Geometric utilization of exact solutions of the pseudorange equations

• US 5,986,603 A
• Filed: 01/09/1997
• Issued: 11/16/1999
• Est. Priority Date: 02/14/1996
• Status: Expired due to Fees

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Schipper, John F.
• Primary Examiner(s): Blum, Theodore M.
• Application Number:
  US08/780,880
• Time in Patent Office: 1,041 Days
• Field of Search: 342/357, 701/213, 701/214
• US Class Current: 342/357.25
• CPC Class Codes: G01S 19/42 Determining position
• CPC Class Codes: G01S 19/48 by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
• CPC Class Codes: G01S 5/14 Determining absolute distances from a plurality of spaced points of known location

Abstract

Method and apparatus for determining non-iterative exact solutions for two, three or four location fix coordinates x, y, z and/or time offset b from pseudorange measurements from a plurality of location determination (LD) signals received at a GPS or GLONASS station. If M location fix coordinates are to be determined from N pseudorange measurements, the solution is exact if N=M. If N=M-1, the solution for two of the location fix coordinates lies at a point, on an ellipse or on an hyperbola. If N≧M+1, a solution lies at the center of a sphere in M-dimensional space or in the interior of the sphere, according as N=M+1 or N≧M+2.

Claims

1. A method for determining the location of a location determination (LD) station, the method comprising the steps of:

receiving LD signals from a plurality of LD signal sources at an LD station and determining a pseudorange value between the LD station and each LD signal source, where the number of LD signal sources is less than the number of location fix coordinates for the LD station to be determined;

processing the pseudorange values to produce at least one exact linear relation relating at least first and second location fix coordinates for the LD station without iteration; and

using the at least one linear relation together with at least one pseudorange value to obtain at least one exact non-linear relation relating the at least first and second location fix coordinates without iteration.

2. The method of claim 1, wherein said steps of obtaining and using said at least one nonlinear relation comprises the step of obtaining first and second linear relations relating said first location fix coordinate to said second location fix coordinate, where the first and second linear relations define first and second straight lines having an intersection point.

3. The method of claim 2, wherein said steps of obtaining and using said at least one nonlinear relation further comprises the step of interpreting said intersection point of said first and second straight lines as part of said location fix coordinate solution.

4. The method of claim 2, wherein said steps of obtaining and using said at least one nonlinear relation further comprises the steps of:

obtaining said at least one nonlinear relation as an ellipse, with major and minor axes referenced to said first and second lines defined by said first and second linear relations; and

using the ellipse to relate said first location fix coordinate to said second location fix coordinate.

5. The method of claim 2, wherein said steps of obtaining and using said at least one nonlinear relation further comprises the steps of:

obtaining said at least one nonlinear relation as at least one sheet of an hyperbola, with hyperbola axes referenced to said first and second lines defined by said first and second linear relations; and

using the at least one sheet of an hyperbola to relate said first location fix coordinate to said second location fix coordinate.

6. The method of claim 1, wherein said step of processing the pseudorange values to obtain said at least one exact linear relation comprises the steps of:

measuring a pseudorange value PR(t=t_r,n ;

t_s,n ;

n) associated with an LD signal transmitted by LD source number n (n=1, 2, . . , N), where N is a selected integer at least equal to 4, at a selected time t=t_s,n and received at said LD station at a selected receive time t=t_r,n, where the receive times t_r,n (n=1, 2, . . . , N) are approximately equal, where the pseudorange value for an LD signal received from LD signal source number n at the time t=t_r,n is represented approximately by a pseudorange equation of the form

space="preserve" listing-type="equation">PR(t=t.sub.r,n ;

t.sub.s,n ;

n)+b=d.sub.n ={(x-x.sub.n).sup.2 +(y-y.sub.n).sup.2 +(z-z.sub.n).sup.2 }.sup.1/2 ==b-χ

(t.sub.r,n ;

t.sub.s,n ;

n),

that relates a distance d_n from the LD signal source number n, having approximately known spatial location coordinates (x_n,y_n,z_n)=(x_n (t_s,n),y_n (t_s,n),z_n (t_s,n)) at the selected time t=t_s,n , to the LD station, which has initially unknown spatial location coordinates (x,y,z), where b/c=Δ

t_r,n is an initially unknown error in the clock coordinate of the LD station, where χ

(t_r,n ;

t_s,n ;

n) is a selected term with a known value that is determined from the measured pseudorange value for a signal transmitted from LD signal source number n and that compensates for at least one of (i) time delay, I_r,s,n, for propagation of an LD signal in the ionosphere, (ii) time delay, T_r,s,n, for LD signal propagation in the troposphere, and (iii) clock error Δ

t_s,n associated with LD signal source number n, and where x, y, z and b are location solution coordinates to be determined; and

processing the pseudorange equations for the pseudorange values PR(t=t_r,n ;

t_s,n ;

n) to produce at least three exact linear relations relating the location solution coordinates x, y, z and b, where the coefficients of these three linear relations are determinable from the selected terms y(t_r,n ;

t_s,n ;

n) and are independent of the values of the location solution coordinates x, y, z and b.

7. The method of claim 6, wherein said step of using said linear relation to obtain a non-linear relation comprises the steps of:

using said at least three linear relations relating said location solution coordinates x, y, z and b, together with at least one of said pseudorange representation equations for said pseudorange values PR(t=t_r,n ;

t_s,n ;

n), to generate an exact equation that is nonlinear in the unknown value for a selected one of said location solution coordinates x, y, z and b and that does not depend on the values of said other three location solution coordinates;

determining a selected coordinate value from a solution of the nonlinear equation for the selected location solution coordinate, and using the selected location solution coordinate value in said three linear relations relating said location solution coordinates x, y, z and b to determine values of said other three location solution coordinates; and

interpreting the values determined for said location solution coordinates x, y, z and b as the spatial location coordinates and receiver/processor clock error coordinate for said LD signal station at the time t=t_r,n.

8. The method of claim 1, wherein said step of processing the pseudorange values to obtain said at least one exact linear relation comprises the steps of:

measuring a pseudorange value PR(t=t_r,n ;

t_s,n ;

n) associated with an LD signal transmitted by LD source number n (n=1, 2, . . . , N), where N is a selected integer at least equal to 3, at a selected time t=t_s,n and received at said LD station at a selected receive time t=t_r,n, where the receive times t_r,n (n=1, 2, . . . , N) are approximately equal, where the pseudorange value for an LD signal received from LD signal source number n at the time t=t_r,n is represented approximately by a pseudorange equation of the form

space="preserve" listing-type="equation">PR(t=t.sub.r,n ;

t.sub.s,n ;

n)+b=d.sub.n ={(x-x.sub.n).sup.2 +(y-y.sub.n).sup.2 +(z-z.sub.n).sup.2 }.sup.1/2 ==b-χ

(t.sub.r,n ;

t.sub.s,n ;

n),

that relates a distance d_n from the LD signal source number n, having approximately known spatial location coordinates (x_n,y_n,z_n)=(x_n (t_s,n)y_n (t_s,n)z_n (t_s,n)) at the selected time t=t_s,n , to the LD station, which has initially unknown spatial location coordinates (x,y,z), where b/c=Δ

t_r,n is an error in the clock coordinate of the LD station, where χ

(t_r,n ;

t_s,n ;

n) is a selected term with a known value that is determined from the measured pseudorange value for a signal transmitted from LD signal source number n and that compensates for at least one of (i) time delay, I_r,s,n, for propagation of an LD signal in the ionosphere, (ii) time delay, T_r,s,n, for LD signal propagation in the troposphere, and (iii) clock error Δ

t_s,n associated with LD signal source number n, and where x, y and z are location solution coordinates to be determined; and

processing the pseudorange equations for the pseudorange values PR(t=t_r,n ;

t_s,n ;

n) to produce at least two exact linear relations relating the location solution coordinates x, y and z, where the coefficients of the two linear relations are determinable from the selected terms χ

(t_r,n ;

t_s,n ;

n) and are independent of the values of the location solution coordinates x, y and z.

9. The method of claim 8, wherein said step of using said linear relations to obtain a non-linear relation comprises the steps of:

using said at least two linear relations relating said location solution coordinates x, y and z, together with at least one of said pseudorange representation equations for said pseudorange values PR(t=t_r,n ;

t_s,n ;

n), to generate an exact equation that is nonlinear in the unknown value for a selected one of said location solution coordinates x, y and z and that does not depend on the values of said other two location solution coordinates;

determining a selected coordinate value from a solution of the nonlinear equation for the selected location solution coordinate, and using the selected location solution coordinate value in said two linear relations relating said location solution coordinates x, y and z to determine values of said other two location solution coordinates; and

interpreting the values determined for said location solution coordinates x, y and z as the spatial location coordinates for said LD signal station at the time t=t_r,n.

10. The method of claim 1, wherein said step of processing the pseudorange values to obtain said at least one exact linear relation comprises the steps of:

measuring a pseudorange value PR(t=t_r,n ;

t_s,n ;

n) associated with an LD signal transmitted by LD source number n (n=1, 2, . . . , N), where N is a selected integer at least equal to 3 at a selected time t=t_s,n and received at said LD station at a selected receive time t=t_r,n, where the receive times t_r,n (n=1, 2, . . . , N) are approximately equal, where the pseudorange value for an LD signal received from LD signal source number n at the time t=t_r,n is represented approximately by a pseudorange equation of the form

space="preserve" listing-type="equation">PR(t=t.sub.r,n ;

t.sub.s,n ;

n)+b=d.sub.n ={(x-x.sub.n).sup.2 +(y-y.sub.n).sup.2 +(z-z.sub.n).sup.2 }.sup.1/2 ==b-χ

(t.sub.r,n ;

t.sub.s,n ;

n),

that relates a distance d_n from the LD signal source number n, having approximately known spatial location coordinates (x_n,y_n,z_n)=(x_n (t_s,n),y_n (t_s,n),z_n (t_s,n)) at the selected time t=t_s,n, to the LD station, which has initially unknown spatial location coordinates (x,y), where b/c=Δ

t_r,n is an initially unknown error in the clock coordinate of the LD station, where χ

(t_r,n ;

t_s,n ;

n) is a selected term with a known value that is determined from the measured pseudorange value for a signal transmitted from LD signal source number n and that compensates for at least one of (i) time delay, I_r,s,n, for propagation of an LD signal in the ionosphere, (ii) time delay, T_r,s,n, for LD signal propagation in the troposphere, and (iii) clock error Δ

t_s,n associated with LD signal source number n, and where x, y and b are location solution coordinates to be determined; and

processing the pseudorange equations for the pseudorange values PR(t=t_r,n ;

t_s,n ;

n) to produce at least two exact linear relations relating the location solution coordinates x, y and b, where the coefficients of the two linear relations are determinable from the selected terms χ

(t_r,n ;

t_s,n ;

n) and are independent of the values of the location solution coordinates x, y and b.

11. The method of claim 10, wherein said step of using said linear relations to obtain a non-linear relation comprises the steps of:

using said at least two linear relations relating said location solution coordinates x, y and z, together with at least one of said pseudorange representation equations for said pseudorange values PR(t=t_r,n ;

t_s,n ;

n), to generate an exact equation that is nonlinear in the unknown value for a selected one of said location solution coordinates x, y and b and that does not depend on the values of said other two location solution coordinates;

determining a selected coordinate value from a solution of the nonlinear equation for the selected location solution coordinate, and using the selected location solution coordinate value in said two linear relations relating said location solution coordinates x, y and b to determine values of said other two location solution coordinates; and

interpreting the values determined for said location solution coordinates x, y and b as the spatial location coordinates and receiver/processor clock error coordinate for said LD signal station at the time t=t_r,n.

12. The method of claim 1, wherein said step of processing the pseudorange values to obtain said at least one exact linear relation comprises the steps of:

measuring a pseudorange value PR(t=t_r,n ;

t_s,n ;

n) associated with an LD signal transmitted by LD source number n (n=1, 2, . . . , N), where N is a selected integer at least equal to 2 at a selected time t=t_s,n and received at said LD station at a selected receive time t=t_r,n, where the receive times t_r,n (n=1, 2, . . . , N) are approximately equal, where the pseudorange value for an LD signal received from LD signal source number n at the time t=t_r,n is represented approximately by a pseudorange equation of the form

space="preserve" listing-type="equation">PR(t=t.sub.r,n ;

t.sub.s,n ;

n)+b=d.sub.n ={(x-x.sub.n).sup.2 +(y-y.sub.n).sup.2 +(z-z.sub.n).sup.2 }.sup.1/2 ==b-χ

(t.sub.r,n ;

t.sub.s,n ;

n),

that relates a distance d_n from the LD signal source number n, having approximately known spatial location coordinates (x_n,y_n,z_n)=(x_n (t_s,n)y_n (t_s,n),z_n (t_s,n)) at the selected time t=t_s,n, to the LD station, which has initially unknown spatial location coordinates (x,y), where b/c=Δ

t_r,n is an error in the clock coordinate of the LD station, where y(t_r,n ;

t_s,n ;

n) is a selected term with a known value that is determined from the measured pseudorange value for a signal transmitted from LD signal source number n and that compensates for at least one of (i) time delay, I_r,s,n, for propagation of an LD signal in the ionosphere, (ii) time delay, T_r,s,n, for LD signal propagation in the troposphere, and (iii) clock error Δ

t_s,n associated with LD signal source number n, and where x and y are location solution coordinates to be determined; and

processing the pseudorange equations for the pseudorange values PR(t=t_r,n ;

t_s,n ;

n) to produce said at least one exact linear relation relating the location solution coordinates x and y, where the coefficients of the linear relation are determinable from the selected terms χ

(t_r,n ;

t_s,n ;

n) and are independent of the values of the location solution coordinates x and y.

13. The method of claim 12, wherein said step of using said linear relations to obtain a non-linear relation comprises the steps of:

using said at least two linear relations relating said location solution coordinates x and y, together with at least one of said pseudorange representation equations for said pseudorange values PR(t=t_r,n ;

t_s,n ;

n), to generate an exact equation that is nonlinear in the unknown value for a selected one of said location solution coordinates x and y and that does not depend on the values of said other location solution coordinate;

determining a selected coordinate value from a solution of the nonlinear equation for the selected location solution coordinate, and using the selected location solution coordinate value in said two linear relations relating said location solution coordinates x and y to determine values of said other two location solution coordinates; and

interpreting the values determined for said location solution coordinates x and y as the spatial location coordinates for said LD signal station at the time t=t_r,n.

14. The method of claim 1, wherein said step of processing the pseudorange values to obtain said at least one exact linear relation comprises the steps of:

measuring a pseudorange value PR(t=t_r,n ;

t_s,n ;

n) associated with an LD signal transmitted by LD source number n (n=1, 2, . . . , N), where N is a selected integer at least equal to 2 at a selected time t=t_s,n and received at said LD station at a selected receive time t=t_r,n, where the receive times t_r,n (n=1, 2, . . . , N) are approximately equal, where the pseudorange value for an LD signal received from LD signal source number n at the time t=t_r,n is represented approximately by a pseudorange equation of the form

space="preserve" listing-type="equation">PR(t=t.sub.r,n ;

t.sub.s,n ;

n)+b=d.sub.n ={(x-x.sub.n).sup.2 +(y-y.sub.n).sup.2 +(z-z.sub.n).sup.2 }.sup.1/2 ==b-χ

(t.sub.r,n ;

t.sub.s,n ;

n),

that relates a distance d_n from the LD signal source number n, having an approximately known spatial location coordinates (x_n,y_n,z_n)=(x_n (t_s,n),y_n (t_s,n),z_n (t_s,n) at the selected time t=t_s,n , to the LD station, which has an initially unknown spatial location coordinate x, where b/c=Δ

t_r,n is an initially unknown error in the clock coordinate of the LD station, where χ

(t_r,n ;

t_s,n ;

n) is a selected term with a known value that is determined from the measured pseudorange value for a signal transmitted from LD signal source number n and that compensates for at least one of (i) time delay, I_r,s,n, for propagation of an LD signal in the ionosphere, (ii) time delay, T_r,s,n, for LD signal propagation in the troposphere, and (iii) clock error Δ

t_s,n associated with LD signal source number n, and where x and b are location solution coordinates to be determined; and

processing the pseudorange equations for the pseudorange values PR(t=t_r,n ;

t_s,n ;

n) to produce at least one exact linear relation relating the location solution coordinates x and b, where the coefficients of the linear relation are determinable from the selected terms χ

(t_r,n ;

t_s,n ;

n) and are independent of the values of the location solution coordinates x and b.

15. The method of claim 14, wherein said step of using said linear relation to obtain a non-linear relation comprises the steps of:

using said at least one linear relation relating said location solution coordinates x and b, together with at least one of said pseudorange representation equations for said pseudorange values PR(t=t_r,n ;

t_s,n ;

n), to generate an exact equation that is nonlinear in the unknown value for a selected one of said location solution coordinates x and b that does not depend on the values of said other location solution coordinate;

determining a selected coordinate value from a solution of the nonlinear equation for the selected location solution coordinate, and using the selected location solution coordinate value in said linear relation relating said location solution coordinates x and b to determine values of said other location solution coordinate; and

interpreting the values determined for said location solution coordinates x and b as the spatial location coordinate and receiver/processor clock error coordinate for said LD signal station at the time t=t_r,n.

16. A method for determining the location of a location determination (LD) station, the method comprising the steps of:

receiving LD signals from N LD signal sources (N≧

2) at an LD station and determining a pseudorange value between the LD station and each LD signal source, where the number of LD signal sources is greater than the number of location fix coordinates, M, for the LD station to be determined;

processing the pseudorange values to produce at least one exact M relations relating location fix coordinates for the LD station; and

using the at least M linear relations together with at least one pseudorange value to obtain at least one exact non-linear relation relating at least first and second location fix coordinates; and

using the at least one nonlinear relation to relate the first location fix coordinate to the second location fix coordinate without iteration.

17. The method of claim 16, further comprising the steps of:

determining a sphere center and a sphere radius in an M-dimensional space with a sphere surface that encloses at least M+1 location fix coordinate M-tuples; and

interpreting said location fix coordinates corresponding to the sphere center as an estimate of said location fix coordinates to be determined.

18. The method of claim 16, further comprising the steps of:

determining a sphere center and a sphere having a minimum radius in an M-dimensional space that encloses at least M+2 location fix coordinate M-tuples; and

interpreting said location fix coordinates corresponding to the sphere center as an estimate of said location fix coordinates to be determined.

19. The method of claim 16, wherein said step of processing the pseudorange values to obtain said at least one exact linear relation comprises the steps of:

measuring a pseudorange value PR(t=t_r,n ;

t_s,n ;

n) associated with an LD signal transmitted by LD source number n (n=1, 2, . . . , N), where N is a selected integer at least equal to 3, at a selected time t=t_s,n and received at said LD station at a selected receive time t=t_r,n, where the receive times t_r,n (n=1, 2, . . . , N) are approximately equal, where the pseudorange value for an LD signal received from LD signal source number n at the time t=t_r,n is represented approximately by a pseudorange equation of the form

space="preserve" listing-type="equation">PR(t=t.sub.r,n ;

t.sub.s,n ;

n)+b=d.sub.n ={(x-x.sub.n).sup.2 +(y-y.sub.n).sup.2 +(z-z.sub.n).sup.2 }.sup.1/2 ==b-χ

(t.sub.r,n ;

t.sub.s,n ;

n),

that relates a distance d_n from the LD signal source number n, having approximately known spatial location coordinates (x_n,y_n,z_n)=(x_n (t_s,n)y_n (t_s,n),z_n (t_s,n)) at the selected time t=t_s,n, to the LD station, which has initially unknown spatial location coordinates (x,y,z), where b/c=Δ

t_r,n is an initially unknown error in the clock coordinate of the LD station, where χ

(t_r,n ;

t_s,n ;

n) is a selected term with a known value that is determined from the measured pseudorange value for a signal transmitted from LD signal source number n and that compensates for at least one of (i) time delay, I_r,s,n, for propagation of an LD signal in the ionosphere, (ii) time delay, T_r,s,n, for LD signal propagation in the troposphere, and (iii) clock error Δ

t_s,n associated with LD signal source number n, and where x, y, z and b are location solution coordinates to be determined; and

processing the pseudorange equations for the pseudorange values PR(t=t_r,n ;

t_s,n ;

n) to produce at least three linear relations relating the location solution coordinates x, y, z and b, where the coefficients of these three linear relations are determinable from the selected terms χ

(t_r,n ;

t_s,n ;

n) and are independent of the values of the location solution coordinates x, y, z and b.

20. The method of claim 19, wherein said step of using said exact linear relation to obtain said non-linear relation comprises the steps of:

using said three linear relations relating said location solution coordinates x, y, z and b, together with at least one of said pseudorange representation equations for said pseudorange values PR(t=t_r,n ;

t_s,n ;

n), to generate an equation that is nonlinear in the unknown value for a selected one of said location solution coordinates x, y, z and b that does not depend on the values of said other three location solution coordinates;

determining a selected coordinate value from a solution of the nonlinear equation for the selected location solution coordinate, and using the selected location solution coordinate value in said three linear relations relating said location solution coordinates x, y, z and b to determine values of said other three location solution coordinates; and

interpreting the values determined for said location solution coordinates x, y, z and b as the spatial location coordinates and receiver/processor clock error coordinate for said LD signal station at the time t=t_r,n.

21. A method for determining the location of a location determination (LD) station, the method comprising the steps of:

(1) receiving and processing LD signals at an LD station from N LD signal sources, numbered n=1, 2, . . . , N (N≧

2) and spaced apart from the LD unit, where the LD station can determine the location of the LD station from the LD signals received and where the number of LD signal sources is less than the number M of location fix coordinates for the LD station to be determined;

(2) measuring a pseudorange value PR(t=t_r,n ;

t_s,n ;

n) associated with an LD signal transmitted by LD source number n (n=1, 2, . . . , N) at a selected time t=t_s,n and received at the LD station at a selected receive time t=t_r,n, where the receive times t_r,n (n=1, 2, . . . , N) are approximately equal, where the pseudorange value for an LD signal received from LD signal source number n at the time t=t_r,n is represented approximately by a pseudorange equation of the form

space="preserve" listing-type="equation">PR(t=t.sub.r,n ;

t.sub.s,n ;

n)+b=d.sub.n ={(x-x.sub.n).sup.2 +(y-y.sub.n).sup.2 +(z-z.sub.n).sup.2 }.sup.1/2 ==b-χ

(t.sub.r,n ;

t.sub.s,n ;

n),

that relates a distance d_n from the LD signal source number n, having approximately known spatial location coordinates (x_n,y_n,z_n)=(x_n (t_s,n)y_n (t_s,n),z_n (t_s,n)) at the selected time t=t_s,n, to the LD unit, which has initially unknown spatial location coordinates (x,y,z), where b/c=Δ

t_r,n is an initially unknown error in the clock coordinate of the LD signal station, where χ

(t_r,n ;

t_s,n ;

n) is a selected term with a known value that is determined from the measured pseudorange value for a signal transmitted from LD signal source number n and that compensates for at least one of (i) time delay, I_r,s,n, for propagation of an LD signal in the ionosphere, (ii) time delay, T_r,s,n, for LD signal propagation in the troposphere, and (iii) clock error Δ

t_s,n associated with LD signal source number n, and where x, y, z and b are location solution coordinates to be determined;

(3) processing the pseudorange equations for the pseudorange values PR(t=t_r,n ;

t_s,n ;

n) to produce at least N-1 exact linear relations relating selected combinations of location fix coordinates x, y, z and b for the LD station, where the coefficients of these N-1 linear relations are determinable from values of selected terms χ

(t_r,n ;

t_s,n ;

n) and are independent of the values of the location fix coordinates;

(4) using the N-1 linear relations relating the location fix coordinates, together with at least one of the pseudorange representation equations for the pseudorange values PR(t=t_r,n ;

t_s,n ;

n), to obtain at least one relation that is nonlinear in the unknown values for selected first and second location fix coordinates and that does not depend on the values of other location solution coordinates;

(5) determining values for the selected first and second location fix coordinates that approximately satisfy the nonlinear relation for the selected first and second location fix coordinates, and using the selected first and second location fix coordinate values together with the N-1 linear relations relating the selected combinations of location fix coordinates to determine values of other location fix coordinates; and

(6) interpreting the N values determined for the location fix coordinates as location fix coordinates for the LD station at the time t=t_r,n.

22. The method of claim 21, wherein M is chosen equal to N-1, and wherein said step of obtaining said at least one nonlinear relation comprises the step of obtaining first and second exact linear relations relating said selected first location fix coordinate to said selected second location fix coordinate, where the first and second linear relations define first and second straight lines having an intersection point.

23. The method of claim 22, wherein said step of determining said values for said selected first and second location coordinates comprises interpreting said intersection point of said first and second straight lines as part of a solution for said location fix coordinate values.

24. The method of claim 22, wherein said step of determining said values for said selected first and second location coordinates comprises:

obtaining said at least one nonlinear relation as an ellipse, with major and minor axes referenced to said first and second lines defined by said first and second linear relations; and

using the ellipse to relate said selected first location fix coordinate values to said selected second location fix coordinate value.

25. The method of claim 22, wherein said step of determining said values for said selected first and second location coordinates comprises:

obtaining said at least one nonlinear relation as at least one sheet of an hyperbola, with hyperbola axes referenced to said first and second lines defined by said first and second linear relations; and

using the at least one sheet of an hyperbola to relate said first location fix coordinate to said second location fix coordinate.

26. The method of claim 21, further comprising the step of expressing said selected term χ

(t_r,n ;

t_s,n ;

n) (n=1, 2, . . . , N) as a sum

space="preserve" listing-type="equation">χ

(t.sub.r,n ;

t.sub.s,n ;

n)=-c(t.sub.s,n +Δ

t.sub.s,n -t.sub.r,n)-I.sub.r,s,n -T.sub.r,s,n -R.sub.r,s,n,

where R_r,s,n is a residual time delay for propagation of an LD signal from LD signal source number n to said LD signal antenna.

27. The method of claim 21, wherein said integer M=4, further comprising the step of expressing said at least three linear relations relating said solution location coordinates in the form

28. The method of claim 21, wherein said integer M=3, further comprising the step of expressing said at least three linear relations relating said solution location coordinates in the form

29. A method for determining the location of a location determination (LD) station, the method comprising the steps of:

receiving LD signals from N LD signal sources (N≧

2) at an LD station and determining a pseudorange value between the LD station and each LD signal source, where the number of LD signal sources is greater than the number of location fix coordinates, M, for the LD station to be determined;

processing the pseudorange values to produce at least M exact linear relations relating location fix coordinates for the LD station;

using the at least M linear relations together with at least one pseudorange value to obtain at least one exact non-linear relation relating at least first and second location fix coordinates; and

using the at least M linear relations and the at least one nonlinear relation to estimate at least M+1 location fix coordinate M-tuples.

30. The method of claim 29, further comprising the steps of:

choosing said number N equal to M+1;

determining a sphere center and a sphere radius in an M-dimensional space with a sphere surface that encloses said at least M+1 location fix coordinate M-tuples; and

interpreting said location fix coordinates corresponding to the sphere center as an estimate of said location fix coordinates to be determined.

31. The method of claim 30, further comprising the step of minimizing said sphere radius in said M-dimensional space.

32. The method of claim 29, further comprising the steps of:

choosing said number N equal to M+2;

determining a sphere center and a sphere with minimum radius in an M-dimensional space that contains at least M+2 location fix coordinate N-tuples; and

interpreting said location fix coordinates corresponding to the sphere center as an estimate of said location fix coordinates to be determined.

33. A method for determining the location of a location determination (LD) station, the method comprising the steps of:

receiving LD signals from N LD signal sources (N≧

2) at an LD station and determining a pseudorange value between the LD station and each LD signal source, where the number of LD signal sources is greater than the number of location fix coordinates, M, for the LD station to be determined;

processing the pseudorange values to produce at least M-1 exact linear relations relating location fix coordinates for the LD station;

providing a selected sum of squares of the at least M-1 exact linear relations plus a square of a difference between the at least one selected pseudorange value and a selected one of the location fix coordinates;

processing the selected sum to obtain at least one additional linear relation relating the selected location fix coordinate to the at least M-1 location fix coordinates; and

solving the at least M-1 linear relations plus the at least one additional linear relation to obtain values for the M location fix coordinates.

34. A method for determining the location of a location determination (LD) station, the method comprising the steps of:

receiving LD signals from N LD signal sources (N≧

2) at an LD station and determining a pseudorange value between the LD station and each LD signal source, where the number of LD signal sources is less than the number of location fix coordinates, M, for the LD station to be determined;

processing the pseudorange values to produce at least N-1 exact linear relations relating location fix coordinates for the LD station;

using the at least N-1 linear relations together with at least one pseudorange value to obtain at least one exact non-linear relation relating at least first and second location fix coordinates; and

using the at least one nonlinear relation to relate a first location fix coordinate to a second location fix coordinate.

35. The method of claim 34, wherein said steps of obtaining and using said at least one nonlinear relation further comprises the steps of:

choosing said number N=M-1;

obtaining said at least one nonlinear relation as a conical section that is an ellipse or an hyperbola, with coordinate axes for the conical section referenced to said first and second lines defined by said first and second linear relations; and

using the conical section to relate said first location fix coordinate to said second location fix coordinate.