Passive position determination using two low-earth orbit satellites

• US 6,078,284 A
• Filed: 09/30/1996
• Issued: 06/20/2000
• Est. Priority Date: 09/30/1996
• Status: Expired due to Term

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Levanon, Nadav
• Primary Examiner(s): Issing, Gregory C.
• Application Number:
  US08/723,722
• Time in Patent Office: 1,359 Days
• Field of Search: 342/357, 342/457, 455/12.1, 455/13.1, 701/213
• US Class Current: 342/357.64
• CPC Class Codes: G01S 19/38 Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
• CPC Class Codes: G01S 5/0027 of actual mobile position, i.e. position determined on mobile
• CPC Class Codes: G01S 5/0246 involving frequency difference of arrival or Doppler measurements G01S5/02685 takes precedence
• CPC Class Codes: G01S 5/12 by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
• CPC Class Codes: H04B 7/18547 for geolocalisation of a station position fixing by direction or distance determination G01S5/00
• CPC Class Codes: H04B 7/18554 using the position provided by an existing geolocalisation system

Abstract

A system and method for passively determining the position of a user terminal (for example, a mobile wireless telephone) in a low-Earth orbit satellite communications system. The system includes a user terminal, at least two satellites with known positions and known velocities, and a gateway (that is, a terrestrial base station) for communicating with the user terminal through the satellites. The method includes the steps of determining a range difference parameter and a range-rate difference parameter. A range difference parameter represents the difference between (1) the distance between a first one of the satellites and the user terminal and (2) the distance between a second one of the satellites and the user terminal. A range-rate difference parameter represents the difference between (a) a relative radial velocity between a first one of the satellites and the user terminal and (b) a relative radial velocity between a second one of the satellites and the user terminal. The position of the user terminal on the Earth'"'"'s surface is then determined based on the known positions and known velocities of the satellites, the range difference parameter, and the range-rate difference parameter.

Claims

1. A position determining system for a satellite communications system, comprising:

a user terminal;

at least two satellites with known positions and known velocities;

a gateway for communicating with said user terminal through said satellites;

range difference parameter determining means for determining a range difference parameter that represents a difference between (1) the distance between one of said satellites and said user terminal and (2) the distance between another of said satellites and said user terminal;

range-rate difference parameter determining means for determining a range-rate difference parameter that represents a difference between (1) a relative radial velocity between one of said satellites and said user terminal and (2) a relative radial velocity between another of said satellites and said user terminal; and

position determining means for determining the position of said user terminal on the Earth'"'"'s surface based on said known positions and velocities of said satellites, said range difference parameter, and said range-rate difference parameter.

2. The position determining system of claim 1, wherein said range difference parameter represents a delay difference, further comprising:

delay difference measuring means in said user terminal for measuring a delay difference between a first signal received from said gateway through a first one of said satellites and a second signal received from said gateway through a second one of said satellites.

3. The position determining system of claim 2, wherein at least one of said first and second signals is precorrected in time to compensate for delays associated with the difference between (a) the distance between said gateway and said first one of said satellites and (b) the distance between said gateway and said second one of said satellites.

4. The position determining system of claim 1, wherein said range-rate difference parameter represents a frequency difference, further comprising:

frequency difference measuring means in said user terminal for measuring a frequency difference between a frequency of a first signal received from said gateway through a first one of said satellites and a frequency of a second signal received from said gateway through a second one of said satellites.

5. The position determining system of claim 4, wherein at least one of said first and second signals is precorrected in frequency to compensate for Doppler shift caused by the difference between (a) a relative radial velocity between said gateway and said first one of said satellites and (b) a relative radial velocity between said gateway and said second one of said satellites.

6. The position determining system of claim 1, wherein said position determining means comprises:

means for generating a M×

1 parameter vector z comprising said parameters, wherein M is the number of parameters determined;

means for generating a position vector x representing an initial reference point;

means for generating a partial derivative matrix H containing information regarding said known positions and velocities of said satellites and an Earth model describing the shape of the Earth wherein the relationship between x and H is given by;

##EQU3## means for generating a M×

M weight matrix W to emphasize the influence of specific parameters; and

means for executing the iterative equation;

space="preserve" listing-type="equation">x.sub.i+1 =x.sub.i +(H.sup.T WH).sup.-1 H.sup.T W(z-z)

wherein x_i and x_i+1 are the current and next position estimates, respectively, and i represents the iteration number, until the difference between x_i and x_i+1 falls below a first predetermined threshold.

7. The position determining system of claim 6, wherein said weight matrix W is the inverse of the measurement error covariance matrix.

8. In a communications system comprising a user terminal, at least two satellites with known positions and known velocities, and a gateway for communicating with the user terminal through the satellites, a method for determining the position of the user terminal, comprising the steps of:

(a) determining a range difference parameter that represents a difference between (1) the distance between one of the satellites and the user terminal and (2) the distance between another of the satellites and the user terminal;

(b) determining a range-rate difference parameter that represents a difference between (1) a relative radial velocity between one of the satellites and the user terminal and (2) a relative radial velocity between another of the satellites and the user terminal; and

(c) determining the position of the user terminal on the Earth'"'"'s surface based on the known positions and known velocities of the satellites, said range difference and said range-rate difference.

9. The method of claim 8, wherein said range difference parameter represents a delay difference, wherein step (b) further comprises the step of:

(i) measuring, at the user terminal, a delay difference between a first signal received from the gateway through a first one of the satellites and a second signal received from the gateway through a second one of the satellites.

10. The method of claim 9, wherein at least one of said first and second signals is precorrected in time to compensate for delays associated with the difference between (a) the distance between the gateway and said first one of the satellites and (b) the distance between the gateway and said second one of the satellites.

11. The method of claim 8, wherein step (c) further comprises the steps of:

(i) transmitting a first signal from the gateway to the user terminal through a first one of the satellites and transmitting a second signal from the gateway to the user terminal through a second one of the satellites; and

(ii) measuring, at the user terminal, a frequency difference between a frequency of said first signal and a frequency of said second signal, wherein said range-rate difference parameter represents said frequency difference.

12. The method of claim 11, wherein at least one of said first and second signals is precorrected in frequency to compensate for Doppler shift caused by the difference between (a) a relative radial velocity between the gateway and said first one of the satellites and (b) a relative radial velocity between the gateway and said second one of the satellites.

13. In a communications system comprising at least two satellites with known positions and known velocities and a gateway for communicating with user terminals through the satellites, a user terminal comprising:

range difference parameter determining means for determining a range difference parameter that represents a difference between (1) the distance between one of the satellites and the user terminal and (2) the distance between another of the satellites and the user terminal; and

range-rate difference parameter determining means for determining a range-rate difference parameter that represents a difference between (1) a relative radial velocity between one of the satellites and the user terminal and (2) a relative radial velocity between another of the satellites and the user terminal;

wherein the position of the user terminal on the Earth'"'"'s surface can be determined based on the known positions and known velocities of the satellites, said range difference parameter, and said range-rate difference parameter.

14. In a communications system comprising a user terminal, at least two satellites, and a gateway for communicating with the user terminal through the satellites, a method for maintaining, at the gateway, the position of the user terminal, comprising the steps of:

(a) actively determining the position of the user terminal;

(b) storing said actively-determined position at the user terminal;

(c) after a predetermined interval, passively determining, at the user terminal, the position of the user terminal;

(d) determining the expected error in said passively-determined position;

(e) determining a difference between said actively-determined position and said passively-determined position when said expected error does not exceed a first predetermined threshold; and

(f) informing the gateway when said difference exceeds a second predetermined threshold.

15. The method of claim 14, further comprising the step of:

(g) performing steps (c) through (e) when said expected error exceeds said first predetermined threshold.

16. The method of claim 14, further comprising the step of:

(h) performing steps (c) through (f) when said difference does not exceed said second predetermined threshold.

17. The method of claim 14, wherein said first predetermined threshold has been adjusted to compensate for bias errors.

18. In a communications system comprising a user terminal, at least two satellites, and a gateway for communicating with the user terminal through the satellites, a system for maintaining, at the gateway, the position of the user terminal, comprising:

means for actively determining the position of the user terminal;

means for storing said actively-determined position at the user terminal;

means for passively determining the position of the user terminal after a predetermined interval;

means for determining the expected error in said passively-determined position;

means for determining a difference between said passively-determined position and said actively-determined position when said expected error does not exceed a first predetermined threshold; and

means for informing the gateway when said difference exceeds a second predetermined threshold.

19. The system of claim 18, wherein said first predetermined threshold has been adjusted to compensate for bias errors.