;

transmitting the location fix signal;

a signal receiver that receives the location fix signal; and

a second LD station, located at a selected location, and including a first microprocessor that is connected to the signal receiver and that is programmed;

(i) to receive the location fix signal and to compute pseudorange values for the second LD station at approximately the selected observation time from the information contained in the location fix signal;

(ii) to receive LD signals from the selected constellation of LD signal sources at the second LD station at approximately the selected observation time, and to measure a pseudorange value associated with an LD signal received at the second LD station from each of the LD signal sources in the selected constellation;

(iii) to determine a pseudorange correction for each of the J pseudorange values measured at the second LD station, based on the known locations of the LD signal sources and the known location of the first LD station; and

(iv) to compute a corrected pseudorange value for the selected location as a sum of a selected location pseudorange value, for an LD signal received at the second LD station from an LD signal source, plus the reference station pseudorange correction for the LD signal received from the same LD signal source, for each of the LD signal sources.