Positioning determination using one low-Earth orbit satellite

• US 6,107,959 A
• Filed: 09/30/1996
• Issued: 08/22/2000
• 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:
  US08/723,751
• Time in Patent Office: 1,422 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 13/08 Systems for measuring distance only indirect measurement G01S13/46
• CPC Class Codes: G01S 13/74 Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
• CPC Class Codes: G01S 2013/466 by Trilateration, i.e. two antennas or two sensors determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the antennas or sensors, the position data of the target is determined
• CPC Class Codes: G01S 5/0036 of measured values, i.e. measurement on mobile and position calculation on base station
• 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 7/18554 using the position provided by an existing geolocalisation system

Abstract

A system and method for 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 one satellite with a known position and velocity, 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 parameter and a range-rate parameter. A range parameter represents a distance between the satellite and the user terminal. A range-rate parameter represents a relative radial velocity between that satellite and the user terminal. The position of the user terminal on the Earth'"'"'s surface is then determined based on the range parameter, the range-rate parameter, and the known position and velocity of the satellite.

Claims

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

a user terminal;

a satellite with a known position and a known velocity;

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

range parameter determining means for determining a range parameter;

range-rate parameter determining means for determining a range-rate parameter that represents frequency measurements of a first signal and a second signal;

first frequency measuring means in said user terminal for measuring a frequency of said first signal, said first signal received from said gateway through said satellite;

sending means in said user terminal for sending said frequency measurement of said first signal to said gateway;

second frequency measuring means in said gateway for measuring a frequency of said second signal, said second signal received from said user terminal through said satellite; and

position determining means in said gateway for determining a position of said user terminal on the Earth'"'"'s surface based on said known position and velocity of said satellite, said range parameter, and said range-rate parameter.

2. The position determining system of claim 1, wherein said range parameter represents a distance between said satellite and said user terminal.

3. The position determining system of claim 1, wherein said range parameter represents a round-trip delay, further comprising:

round-trip delay measuring means in said gateway for measuring a round-trip delay of a signal, said signal transmitted from said gateway to said user terminal through said satellite and retransmitted from said user terminal to said gateway through said satellite.

4. The position determining system of claim 1, wherein said range-rate parameter represents a relative radial velocity between said satellite and said user terminal.

5. The position determining system of claim 1, further comprising:

means for dividing said frequency of said first signal by the nominal frequency of said first signal to produce a first ratio;

means for dividing said frequency of said second signal by the nominal frequency of said second signal to produce a second ratio; and

means for multiplying the sum of said first and second ratios by half the speed of light to obtain said range-rate parameter.

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

a user terminal;

a satellite with a known position and a known velocity;

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

range parameter determining means for determining a range parameter;

range-rate parameter determining means for determining a range-rate parameter; and

position determining means in said gateway for determining a position of said user terminal on the Earth'"'"'s surface based on said known position and velocity of said satellite, said range parameter, and said range-rate parameter, said position determining means comprising

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 satellite and an Earth model describing the shape of the Earth wherein the relationship between x and H is given by ##EQU7## 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 x₁ 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 position determining means further comprises:

means for using a smooth model of the Earth until the difference between x_i and x_i+1 falls below a second predetermined threshold, and a detailed digital terrain model of the Earth thereafter.

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

9. The position determining system of claim 6, wherein said position determining means further comprises means for using a smooth model of the Earth for the first n iterations, and a detailed digital terrain model of the Earth thereafter, wherein n is a predetermined number.

10. In a communications system comprising a user terminal, a satellite with a known position and a known velocity, and a gateway for communicating with the user terminal through the satellite, a method for determining the position of the user terminal, comprising the steps of:

(a) determining a range parameter with respect to the satellite;

(b) determining a range-rate parameter with respect to the satellite; and

(c) determining the position of the user terminal on the Earth'"'"'s surface based on the known position and known velocity of the satellite, said range parameter, and said range-rate parameter, wherein step (b) further comprises the steps of;

(i) measuring, at the user terminal, a frequency of a first signal received from the gateway through the satellite;

(ii) sending said frequency measurement of said first signal to the gateway;

(iii) transmitting a second signal from the user terminal to the gateway through the satellite; and

(iv) measuring, at the gateway, a frequency of a second signal received from the user terminal through the satellite, wherein said range-rate parameter represents said frequency measurements of said first and second signals.

11. The method of claim 10, wherein said range parameter represents a distance between the satellite and the user terminal.

12. The method of claim 10, wherein said range parameter represents a round-trip delay, wherein step (a) further comprises the step of:

(i) measuring, at the gateway, a round-trip delay of a signal, said signal transmitted from the gateway to the user terminal through the satellite and retransmitted from the user terminal to the gateway through the satellite.

13. The method of claim 10, wherein said range-rate parameter represents a relative radial velocity between the satellite and the user terminal.

14. The method of claim 10, further comprising the steps of:

dividing said frequency of said first signal by the nominal frequency of said first signal to produce a first ratio;

dividing said frequency of said second signal by the nominal frequency of said second signal to produce a second ratio; and

multiplying the sum of said first and second ratios by half the speed of light to obtain said range-rate parameter.

15. In a communications system comprising at least one satellite with a known position and a known velocity and a gateway for communicating with user terminals through the satellite, a user terminal comprising:

means for retransmitting a first signal received from the gateway through the satellite; and

means for measuring a frequency of a second signal transmitted by the gateway through the satellite;

means for sending said frequency measurement to said gateway; and

means for transmitting a third signal to said gateway through the satellite;

wherein the position of the user terminal on the Earth'"'"'s surface can be determined based on said retransmitted first signal, said frequency measurement, said third signal, and the known position and known velocity of the satellite.