GPS receiver and method for processing GPS signals

• US 5,884,214 A
• Filed: 09/06/1996
• Issued: 03/16/1999
• Est. Priority Date: 09/06/1996
• Status: Expired due to Term

• Current Assignee: Snaptrack Incorporated (Qualcomm, Inc.)
• Original Assignee: Snaptrack Incorporated (Qualcomm, Inc.)
• Inventors: Krasner, Norman F.
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): PIPALA, EDWARD J
• Application Number:
  US08/708,551
• Time in Patent Office: 921 Days
• Field of Search: 701/207, 701/208, 701/213, 701/214, 701/215, 701/300, 340/989, 340/990, 340/995, 340/988, 342/357, 342/352, 342/358
• US Class Current: 701/207
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01S 19/06 employing an initial estimate of the location of the receiver as aiding data or in generating aiding data
• 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 19/11 wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
• CPC Class Codes: G01S 19/235 Calibration of receiver components
• CPC Class Codes: G01S 19/25 involving aiding data received from a cooperating element, e.g. assisted GPS
• CPC Class Codes: G01S 19/252 Employing an initial estimate of location in generating assistance data
• CPC Class Codes: G01S 19/254 relating to Doppler shift of satellite signals
• CPC Class Codes: G01S 19/256 relating to timing, e.g. time of week, code phase, timing offset
• CPC Class Codes: G01S 19/258 relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
• CPC Class Codes: G01S 19/29 carrier including Doppler, related G01S19/246 takes precedence
• CPC Class Codes: G01S 19/30 code related G01S19/246 takes precedence
• CPC Class Codes: G01S 19/34 Power consumption
• CPC Class Codes: G01S 19/37 Hardware or software details of the signal processing chain
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 19/42 Determining position
• CPC Class Codes: G01S 2205/008 using a mobile telephone network
• CPC Class Codes: G01S 5/0027 of actual mobile position, i.e. position determined on mobile
• CPC Class Codes: G01S 5/0036 of measured values, i.e. measurement on mobile and position calculation on base station
• CPC Class Codes: G01S 5/0045 : Transmission from base station to mobile station G01S5/009 takes precedence
• CPC Class Codes: G01S 5/0054 : of actual mobile position, i.e. position calculation on base station
• CPC Class Codes: G01S 5/009 : Transmission of differential positioning data to mobile
• CPC Class Codes: G06F 2221/2111 : Location-sensitive, e.g. geographical location, GPS
• CPC Class Codes: H01Q 1/273 : Adaptation for carrying or wearing by persons or animals
• CPC Class Codes: H01Q 21/28 : Combinations of substantially independent non-interacting antenna units or systems multiple beam H01Q25/00
• CPC Class Codes: H03D 7/163 : the local oscillations of at least two of the frequency changers being derived from a single oscillator
• CPC Class Codes: H03J 2200/11 : Cellular receiver, e.g. GSM, combined with a GPS receiver
• CPC Class Codes: H03J 7/06 : using counters or frequency dividers
• CPC Class Codes: H04B 1/3805 : with built-in auxiliary receivers

Abstract

A global positioning system (GPS) receiver has first circuitry for receiving and processing pseudorandom sequences transmitted by a number of GPS satellites. The first circuitry is configured to perform conventional correlation operations on the received pseudorandom sequences to determine pseudoranges from the GPS receiver to the GPS satellites. The GPS receiver also includes second circuitry coupled to the first circuitry. The second circuitry is configured to receive and process the pseudorandom sequences during blockage conditions. The second circuitry processes the pseudorandom sequences by digitizing and stoning a predetermined record length of the received sequences and then performing fast convolution operations on the stored data to determine the pseudoranges. The GPS receiver may have a common circuitry for receiving GPS signals from in view satellites and downconverting the RF frequency of the received GPS signals to an intermediate frequency (IF). The IF signals are split into two signal paths; a first of which provides the conventional correlation processing to calculate the pseudoranges. During blockage conditions, the IF signal is passed to the second signal path wherein the IF signals are digitized and stored in memory and later processed using the fast convolution operations to provide the pseudoranges. Alternative arrangements for the two signal paths include separate downconverters or shared digitizers. One embodiment provides both signal paths on a single integrated circuit with shared circuitry executing computer readable instructions to perform GPS signal processing appropriate to the reception conditions.

Claims

1. A global positioning system (GPS) receiver, comprising:

first circuitry configured to be coupled to a GPS antenna, said first circuitry for receiving and processing pseudorandom sequences transmitted by a plurality of satellites, said first circuitry configured to perform correlation operations on said pseudorandom sequences to determine pseudoranges from said GPS receiver to said satellites; and

second circuitry coupled to said GPS antenna, said second circuitry configured for receiving and processing said pseudorandom sequences, said second circuitry configured to perform said processing by digitizing and storing GPS data and by performing a plurality of convolution operations on a corresponding plurality of blocks of said GPS data to provide a plurality of corresponding results of each convolution and summing a plurality of mathematical representations of said plurality of corresponding results to obtain a plurality of pseudoranges.

2. A global positioning system (GPS) receiver as in claim 1 wherein said first circuitry and said second circuitry comprise a single integrated circuit.

3. A global positioning system (GPS) receiver as in claim 1 wherein said second circuitry comprises:

a memory configured to receive and store said GPS data; and

a programmable digital signal processor (DSP) coupled to said memory, said programmable DSP configured to perform fast convolution operations on said GPS data.

4. A global positioning system (GPS) receiver, comprising:

an antenna for receiving GPS signals at an RF frequency from in view satellites;

a downconverter coupled to said antenna, said downconverter for reducing the RF frequency of said received GPS signals to an intermediate frequency (IF);

a conventional GPS receiver adaptable to be coupled to said downconverter, said conventional GPS receiver for acquiring and tracking a plurality of GPS satellite signals and for extracting Doppler information from said GPS satellite signals; and

first circuitry coupled to said conventional GPS receiver and adaptable to be coupled to said downconverter, said first circuitry configured for receiving and processing said received GPS signals when said GPS receiver experiences blockage conditions, said first circuitry configured to perform said processing by digitizing and storing GPS data and by performing a plurality of convolution operations on a corresponding plurality of blocks of said GPS data to provide a plurality of corresponding results of each convolution and summing a plurality of mathematical representations of said plurality of corresponding results to obtain a plurality of pseudoranges.

5. A GPS receiver as in claim 4 wherein said first circuitry comprises:

a digitizer adaptable to be coupled to said downconverter upon receipt of a signal indicating that said conventional GPS receiver is experiencing blockage conditions, said digitizer for sampling said IF GPS signals at a predetermined rate to produce sampled IF GPS signals;

a memory coupled to said digitizer, said memory for storing the sampled IF GPS signals;

a digital signal processor (DSP) coupled to said memory, said DSP for performing fast convolution operations on said sampled IF GPS signals.

6. A GPS receiver as in claim 5 further comprising a local oscillator coupled to said downconverter, said local oscillator providing a first reference signal.

7. A GPS receiver as in claim 5 wherein said DSP compensates said sampled IF GPS signals using said Doppler information and wherein said fast convolution operations provide a pseudorange information.

8. A GPS receiver as in claim 5 wherein said first circuitry further comprises a power management circuit coupled to said digitizer, wherein after said IF GPS signals are stored in said memory, said power management circuit powers down said digitizer.

9. A GPS receiver as in claim 5 wherein said GPS signals originate from pseudolites.

10. A GPS receiver as in claim 5 further comprising a receiver coupled to said first circuitry, said receiver for receiving differential GPS correction signals from a basestation.

11. A method for using a dual mode GPS receiver, said method comprising the steps of:

activating said GPS receiver in a first mode of operation including,

receiving GPS signals from in view satellites;

downconverting and demodulating said GPS signals to extract Doppler information regarding in view satellites and to compute pseudorange information;

storing said Doppler information;

detecting when said GPS receiver is experiencing blockage conditions and activating a second mode of operation in response thereto, the second mode including, digitizing said GPS signals at a predetermined rate to produce sampled GPS signals;

storing said sampled GPS signals in a memory; and

processing said sampled GPS signals to derive pseudoranges by performing a plurality of convolution operations on a corresponding plurality of blocks of said sampled GPS signals to provide a plurality of corresponding results of each convolution and summing a plurality of mathematical representations of said plurality of corresponding results to obtain said pseudoranges.

12. A method as in claim 11 wherein said Doppler information is used during said second mode of operation to compensate said sampled GPS signal.

13. A method as in claim 12 wherein during said first mode of operation, satellite ephemeris information is extracted from said GPS signals and stored in a memory and wherein during said second mode of operation said satellite ephemeris information is applied to said pseudoranges to calculate a position of said GPS receiver.

14. A method as in claim 13 wherein said position is displayed to a user of said GPS receiver.

15. A method as in claim 13 wherein said position is transmitted from said GPS receiver to a basestation.

16. A method as in claim 11 wherein said GPS signals originate from pseudolites.

17. A method as in claim 11 further comprising the steps of:

receiving differential GPS correction signals at said GPS receiver before said step of processing; and

using said differential GPS signals during said step of processing to compute said position.

18. A process utilizing global positioning system (GPS) satellites for determining the position of a remote sensor, the process comprising the steps of:

receiving GPS signals at said remote sensor from a plurality of in view GPS satellites;

computing first pseudoranges utilizing said GPS signals and a conventional GPS receiver;

computing first pseudoranges utilizing said GPS signals and a conventional GPS receiver;

utilizing said first pseudoranges and satellite ephemeris data to compute a geographic location for said sensor;

detecting when said remote sensor is experiencing blockage conditions;

computing second pseudoranges utilizing digitized and buffered segments of said GPS signals, said computing comprising performing a plurality of convolution operations on a corresponding plurality of blocks of said buffered segments of said GPS signals to provide a plurality of corresponding results of each convolution and summing a plurality of mathematical representations of said plurality of corresponding results to obtain said second pseudorange; and

utilizing said second pseudoranges and said satellite ephemeris data to compute said geographic location.

19. The process of claim 18 wherein the step of computing second pseudoranges further comprises:

storing said received GPS signals in a memory as stored data;

processing said stored GPS signals for one or more of said in view GPS satellites in a digital signal processor by,

breaking said stored data into a series of contiguous blocks whose durations are equal to a multiple of the frame period of the pseudorandom (PN) codes contained within the GPS signals;

removing, for each block, the effects of Doppler carrier and receiver local oscillator frequency uncertainty;

creating, for each block, a compressed block of data with length equal to the duration of a pseudorandom code period by coherently adding together successive subblocks of data, said subblocks having duration equal to one PN frame;

performing, for each compressed block, a matched filtering operation to determine the relative timing between the received PN code contained within the block of data and a locally generated PN reference signal, said matched filtering operation utilizing a fast convolution algorithm;

determining said pseudorange by performing a magnitude-squared operation on the products created from said matched filtering operation and combining said magnitude-squared data for all blocks into a single block of data by adding together said blocks of magnitude-squared data to produce a peak, the location of said peak being determined using digital interpolation methods and corresponding to said pseudorange.

20. The process of claim 19 wherein said matched filtering operation comprises:

performing a convolution of the compressed block'"'"'s data against a stored replica of the pseudorandom sequence (PRS) of the GPS satellite being processed, said convolution being performed using said fast convolution algorithms to produce a product of the convolution.

21. The process of claim 19 wherein the fast convolution algorithm used in processing the buffered GPS signals is a Fast Fourier Transform (FFT) and the result of the convolution is produced by computing the forward transform of said compressed block by a prestored representation of the forward transform of the pseudorandom sequence (PRS) of the GPS satellite being processed to produce a first result and then performing an inverse transformation of said first result to recover said result.

22. The process of claim 18 wherein a basestation computes the geographic location of said sensor.

23. A computer readable medium containing a computer program having executable code for a global positioning system (GPS) receiver, said computer program comprising:

first instructions for receiving GPS signals from in view satellites, said GPS signals comprising pseudorandom (PN) codes;

second instructions for computing pseudoranges from said received GPS signals using a conventional GPS receiver;

third instructions for detecting when said GPS receiver is experiencing blockage conditions and digitizing said GPS signals at a predetermined rate to produce sampled GPS signals in response thereto;

fourth instructions for storing said sampled GPS signals in a memory; and

fifth instructions for processing said sampled GPS signals, said fifth instructions comprising a matched filtering operation to determine the relative timing between said PN codes and locally generated PN reference signals, said processing comprising performing a plurality of convolutions on a corresponding plurality of blocks of said sampled GPS signals to provide a plurality of corresponding results of each convolution and summing a plurality of mathematical representations of said plurality of corresponding results to obtain a plurality of pseudoranges.

24. A global positioning system (GPS) receiver apparatus, comprising:

a first GPS receiver adaptable to be coupled to a source of GPS satellite signals, said first GPS receiver for acquiring and tracking a plurality of GPS satellite signals and for extracting Doppler information from said GPS satellite signals; and

a second GPS receiver adaptable to be coupled to said source of GPS satellite signals during blockage conditions, said second GPS receiver configured to sample and store said GPS signals at a predetermined rate to produce sampled GPS signals and to process said sampled GPS signals using convolution operations, said second GPS receiver further configured to respond to a signal indicating that said GPS receiver apparatus is experiencing blockage conditions and to use said convolution operations wherein said second GPS receiver is coupled to said source of said GPS satellite signals and wherein said convolution operations comprises performing a plurality of convolutions on a corresponding plurality of blocks of said sampled GPS signals to provide a plurality of corresponding results of each convolution and summing a plurality of mathematical representations of said plurality of corresponding results to obtain a plurality of pseudoranges.

25. A GPS receiver as in claim 24 wherein said first GPS receiver and said second GPS receiver are formed on a single integrated circuit.

26. A GPS receiver as in claim 24 wherein said signal indicating that said GPS receiver is experiencing blockage conditions is generated by said first GPS receiver.

27. A GPS receiver as in claim 24 wherein said GPS signals originate from pseudolites.

28. A GPS receiver as in claim 24 further comprising a communication receiver coupled to said first GPS receiver and to said second GPS receiver, said communication receiver for receiving differential GPS correction signals.