Direct integrated approach to multipath signal identification

• US 6,002,361 A
• Filed: 03/24/1997
• Issued: 12/14/1999
• Est. Priority Date: 04/30/1996
• 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): Tarcza, Thomas H.
• Assistant Examiner(s): PHAN, DAO LINDA
• Application Number:
  US08/822,827
• Time in Patent Office: 995 Days
• Field of Search: 342/463, 342/453, 342/357, 375/208, 375/209, 375/210, 375/343, 375/347, 375/349
• US Class Current: 342/357.61
• CPC Class Codes: G01S 19/22 Multipath-related issues
• CPC Class Codes: G01S 19/30 code related G01S19/246 takes precedence
• CPC Class Codes: H04B 1/7115 Constructive combining of multi-path signals, i.e. RAKE receivers

Abstract

Method and apparatus for improving the accuracy of a received composite signal s(t) that contains a known reference signal S_d (t) with a known bit transition period Δtchip and that may contain a multipath signal S_m (t;χ;b) with an unknown multipath time delay b and an unknown multipath gain factor χ (-1≦χ≦1). Autocorrelation functions AC(τ) and AC(τ;d) for the incoming signal and for the reference (direct) signal are determined, dependent upon a time shift variable τ, and a double difference autocorrelation function ΔΔAC(τ)=AC(τ)-AC(τ-τLE)-AC(τ;d)+AC(τ-.tau.LE;d) is formed, where τLE is a selected time shift displacement satisfying 0 <τLE≦Δτ_chip. Two integrals or sums of ΔΔAC(τ) are measured over different selected time shift intervals. The ratio of these two integrals or sums provides a quadratic equation in the time delay variable b that is solved for b. The gain factor χ is obtained from a ratio of integrals or sums of another ratio involving ΔΔAC(τ). A multipath signal, if present, is approximated by S_m (t;χ;b)≈χS_d (t-b) and can be removed from the incoming signal to provide an incoming signal with improved accuracy.

Claims

1. A method for estimating the time of arrival of a multipath signal in a received composite signal, the method comprising the steps of:

receiving an incoming digital signal that contains a known reference signal;

combining the incoming signal with the reference signal to form a first mixed signal and computing from this first mixed signal a first autocorrelation function, which depends upon a selected time shift variable τ

, over a selected autocorrelation range;

combining the reference signal with itself to form a second mixed signal and computing from this second mixed signal a second autocorrelation function, which depends upon the selected time shift variable τ

, over the selected autocorrelation range;

forming a first autocorrelation difference function that is the difference between the first autocorrelation function, evaluated at a selected time shift value τ

, and the first autocorrelation function, evaluated at a difference between the selected time shift value τ and

a selected time shift displacement;

forming a second autocorrelation difference function that is the difference between the second autocorrelation function, evaluated at the selected time shift value τ

, and the second autocorrelation function, evaluated at a difference between the selected time shift value τ and

the selected time shift displacement;

forming a third autocorrelation difference function that is the difference between the first and second autocorrelation difference functions;

measuring a first integral or sum and a second integral or sum of the third autocorrelation difference function over a first selected range and over a second selected range, respectively, of values of the selected time shift variable τ

;

computing a first ratio of the first integral or sum divided by the second integral or sum;

determining a second ratio in which each of the numerator and the denominator is a polynomial of degree at most two, with selected polynomial coefficients, in a selected time delay variable b;

determining a solution b of a time delay equation resulting from equality of the first and second ratios; and

when a solution b of the time delay equation is non-negative, interpreting the solution b as a time delay associated with a multipath signal that is present in the incoming signal.

2. The method of claim 1, further comprising the steps of:

forming a third ratio equal to said computed first integral or sum divided by a number that is proportional to said numerator of said second ratio, computed with said value of said time delay variable b equal to a solution b of said time delay equation; and

interpreting the third ratio as an amplitude χ

of said multipath signal present in said incoming signal, relative to the amplitude of said incoming signal.

3. The method of claim 2, further comprising the steps of:

computing a modified incoming signal, denoted s(t;

mod), defined as

space="preserve" listing-type="equation">s(t;

mod)=s(t)-χ

S.sub.d (t-b),

where s(t) denotes said incoming signal and S_d (t) denotes said reference signal; and

interpreting the modified incoming signal s(t;

mod) as a result of removing a multipath signal from said incoming signal.

4. The method of claim 1, further comprising the steps of:

forming a third ratio equal to said computed second integral or sum divided by a number that is proportional to said denominator of said second ratio, computed with said value of said time delay variable b equal to a solution b of said time delay equation; and

interpreting the third ratio as an amplitude χ

of said multipath signal present in said incoming signal, relative to the amplitude of said incoming signal.

5. The method of claim 4, further comprising the steps of:

computing a modified incoming signal, denoted s(t;

mod), defined as

space="preserve" listing-type="equation">s(t;

mod)=s(t)-χ

S.sub.d (t-b),

where s(t) denotes said incoming signal and S_d (t) denotes said reference signal; and

interpreting the modified incoming signal s(t;

mod) as a result of removing a multipath signal from said incoming signal.

6. The method of claim 1, further comprising the step of selecting said time delay equation to be of the form

7. The method of claim 1, further comprising the step of drawing at least one of said first selected range and said second selected range from the class of ranges consisting of:

τ

0≦

τ

≦

τ

0+Δ

2, τ

0≦

τ

≦

τ

0+Δ

2+0.5Δ

1, τ

0≦

τ

≦

τ

0+Δ

2+Δ

1, τ

0≦

τ

≦

τ

0+2Δ

2 and τ

0≦

τ

≦

τ

0+2Δ

2+Δ

1, where Δ

1 is said selected time shift displacement, 2Δ

2 is said selected autocorrelation range and τ

0 is a selected value of said time shift variable τ

.

8. The method of claim 7, further comprising the step of selecting said quantities τ

0 and Δ

2 so that said second autocorrelation function, evaluated at said selected time shift value τ

, attains a local maximum value for τ

=τ

0+Δ

2.

9. The method of claim 7, further comprising the step of selecting said quantities τ

0 and Δ

2 so that said second autocorrelation function, evaluated at said time shift value τ

, is approximately zero for at least one of said time shift values τ

=τ

0 and τ

=τ

0+2Δ

2.

10. The method of claim 7, further comprising the step of selecting one-half of said autocorrelation range, Δ

2, to be approximately equal to a digital bit transition period for said reference signal.

11. The method of claim 7, further comprising the step of selecting said quantities Δ

1 and Δ

2 to satisfy Δ

1≦

Δ

2.

12. Apparatus for estimating the time of arrival of a multipath signal in a received composite signal, the apparatus comprising:

a signal receiver, which communicates with a computer, for receiving an incoming digital signal that contains a known reference signal and for communicating the incoming signal to the computer, wherein the computer is programmed;

to receive the incoming signal from the signal receiver;

to combine the incoming signal with the reference signal to form a first mixed signal and to compute from this first mixed signal a first autocorrelation function, which depends upon a selected time shift variable τ

, over a selected autocorrelation range;

to combine the reference signal with itself to form a second mixed signal and to compute from this second mixed signal a second autocorrelation function, which depends upon the selected time shift variable A, over the selected autocorrelation range;

to form a first autocorrelation difference function that is the difference between the first autocorrelation function, evaluated at a selected time shift value τ

, and the first autocorrelation function, evaluated at a difference between the selected time shift value τ and

a selected time shift displacement;

to form a second autocorrelation difference function that is the difference between the second autocorrelation function, evaluated at the selected time shift value τ

, and the second autocorrelation function, evaluated at a difference between the selected time shift value τ and

the selected time shift displacement;

to form a third autocorrelation difference function that is the difference between the first and second autocorrelation difference functions;

to measure a first integral or sum and a second integral or sum of the third autocorrelation difference function over a first selected range and over a second selected range, respectively, of values of the selected time shift variable τ

;

to compute a first ratio of the first integral or sum divided by the second integral or sum;

to determine a second ratio in which each of the numerator and the denominator is a polynomial of degree at most two, with selected polynomial coefficients, in a selected time delay variable b;

to determine a solution b of a time delay equation resulting from equality of the first and second ratios; and

when a solution b of the time delay equation is non-negative, to interpret the solution b as a time delay associated with a multipath signal that is present in the incoming signal.

13. The apparatus of claim 12, wherein said computer is further programmed:

to form a third ratio equal to said computed first integral or sum divided by a number that is proportional to said numerator of said second ratio, computed with said value of said time delay variable b equal to a solution b of said time delay equation; and

to interpret the third ratio as an amplitude χ

of said multipath signal present in said incoming signal, relative to the amplitude of said incoming signal.

14. The apparatus of claim 13, wherein said computer is further programmed:

to compute a modified incoming signal, denoted s(t;

mod), defined as

space="preserve" listing-type="equation">s(t;

mod)=s(t)-χ

S.sub.d (t-b),

where s(t) denotes said incoming signal and S_d (t) denotes said reference signal; and

to interpret the modified incoming signal s(t;

mod) as a result of removing a multipath signal from said incoming signal.

15. The apparatus of claim 12, wherein said computer is further programmed:

to form a third ratio equal to said computed second integral or sum divided by a number that is proportional to said denominator of said second ratio, computed with said value of said time delay variable b equal to a solution b of said time delay equation; and

to interpret the third ratio as an amplitude χ

of said multipath signal present in said incoming signal, relative to the amplitude of said incoming signal.

16. The apparatus of claim 15, wherein said computer is further programmed:

to compute a modified incoming signal, denoted s(t;

mod), defined as

space="preserve" listing-type="equation">s(t;

mod)=s(t)-χ

S.sub.d (t-b),

where s(t) denotes said incoming signal and S_d (t) denotes said reference signal; and

to interpret the modified incoming signal s(t;

mod) as a result of removing a multipath signal from said incoming signal.

17. The apparatus of claim 12, wherein said time delay equation has the form

18. The apparatus of claim 12, wherein at least one of said first selected range and said second selected range is drawn from the class of ranges consisting of:

τ

0≦

τ

≦

τ

0+Δ

2, τ

0≦

τ

≦

τ

0+Δ

2+0.5Δ

1, τ

0≦

τ

≦

τ

0+Δ

2+Δ

1, τ

0≦

τ

≦

τ

0+2Δ

2 and τ

0≦

τ

≦

τ

0+2Δ

2+Δ

1, where Δ

1 is said selected time shift displacement, 2Δ

2 is said selected autocorrelation range and τ

0 is a selected value of said time shift variable τ

.

19. The apparatus of claim 18, wherein said quantities τ

0and Δ

2 are selected so that said second autocorrelation function, evaluated at said selected time shift value τ

, attains a local maximum value for τ

=τ

0+Δ

2.

20. The apparatus of claim 18, wherein said quantities τ

0 and Δ

2 are selected so that said second autocorrelation function, evaluated at said time shift value τ

, is approximately zero for at least one of said time shift values τ

=τ

0 and τ

=τ

0+2Δ

2.

21. The apparatus of claim 18, wherein one-half of said autocorrelation range, Δ

2, is selected to be approximately equal to a digital bit transition period for said reference signal.

22. The apparatus of claim 18, wherein said quantities Δ

1 and Δ

2 are selected to satisfy Δ

1≦

Δ

2.