System and method for determining high accuracy relative position solutions between two moving platforms

• US 5,991,691 A
• Filed: 02/20/1997
• Issued: 11/23/1999
• Est. Priority Date: 02/20/1997
• Status: Expired due to Term

• Current Assignee: Raytheon Company (Rtx Corporation)
• Original Assignee: Raytheon Aircraft Corporation
• Inventors: Johnson, Gregory Bengt
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Donnelly, Arthur D.
• Application Number:
  US08/804,103
• Time in Patent Office: 1,006 Days
• Field of Search: 701/200, 701/207, 701/213, 701/214, 701/215, 701/225, 701/14, 701/13, 701/15, 701/16, 701/17, 701/18, 342/357, 342/358, 455/12.1, 455/13.2
• US Class Current: 701/214
• CPC Class Codes: G01S 19/15 Aircraft landing systems
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
• CPC Class Codes: G01S 19/51 Relative positioning

Abstract

A system for determining high accuracy relative position solutions between two moving platforms is disclosed. This system is particularly suited for aircraft carrier approach and landing operations. More specifically, a system is disclosed that modifies existing Kinematic Carrier Phase Tracking (KCPT) solutions, which are useful for solutions between a moving platform and a fixed ground based platform, to provide an acceptable relative solution vector in aircraft carrier approach and landing operations, or other environments involving multiple moving platforms. The system disclosed provides a relative KCPT (RKCPT) process that achieves significant advantages over old KCPT process technology. To do so, the system utilizes multiple independent Kalman filters linked to multiple independent numerical ambiguity estimators to provide multiple sets of floating and fixed ambiguities for an accurate solution vector determination. In particular, three independent Kalman filters are disclosed, which are directed to the three highest elevation positioning space vehicles and which are linked respectively to three independent numerical ambiguity estimators. More particularly, the numerical ambiguity estimators may be Teunissen ambiguity estimators. The positioning space vehicles may be the current Global Positioning System satellites, and the system may focus on wide lane GPS data to limit the calculations conducted. An associated method for determining a relative solution vector between multiple moving platforms is also disclosed.

Claims

1. A system for determining a relative solution vector for multiple moving platforms, comprising:

a first Global Position System (GPS) receiver system associated with a first moving platform providing carrier phase tracking and pseudorange measurements with respect to a plurality of GPS satellites;

a second GPS receiver associated with a second moving platform providing carrier phase tracking and pseudorange measurements with respect to a plurality of GPS satellites;

a double differencing processor communicating with said first GPS receiver system and said second GPS receiver system to determine double differenced pseudorange and carrier phase calculations;

a plurality of independent Kalman filters communicating with said double difference processor to determine a plurality of independent sets of floating point ambiguities, each of said plurality of independent Kalman filters utilizing a different GPS satellite as a target;

a plurality of independent numerical ambiguity estimators correlated to said plurality of Kalman filters to determine a plurality of independent sets of fixed ambiguities; and

a position solution processor communicating with said plurality of independent Kalman filters, said plurality of numerical ambiguity estimators, and said double differencing processor to determine a relative solution vector between said first moving platform and said second moving platform.

2. The system of claim 1, wherein said position solution processor utilizes inertial data associated with said first and said second moving platforms to provide said relative solution vector.

3. The system of claim 1, wherein said first moving platform is an aircraft carrier and said second moving platform is an aircraft.

4. The system of claim 1, wherein said plurality of Kalman filters utilize highest elevation GPS satellites as target GPS satellites.

5. The system of claim 4, wherein said position solution processor utilizes the Kalman filter from said plurality of independent Kalman filters having the highest elevation GPS satellite as a target and having carrier phase measurement data with a positive phase lock.

6. The system of claim 1, wherein said independent numerical ambiguity estimators are Teunissen ambiguity estimators.

7. The system of claim 1, having three independent Kalman filters and three correlating independent numerical ambiguity estimators.

8. A system for determining a relative solution vector for aircraft carrier approach and landing operations, comprising:

a first antenna system located on an aircraft carrier providing pseudorange and carrier phase tracking measurements from transmissions received from a plurality of positioning space vehicles;

a second antenna system located on an aircraft providing pseudorange and carrier phase tracking measurements from transmissions received from a plurality of positioning space vehicles;

a double differencing processor communicating with said first antenna system and said second antenna system to make double differenced pseudorange and carrier phase calculations;

a plurality of independent Kalman filters utilizing different target positioning space vehicles and communicating with said double differencing processor to determine a plurality of independent sets of floating ambiguities;

a plurality of independent numerical ambiguity estimators correlated to said plurality of Kalman filters to determine a plurality of independent sets of fixed ambiguities; and

a position solution processor communicating with said Kalman filters, said numerical ambiguity estimators, and said double differencing processor to determine a relative solution vector between said aircraft and said aircraft carrier.

9. The system of claim 8, wherein said independent numerical ambiguity estimators are Teunissen ambiguity estimators.

10. The system of claim 9, having three independent Kalman filters and three correlating Teunissen ambiguity estimators.

11. The system of claim 10, wherein said position space vehicles are GPS satellites.

12. The system of claim 11, wherein said three independent Kalman filters utilize the three highest elevation GPS satellites as target GPS satellites.

13. An aircraft system for determining high accuracy position solutions for aircraft carrier approach and landing operations, comprising:

an antenna system constructed to receive transmissions from positioning space vehicles and make pseudorange and carrier phase tracking measurements;

a receiver system constructed to communicate with a remote transmitter to receive pseudorange and carrier phase tracking measurements with respect to said positioning space vehicles and a remote platform;

a double differencing processor communicating with said antenna system and said receiver system to make double difference pseudorange and carrier phase calculations;

a plurality of independent Kalman filters utilizing different target positioning space vehicles and communicating with said double differencing processor to determine a plurality of independent sets of floating ambiguities;

a plurality of independent numerical ambiguity estimators correlated to said plurality of Kalman filters to determine a plurality of independent sets of fixed ambiguities; and

a position solution processor communicating with said Kalman filters, said numerical ambiguity estimators, and said double differencing processor to determine a relative solution vector between said aircraft and said aircraft carrier.

14. The aircraft system of claim 13, wherein said independent numerical ambiguity estimators are Teunissen ambiguity estimators.

15. The aircraft system of claim 14, having three independent Kalman filters and three correlating Teunissen ambiguity estimators.

16. A method for determining a relative solution vector between multiple moving platforms, comprising:

making pseudorange and carrier phase tracking measurements with respect to a plurality of visible positioning space vehicles and a first moving platform;

making pseudorange and carrier phase tracking measurements with respect to a plurality of visible positioning space vehicles and a second moving platform;

making double differenced pseudorange and carrier phase calculations from said pseudorange and carrier phase tracking measurements;

resolving a plurality of independent sets of floating ambiguities utilizing a plurality of independent Kalman filters;

resolving a plurality of independent sets of fixed ambiguities utilizing a plurality of Teunissen numerical ambiguity estimators correlated to said plurality of independent Kalman filters; and

determining a relative solution vector between said first platform and said second moving platform.

17. The method of claim 16 further determining an intermediate relative solution vector from said double differenced calculations prior to said resolving steps.

18. The method of claim 16 for determining a relative solution vector, wherein said step of resolving floating ambiguities comprises:

resolving a first set of floating ambiguities with a first independent Kalman filter that utilizes a highest elevation positioning space vehicle as a target;

resolving a second set of floating ambiguities with a second independent Kalman filter that utilizes a second highest elevation positioning space vehicle as a target;

resolving a third set of floating ambiguities with a third independent Kalman filter that utilizes a third highest elevation positioning space vehicle as a target; and

selecting a set of resolved floating ambiguities from said first independent Kalman filter if said first independent Kalman filter carrier phase measurement data has a positive phase lock, from said second independent Kalman filter if said first independent Kalman filter carrier phase measurement data does not have a positive phase lock, and from said third independent Kalman filter if said first and second independent Kalman filter carrier phase measurement data does not have a positive phase lock.

19. The method of claim 16 for determining a relative solution vector, wherein said first moving platform is an aircraft carrier and said second moving platform is an aircraft.

20. The method of claim 16 for determining a relative solution vector, wherein said positioning space vehicles are Global Positioning System satellites.