Mitigation of multipath effects in global positioning system receivers

• US 5,963,582 A
• Filed: 11/21/1997
• Issued: 10/05/1999
• Est. Priority Date: 05/24/1996
• Status: Expired due to Term

• Current Assignee: Leica Geosystems Inc (Hexagon AB)
• Original Assignee: Leica Geosystems Inc (Hexagon AB)
• Inventors: Stansell, Thomas A. Jr.
• Primary Examiner(s): Pham, Chi H.
• Assistant Examiner(s): WEBSTER, BRYAN E
• Application Number:
  US08/999,555
• Time in Patent Office: 683 Days
• Field of Search: 375/200, 375/205, 375/206, 375/208, 375/316, 375/343, 375/340, 375/354, 370/335, 370/320
• US Class Current: 375/148
• CPC Class Codes: G01S 19/22 Multipath-related issues
• CPC Class Codes: H04B 1/7085 using a code tracking loop, e.g. a delay-locked loop
• CPC Class Codes: H04B 2201/70715 with application-specific features
• CPC Class Codes: H04B 7/005 Control of transmission; Equalising

Abstract

A technique for minimizing or eliminating the effect of multipath signals in a receiver processing pseudorandom (PRN) code signals, such as in a global positioning system (GPS) receiver. The presence of multipath signals adversely affects both code measurements and carrier phase measurements of received PRN signals. One aspect of the invention provides for improved code tracking in the presence of multipath signals, by sampling the received code with a multipath mitigation window (MMW) (FIG. 25D) that results in a code error function (FIG. 25F) that reduces or eliminates the multipath effects. The MMW, which may be any of a number of preferred waveforms (FIGS. 35B-35E), provides a code error function that varies in opposite directions from zero at a desired tracking point (402), but assumes a nearly zero value when the MMW is advanced from the tracking or synchronization point by more than a small fraction of a code chip. Because of this nearly zero code error value on the early side of the desired tracking point, delayed multipath signals will have a corresponding code error function that is nearly zero (FIG. 25F) at the desired tracking point of the directly received signals, and the multipath signals will, therefore, have little or no effect on the desired tracking point and on code synchronization. The effects of multipath signals on carrier phase measurements are minimized by sampling the received signals, together with their possible multipath components, before and immediately after code transitions (vectors A and B, respectively). The vector relationship of the directly received (D) and multipath (M) signals is such that performing a vector average of the two types of samples (A and B) produces the directly received signal (D) and its correct phase, with many, if not all, of the multipath components (M) eliminated.

Claims

1. In a receiver for decoding received pseudorandom noise (PRN) encoded signals, apparatus for mitigating effects of multipath signals on code tracking of the received PRN signals, the apparatus comprising:

a PRN code generator for generating a replica of the PRN code and for generating related code multipath mitigation windows (MMWs);

a controllable oscillator, for generating timing signals for the PRN code generator;

a first correlator, for correlating the received PRN signals with the replica of the PRN code, to derive phase error signals used for controlling the oscillator; and

a second correlator, for correlating the received PRN signals with the code MMWs, and thereby generating code error signals, in accordance with a code error function, used to control the PRN code generator to synchronize the generated PRN code with the received PRN code signals;

wherein the code error function effectively has a zero value at a desired rack point when the generated PRN code is synchronized with the received PRN signals and, immediately on each side of the tracking point, has a polarity that depends on whether the generated PRN code is early or late with respect to the received PRN code;

and wherein the shape of the code MMWs generated by the PRN code generator is selected to provide a code error function that mitigates the effect of received multipath signals by providing an error value that increases rapidly in opposite directions from the track point, but assumes a practically zero value when the code MMWs are advanced only a fraction of a PRN code chip from the track point, whereby a code error function associated with delayed multipath code signals will have a practically zero value near the desired track point and will have little or no effect on tracking the received code signals;

and wherein the code MMWs are narrow with respect to a PRN code chip and are timed to occur only at PRN code transitions.

2. In a receiver for decoding received pseudorandom noise (PRN) encoded signals, apparatus for mitigating effects of multipath signals on code tracking of the received PRN signals, the apparatus comprising:

a PRN code generator for generating a replica of the PRN code and for generating related code multipath mitigation windows (MMWs);

a controllable oscillator, for generating timing signals for the PRN code generator;

a first correlator, for correlating the received PRN signals with the replica of the PRN code, to derive phase error signals used for controlling the oscillator; and

a second correlator, for correlating the received PRN signals with the code MMWs, and thereby generating code error signals, in accordance with a code error function, used to control the PRN code generator to synchronize the generated PRN code with the received PRN code signals;

wherein the code error function effectively has a zero value at a desired track point when the generated PRN code is synchronized with the received PRN signals and, immediately on each side of the tracking point, has a polarity that depends on whether the generated PRN code is early or late with respect to the received PRN code;

and wherein the shape of the code MMWs generated by the PRN code generator is selected to provide a code error function that mitigates the effect of received multipath signals by providing an error value that increases rapidly in opposite directions from the track point, but assumes a practically zero value when the code MMWs are advanced only a fraction of a PRN code chip from the track point, whereby a code error function associated with delayed multipath code signals will have a practically zero value near the desired track point and will have little or no effect on tracking the received code signals;

and wherein the code MMWs are narrow with respect to a PRN code chip and are timed to occur only at PRN code transitions;

and wherein the code MMW includes a central segment of one polarity and two adjacent side segments of the opposite polarity, wherein each instance of the code MMW is symmetric about the desired track point and has an individual average value of zero.

3. In a receiver for decoding received pseudorandom noise (PRN) encoded signals, apparatus for mitigating effects of multipath signals on code tracking of the received PRN signals, the apparatus comprising:

a PRN code generator for generating a replica of the PRN code and for generating related code multipath mitigation windows (MMWs);

a controllable oscillator, for generating timing signals for the PRN code generator;

a first correlator, for correlating the received PRN signals with the replica of the PRN code, to derive phase error signals used for controlling the oscillator; and

a second correlator, for correlating the received PRN signals with the code MMWs, and thereby generating code error signals, in accordance with a code error function, used to control the PRN code generator to synchronize the generated PRN code with the received PRN code signals;

wherein the code error function effectively has a zero value at a desired track point when the generated PRN code is synchronized with the received PRN signals and, immediately on each side of the tracking point, has a polarity that depends on whether the generated PRN code is early or late with respect to the received PRN code;

and wherein the shape of the code MMWs generated by the PRN code generator is selected to provide a code error function that mitigates the effect of received multipath signals by providing an error value that increases rapidly in opposite directions from the track point, but assumes a practically zero value when the code MMWs are advanced only a fraction of a PRN code chip from the track point, whereby a code error function associated with delayed multipath code signals will have a practically zero value near the desired track point and will have little or no effect on tracking the received code signals;

and wherein the code MMWs are narrow with respect to a PRN code chip and are timed to occur at code clock positions;

and wherein the code MMW includes a central segment of one polarity and two adjacent side segments of the opposite polarity, wherein each instance of the code MMW is symmetric about the desired track point and has an individual average value of zero.

4. For use in a receiver for decoding received pseudorandom noise (PRN) encoded signals, a method for mitigating effects of multipath signals on code tracking of the received PRN signals, the method comprising the steps of:

generating a replica of the PRN code;

generating related code multipath mitigation windows (MMWs);

generating timing signals, in a controllable oscillator, to control the steps of generating the replica of the PRN code and the code MMWs;

correlating the received PRN signals with the replica of the PRN code, to derive phase error signals used for controlling the oscillator;

correlating the received PRN signals with the code MMWs, and thereby generating code error signals, in accordance with a code error function; and

controlling the step of generating the PRN code, to synchronize the generated PRN code with the received PRN code signals;

wherein the code error function effectively has a zero value at a desired track point when the generated PRN code is synchronized with the received PRN signals and, immediately on each side of the tracking point, has a polarity that depends on whether the generated PRN code is early or late with respect to the received PRN code;

and wherein the shape of the code MMWs generated by the PRN code generator is selected to provide a code error function that mitigates the effect of received multipath signals by providing an error value that increases rapidly in opposite directions from the track point, but assumes a practically zero value when the code MMWs are advanced only a fraction of a PRN code chip from the track point, whereby a code error function associated with delayed multipath code signals will have a practically zero value near the desired track point and will have little or no effect on tracking the received code signals;

and wherein the code MMWs are narrow with respect to a PRN code chip and are timed to occur only at PRN code transitions.

5. For use in a receiver for decoding received pseudorandom noise (PRN) encoded signals, a method for mitigating effects of multipath signals on code tracking of the received PRN signals, the method comprising the steps of:

generating a replica of the PRN code;

generating related code multipath mitigation windows (MMWs);

generating timing signals, in a controllable oscillator, to control the steps of generating the replica of the PRN code and the code MMWs;

correlating the received PRN signals with the replica of the PRN code, to derive phase error signals used for controlling the oscillator;

correlating the received PRN signals with the code MMWs, and thereby generating code error signals, in accordance with a code error function; and

controlling the step of generating the PRN code, to synchronize the generated PRN code with the received PRN code signals;

wherein the code error function effectively has a zero value at a desired track point when the generated PRN code is synchronized with the received PRN signals and, immediately on each side of the tracking point, has a polarity that depends on whether the generated PRN code is early or late with respect to the received PRN code;

and wherein the shape of the code MMWs generated by the PRN code generator is selected to provide a code error function that mitigates the effect of received multipath signals by providing an error value that increases rapidly in opposite directions from the track point, but assumes a practically zero value when the code MMWs are advanced only a fraction of a PRN code chip from the track point, whereby a code error function associated with delayed multipath code signals will have a practically zero value near the desired track point and will have little or no effect on tracking the received code signals;

and wherein the code MMWs are narrow with respect to a PRN code chip and are timed to occur only at PRN code transitions;

and wherein the code MMW includes a central segment of one polarity and two adjacent side segments of the opposite polarity, wherein each instance of the code MMW is symmetric about the desired track point and has an individual average value of zero.

6. For use in a receiver for decoding received pseudorandom noise (PRN) encoded signals, a method for mitigating effects of multipath signals on code tracking of the received PRN signals, the method comprising the steps of:

generating a replica of the PRN code;

generating related code multipath mitigation windows (MMWs);

generating timing signals, in a controllable oscillator, to control the steps of generating the replica of the PRN code and the code MMWs;

correlating the received PRN signals with the replica of the PRN code, to derive phase error signals used for controlling the oscillator;

correlating the received PRN signals with the code MMWs, and thereby generating code error signals, in accordance with a code error function; and

controlling the step of generating the PRN code, to synchronize the generated PRN code with the received PRN code signals;

wherein the code error function effectively has a zero value at a desired track point when the generated PRN code is synchronized with the received PRN signals and, immediately on each side of the tracking point, has a polarity that depends on whether the generated PRN code is early or late with respect to the received PRN code;

and wherein the shape of the code MMWs generated by the PRN code generator is selected to provide a code error function that mitigates the effect of received multipath signals by providing an error value that increases rapidly in opposite directions from the track point, but assumes a practically zero value when the code MMWs are advanced only a fraction of a PRN code chip from the track point, whereby a code error function associated with delayed multipath code signals will have a practically zero value near the desired track point and will have little or no effect on tracking the received code signals;

and wherein the code MMWs are narrow with respect to a PRN code chip and are timed to occur at code clock positions;

and wherein the code MMW includes a central segment of one polarity and two adjacent side segments of the opposite polarity, wherein each instance of the code MMW is symmetric about the desired track point and has an individual average value of zero.