GPS receiver with cross-track hold

• US 6,125,325 A
• Filed: 07/25/1997
• Issued: 09/26/2000
• Est. Priority Date: 04/25/1996
• Status: Expired due to Term

• Current Assignee: CSR Technology Incorporated (Qualcomm, Inc.)
• Original Assignee: SIRF Technology Incorporated (Qualcomm, Inc.)
• Inventors: Kohli, Sanjai
• Primary Examiner(s): Ciichlanski, William
• Assistant Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US08/900,894
• Time in Patent Office: 1,159 Days
• Field of Search: 701/201, 701/205, 701/207, 701/208, 701/209, 701/213, 701/214, 701/215, 340/988, 340/990, 340/995, 72/178 R, 342/357, 342/357.01, 342/357.06, 342/357.07, 342/357.08, 342/355
• US Class Current: 701/213
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01C 22/00 Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
• CPC Class Codes: G01S 19/11 wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
• CPC Class Codes: G01S 19/22 Multipath-related issues
• CPC Class Codes: G01S 19/235 Calibration of receiver components
• CPC Class Codes: G01S 19/29 carrier including Doppler, related G01S19/246 takes precedence
• CPC Class Codes: G01S 19/30 code related G01S19/246 takes precedence
• CPC Class Codes: G01S 19/34 Power consumption
• CPC Class Codes: G01S 19/37 Hardware or software details of the signal processing chain
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G01S 19/50 whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
• CPC Class Codes: H04B 1/707 using direct sequence modulation
• CPC Class Codes: H04B 1/7085 using a code tracking loop, e.g. a delay-locked loop
• CPC Class Codes: H04B 1/709 Correlator structure
• CPC Class Codes: H04B 1/7115 Constructive combining of multi-path signals, i.e. RAKE receivers
• CPC Class Codes: H04B 2001/70706 using a code tracking loop, e.g. a delay locked loop
• CPC Class Codes: H04B 2201/70715 with application-specific features
• CPC Class Codes: H04B 7/216 Code division or spread-spectrum multiple access [CDMA, SSMA]

Abstract

A terrestrial C/A code GPS receiver system derives along track position information while tracking as few as two GPS satellites by use of conventional altitude hold and a cross track hold mode in which the maximum expected deviation of the vehicle from the expected track is estimated by, for example, knowledge or prediction of the width of the roadway or other track. To maintain accuracy, cross track hold is alternated with clock hold to update the cross track estimate when changes in vehicle direction are detected or when a predetermined period has elapsed.

Claims

1. A method of determining position information from GPS satellites comprising the steps of:

selecting a route to be traveled;

tracking one or more GPS satellites with a GPS receiver mounted for motion along the route;

operating in cross track hold by estimating the route specific cross track information; and

deriving route specific along track, altitude and satellite time information from the one or more GPS satellites being tracked and the estimated cross track information.

2. The method of claim 1 wherein the route is selected from:

operator input, or

a pre-compiled database, or

a direction currently being traveled.

3. The method of claim 1 wherein the step of deriving route specific information further comprises the step of:

operating in altitude and clock hold by estimating the route specific altitude and satellite time information.

4. The method of claim 3 wherein the satellite time information is estimated from:

an internal clock previously synchronized with satellite time, or

a clock error database compiled from measurements of an internal clock compared with satellite time, or

satellite time determined from a satellite being tracked by the GPS receiver.

5. The method of claim 3 wherein the step of deriving route specific along track information further comprises the steps of:

processing signals received from one of the GPS satellites being tracked whose trajectory is most geometrically suitable for deriving along track information for the route being traveled.

6. The method of claim 1 wherein the step of deriving route specific information further comprises the step of:

operating in altitude hold by estimating the route specific altitude information.

7. The method of claim 6 wherein the step of deriving route specific along track information further comprises the steps of:

processing signals received from one of the GPS satellites being tracked whose trajectory is most geometrically suitable for deriving along track information for the route being traveled.

8. A method of determining position information from GPS satellites comprising the steps of:

selecting a route to be traveled;

tracking one or more GPS satellites with a GPS receiver mounted for motion alone the route;

operating in cross track hold by estimating the route specific cross track information from a default value related to the distance representing the expected accuracy of the GPS receiver, or a value related to the maximum expected distance transverse to the centerline of the route to be traveled which is expected to be encountered during motion along the route; and

deriving route specific along track, altitude and satellite time information from the one or more GPS satellites being tracked and the estimated cross track information.

9. The method of claim 8 wherein the value related to the maximum expected distance transverse to a centerline of the route to be traveled expected to be encountered during motion along the route is estimated from:

operator input, or

a pre-compiled database related to the route to be traveled, or

a default value related to an expected width of the route to be traveled.

10. A method of determining position information from GPS satellites comprising the steps of:

selecting a route to be traveled;

tracking one or more GPS satellites with a GPS receiver mounted for motion along the route;

operating in cross track hold by estimating the route specific cross track information from a default value related to a distance representing the expected accuracy of the GPS receiver, or a value related to the maximum expected distance transverse to a centerline of the route to be traveled expected to be encountered during motion along the route;

operating in altitude and clock hold by estimating the route specific altitude and satellite time information; and

deriving route specific along track, altitude and satellite time information from the one or more GPS satellites being tracked and the estimated cross track information by operating in altitude and clock hold by estimating the route specific altitude and satellite time information.

11. The method of claim 10 wherein the value related to the maximum expected distance transverse to a centerline of the route to be traveled expected to be encountered during motion along the route is estimated from:

operator input, or

a pre-compiled database related to the route to be traveled, or

a default value related to an expected width of the route to be traveled.

12. A method of determining position information from GPS satellites comprising the steps of:

selecting a route to be traveled;

tracking one or more GPS satellites with a GPS receiver mounted for motion along the route;

operating in cross track hold by estimating the route specific cross track information;

operating in altitude and clock hold by estimating the route specific altitude information from a default value related to a distance representing the expected accuracy of the GPS receiver, or a value related to the maximum expected distance transverse to a centerline of the route to be traveled expected to be encountered during motion along the route, and by estimating the satellite time information; and

deriving route specific along track, altitude and satellite time information from the one or more GPS satellites being tracked and the estimated cross track information by operating in altitude and clock hold by estimating the route specific altitude and satellite time information.

13. A method of determining position information from GPS satellites comprising the steps of:

selecting a route to be traveled;

tracking one or more GPS satellites with a GPS receiver mounted for motion along the route;

operating in cross track hold by estimating the route specific cross track information;

operating in altitude hold by estimating the route specific altitude information from a default value related to a distance representing the expected accuracy of the GPS receiver, or a value related to the maximum expected distance transverse to a centerline of the route to be traveled expected to be encountered during motion along the route; and

deriving route specific along track, altitude and satellite time information from the one or more GPS satellites being tracked and the estimated cross track and altitude information.

14. A method of determining position information from GPS satellites comprising the steps of:

selecting a route to be traveled;

tracking one or more GPS satellites with a GPS receiver mounted for motion along the route;

operating in altitude hold by estimating the route specific altitude information;

operating in cross track hold by estimating the route specific cross track information;

deriving route specific along track, and satellite time information from the one or more GPS satellites being tracked and the estimated altitude and estimated cross track; and

periodically switching from cross track to clock hold to derive updated cross track information from the one or more GPS satellites being tracked.

15. The method of claim 14 further comprising the steps of:

monitoring motion of the GPS receiver;

causing the periodic switching from cross track to clock hold when the monitoring motion indicates a change in motion.

16. The method of claim 15 wherein the indicated change in motion is a change in direction not included within the route.

17. A method of determining position information from GPS satellites comprising the steps of:

selecting a route to be traveled;

tracking one or more GPS satellites with a GPS receiver mounted for motion along the route;

operating in cross track hold by estimating the route specific cross track information from a default value related to a distance representing the expected accuracy of the GPS receiver, or a value related to the maximum expected distance transverse to a centerline of the route to be traveled expected to be encountered during motion along the route;

operating in altitude hold by estimating the route specific altitude information; and

deriving route specific along track, altitude and satellite time information from the one or more GPS satellites being tracked and the estimated cross track and altitude information.

18. The method of claim 17 wherein the value related to the maximum expected distance transverse to a centerline of the route to be traveled expected to be encountered during motion along the route is estimated from:

operator input, or

a pre-compiled database related to the route to be traveled, or

a default value related to an expected width of the route to be traveled.

19. A method of determining position information from GPS satellites comprising the steps of:

estimating cross track hold information related to motion of a vehicle transverse to a track;

tracking two GPS satellites to derive navigation information therefrom;

providing an estimate of vehicle altitude;

combining the estimated cross track hold information with the estimate of vehicle altitude and navigation information to derive the position of the vehicle by calculating the position of the vehicle along the track;

selectively estimating clock hold information related to satellite time; and

combining the estimated clock hold and navigation information to derive updated cross track hold information.

20. The method of claim 19 wherein the step of selectively estimating clock hold information further comprises:

monitoring vehicle motion to determine when to estimate clock hold information.

21. The method of claim 20 wherein the step of monitoring vehicle motion further comprises the steps of:

detecting changes in vehicle motion indicating changes in vehicle cross track position.

22. The method of claim 19 wherein the step of selectively estimating clock hold information further comprises:

initiating clock hold operation after a fixed maximum duration of cross track hold operation.

23. A method of determining position information from GPS satellites comprising the steps of:

tracking at least two GPS satellites to derive navigation information related to a vehicle in motion along a track;

estimating cross track hold information which relates to possible motion of the vehicle transverse to the along track motion;

determining along track position information related to the position of the vehicle along the track by combining the estimated cross track and the navigation information.

24. A method of determining position information from GPS satellites comprising the steps of:

tracking at least two GPS satellites to derive navigation information related to a vehicle in motion along a track;

estimating cross track hold information which relates to possible motion of the vehicle transverse to the along track motion;

estimating clock hold information related to satellite time information;

determining updated cross track hold information by combining the estimated clock hold and the navigation information; and

determining along track position information related to the position of the vehicle along the track by combining the estimated cross track and the navigation information.

25. The method of claim 24, further comprising the steps of:

alternating the steps of estimating cross track hold and determining along track position information with the steps of estimating clock hold and determining updated cross track hold information.

26. The method of claim 25, wherein the step of alternating the steps of estimating cross track hold and clock hold information further comprises the steps of:

estimating cross track hold information for a first period of time; and

then

estimating clock hold information for a second period of time, the second period of time being a fixed duration of time sufficient to determine the updated cross track hold information.

27. The method of claim 26, wherein the step of alternating the steps of estimating cross track hold and clock hold information further comprises the step of:

determining when to initiate the step of estimating the clock hold information for the second period of time.

28. The method of claim 27, wherein the step of determining when to initiate the step of estimating the clock hold information further comprises:

monitoring the duration of the first period of time to initiate the step of estimating the clock hold information when necessary to maintain a predetermined level of accuracy of the cross track information.

29. The method of claim 27, wherein the step of determining when to initiate the step of estimating the clock hold information further comprises:

monitoring motion of the vehicle to determine changes in vehicle motion inconsistent with the track to initiate the step of estimating the clock hold information when necessary to maintain a predetermined level of accuracy of the cross track information.

30. The method of claim 27, wherein the step of determining when to initiate the step of estimating the clock hold information further comprises the steps of:

monitoring the duration of the first period of time to initiate the step of estimating the clock hold information when necessary to maintain a predetermined level of accuracy of the cross track information, and

monitoring motion of the vehicle to determine changes in vehicle motion inconsistent with the track to initiate the step of estimating the clock hold information when necessary to maintain a predetermined level of accuracy of the cross track information.

31. A GPS receiver, comprising:

means for tracking two GPS satellites to derive navigation information therefrom related to the position of a vehicle;

cross track hold means for estimating the deviation of the position, traverse to the direction of travel, of the receiver from a track along which the vehicle is predicted to be in motion;

means for estimating a second parameter; and

data processing means for combining the navigation information from the two GPS satellites being tracked, the cross track deviation estimate, and the estimated second parameter to derive along track navigation information which relates to the motion of the vehicle along the track.

37. The method of claim 31 wherein the means for estimating a second parameter estimates the altitude.

38. The method of claim 31 wherein the means for estimating a second parameter estimates the system time.

32. A GPS receiver comprising:

means for tracking two GPS satellites to derive navigation information therefrom related to the position of a vehicle;

cross track hold means for estimating the deviation of the position, traverse to the direction of travel, of the receiver from a track along which the vehicle is predicted to be in motion;

means for estimating a second parameter;

data processing means for combining the navigation information from the two GPS satellites being tracked the cross track deviation estimate, and the estimated second parameter to derive along track navigation information which relates to the motion of the vehicle along the track; and

selectively operable cross track hold update means, responsive to the means for tracking two GPS satellites, for estimating satellite related time information and for causing the data processing means to combine the navigation information from the two GPS satellites being tracked and the estimated satellite related time information to derive updated cross track hold information.

33. The invention of claim 32 further comprising:

update timing means for determining when to operate the cross track hold update means.

34. The invention of claim 33 wherein the update timing means further comprises:

means for operating the cross track hold update means in response to changes in vehicle motion indicating deviation from the track.

35. The invention of claim 33 wherein the update timing means further comprises:

means for periodically operating the cross track hold update means.

36. The invention of claim 35 wherein the update timing means further comprises:

means for operating the cross track hold update means when a maximum period from a previous operation of the cross track hold update means has elapsed.

39. A method for operating a GPS receiver under adverse satellite signal reception conditions, comprising the steps of:

creating and using a cross track estimate when only two satellites with adequate geometric coverage are available; and

using a fast reacquisition mode to update an along track estimate during brief periods of availability of any additional satellite.

40. The method of claim 39, further comprising the step of:

creating the cross track estimate from the then current position as derived from a map data base.

41. The method of claim 39, further comprising the step of:

creating and using a clock estimate when only one satellite with adequate geometric coverage is available.

42. The method of claim 41, wherein the step of creating and using a clock estimate further comprises the step of:

creating and using a clock estimate to occasionally update the cross track estimate when two satellites are available.

43. The method of claim 42, further comprising the step of:

creating and using a position estimate when no satellites with adequate geometric coverage are available.

44. The method of claim 43, further comprising the step of:

updating the position estimate by dead reckoning until at least one satellite with adequate geometric coverage is available.

45. The method of claim 44, further comprising the step of:

utilizing data from the map data base to update the position estimate as a function of time.

46. The method of claim 45, wherein the step of utilizing data from the map data base further comprises the step of:

calculating distance traveled in accordance with the straight-line distance between two points of position.

47. The method of claim 45, wherein the step of utilizing data from the map data base further comprises the step of:

calculating distance traveled in accordance with the actual distance between two points of position as indicated by a route being traveled.