Real-time kinematic integrity estimator and monitor

• US 5,936,573 A
• Filed: 07/07/1997
• Issued: 08/10/1999
• Est. Priority Date: 07/07/1997
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Smith, Derek Steven
• Primary Examiner(s): Hellner, Mark
• Application Number:
  US08/888,760
• Time in Patent Office: 764 Days
• Field of Search: 342/357, 701/213
• US Class Current: 701/213
• CPC Class Codes: G01S 19/20 Integrity monitoring, fault detection or fault isolation of space segment
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

Abstract

A first receiver computes its position using data from sources chosen according to conditions at a second receiver and reference data. The computed position is compared with a known position. The data may be GPS positioning data from satellites and/or pseudolites and the reference data may be RTK GPS data provided by an RTK GPS reference station. The conditions at the second receiver generally correspond to satellite constellations and other parameters and the position of the first receiver may be computed by configuring the first receiver to mimic the conditions at the second receiver. The comparison of the computed position to the known position may result in an error measurement which may be used to initiate an alert condition. In a further embodiment, a receiver has first circuitry configured to compute its position using data from sources chosen according conditions at a remote receiver and reference data. The receiver may further include second circuitry for comparing the computed position with a known position. The first circuitry may include a GPS engine which is configured to compute the position from GPS data derived from GPS satellites and/or pseudolites. In yet another embodiment, a system includes a first unit and a second unit, the second unit being configured to compute its position using data from sources chosen according to conditions at the first unit and reference data. The system may also include a reference unit configured to provide RTK GPS reference data to the second unit.

Claims

1. A method comprising the steps of:

computing a position of a first receiver using Global Positioning System (GPS) positioning data from sources chosen according to conditions at a second receiver, said conditions having been specified by data transmitted from said second receiver to said first receiver, and real-time kinematic (RTK) GPS reference data provided by an RTK GPS reference station; and

comparing said computed position with a known position of said first receiver.

2. A method as in claim 1 wherein said conditions comprise particular satellite constellations.

3. A method as in claim 2 wherein said conditions further comprise signal-to-noise ratios for said satellite constellations and attitude information for a rover unit associated with said second receiver.

4. A method as in claim 2 wherein said step of computing further comprises configuring said first receiver to mimic said second receiver by initializing to said satellite constellations.

5. A method as in claim 4 wherein said reference data is provided via radio link.

6. A method as in claim 5 wherein said step of comparing further comprises determining an error measurement representing an offset between said computed position and said known position.

7. A method as in claim 6 further comprising initiating an alert condition if said error measurement exceeds a preestablished threshold value.

8. A method as in claim 6 further comprising transmitting said error measurement to said second receiver.

9. A method as in claim 8 further comprising initiating an alert condition at said second receiver if said error measurement exceeds a preestablished threshold.

10. A receiver comprising first circuitry configured to compute a position of said receiver using data from sources chosen according to conditions at a remote receiver, said conditions having been specified by data transmitted from said remote receiver to said receiver, and real-time kinematic (RTK) global positioning system (GPS) reference data.

11. A receiver as in claim 10 further comprising second circuitry for comparing said computed position with a known position of said receiver.

12. A receiver as in claim 11 wherein said first circuitry further comprises a GPS engine configured to compute said position from GPS data from said sources.

13. A receiver as in claim 12 wherein said first circuitry further includes a radio configured to provide said reference data to said GPS engine.

14. A receiver as in claim 13 wherein said radio is configured to receive said reference data from a reference station.

15. A receiver as in claim 14 wherein said second circuitry comprises a general purpose programmable microprocessor.

16. A receiver as in claim 15 wherein at least one of said sources is a GPS satellite.

17. A receiver as in claim 15 wherein at least one of said sources is a pseudolite.

18. A method as in claim 16 wherein said data transmitted from said remote receiver includes source identification information.

19. A method as in claim 18 wherein said data transmitted from said remote receiver further includes signal strength information for signals received at said remote receiver from said sources.

20. A system comprising:

a first unit configured to transmit data specifying conditions being experienced at said first unit; and

a second unit configured to compute a position of said second unit using data from sources chosen according to said conditions at said first unit and real-time kinematic (RTK) global positioning system (GPS) reference data.

21. A system as in claim 20 further comprising a reference unit configured to provide said reference data.

22. A system as in claim 21 wherein said data specifying conditions comprises satellite identification information.

23. A system as in claim 22 wherein said second unit is further configured to compare said computed position to a known position of said second unit.

24. A system as in claim 23 wherein said second unit is further configured to report a result of a comparison of said computed position to said known position to said first unit.

25. A system as in claim 24 wherein said first unit is further configured to report an alarm condition when said result exceeds a predetermined threshold value.

26. A system as in claim 25 wherein said first unit further comprises an RTK GPS receiver.

27. A system as in claim 24 wherein said second unit further comprises a GPS engine configured to compute said position of said second unit according to said satellite identification information.

28. A system as in claim 27 further comprising a first radio link between said first unit and said second unit.

29. A system as in claim 28 further comprising a second radio link between said reference unit and said first unit.

30. A system as in claim 29 further comprising a third radio link between said reference unit and said second unit.

31. A system as in claim 30 wherein said first radio link between said first unit and said second unit includes a repeater unit configured to relay messages between said first unit and said second unit.

32. A system as in claim 31 wherein said messages include said satellite identification information.

33. A system as in claim 32 where in s aid messages further include said result of said comparison.

34. A system as in claim 33 wherein said repeater unit is further configured to relay said reference data between said reference unit and said first unit.