On-the-fly RTK positioning system with single frequency receiver

• US 6,127,968 A
• Filed: 01/28/1998
• Issued: 10/03/2000
• Est. Priority Date: 01/28/1998
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Lu, Gang
• Primary Examiner(s): Tarcza, Thomas H.
• Assistant Examiner(s): Mull, Fred H.
• Application Number:
  US09/015,494
• Time in Patent Office: 979 Days
• Field of Search: 342/357.01, 342/357.02, 342/357.03, 342/357.04, 342/357.05, 342/357.06, 342/357.07, 342/357.08, 342/357.09, 342/357.1, 342/357.11 , 342/357, 342/12, 342/357.13, 342/357.14, 342/357.15, 342/357.16, 342/357.17
• US Class Current: 342/357.31
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

Abstract

A system for single frequency on-the-fly (OTF) real-time kinematic (RTK) centimeter level position determination using the satellite positioning system (SATPS) is disclosed. The system includes a storage buffer used for storing data. The stored data and the current data are used by an ambiguity search algorithm for the improved integer ambiguity resolution.

Claims

1. An on-the-fly real-time kinematic (OTF-RTK) system for use with the satellite positioning system (SATPS) comprising:

a base including a base SATPS satellite navigation receiver and a base measurement means, said base being placed in a fixed location with known coordinates, said base configured to receive SATPS satellite signals from said SATPS satellite system, configured to perform single frequency base code and carrier phase measurements on said SATPS satellite signals, and configured to transmit results of said single frequency base code and carrier phase measurements;

a rover unit including a rover SATPS satellite navigation receiver and a rover measurement means, said rover unit configured to receive SATPS satellite signals from said SATPS satellite system, configured to receive results of said single frequency base code and carrier phase measurements from said base having known location coordinates, and configured to perform single frequency rover unit code and carrier phase measurements on said SATPS satellite signals;

a Double-Difference (DD) Kalman Filter configured to receive at each epoch results of said base single frequency code and carrier phase measurements and results of said rover unit single frequency code and carrier phase measurements, said base and said rover measurements being synchronized at each epoch, configured to calculate single frequency DD code phase and DD carrier phase quantities, configured to perform Kalman filtering operation on said DD code phase quantities and on said DD carrier phase quantities;

a storage device including a storage buffer, said storage device configured to receive and to store in said storage buffer at a specified epoch interval said single frequency DD carrier phase quantities starting at an epoch corresponding to the beginning of the measurements and ending at an epoch when said storage buffer is full;

a time-backward integer ambiguity resolution algorithm processor configured to perform an integer ambiguity search utilizing current and stored single frequency DD carrier phase quantities in order to determine said rover'"'"'s position fix and integer ambiguities;

wherein said time-backward integer ambiguity resolution algorithm processor utilizes the root mean square (RMS) computation for the stored carrier phase residuals RMS values corresponding to the correct integer ambiguities that remain small for the time-backward stored epochs and the future epochs; and

a navigation computer configured to provide a user with near-continuous position estimates of said rover unit with centimeter-level accuracy.

2. The system of claim 1, wherein said base includes a base GPS satellite navigation receiver, and wherein said base is configured to receive GPS satellite signals from said GPS satellite system, and wherein said rover unit includes a rover GPS satellite navigation receiver, and wherein said rover unit is configured to receive GPS satellite signals from said GPS satellite system.

3. The system of claim 1, wherein said base includes a base GLONASS satellite navigation receiver, and wherein said base is configured to receive GLONASS satellite signals from said GLONASS satellite system, and wherein said rover unit includes a rover GLONASS satellite navigation receiver, and wherein said rover unit is configured to receive GLONASS satellite signals from said GLONASS satellite system.

4. The system of claim 1, wherein said base includes a base combined GPS_-- GLONASS satellite navigation receiver, and wherein said base is configured to receive both GPS and GLONASS satellite signals simultaneously from said GPS and GLONASS satellite systems, and wherein said rover unit includes a rover combined GPS and GLONASS satellite navigation receiver, and wherein said rover unit is configured to receive both GPS and GLONASS satellite signals simultaneously from said GPS and GLONASS satellite systems.

5. The system of claim 2, further comprising:

a transmitter connected to said base, said base transmitter configured to transmit said single frequency base code and carrier phase measurements to said rover unit;

a communication receiver connected to said rover unit, said communication rover receiver configured to receive said single frequency base code and carrier phase measurements; and

a communication link between said base and said rover unit for communicating said single frequency code and carrier phase measurement from said base to said rover unit.

6. The system of claim 2, further comprising:

a datum transformation circuit connected to said navigation computer in said rover unit, said datum transformation circuit configured to generate centimeter-level accurate position fixes in a local coordinate format from said near-continuous position estimates of said rover unit; and

an ellipsoid-to-geoid conversion circuit connected to said datum transformation circuit, said ellipsoid-to-geoid conversion circuit configured to generate locally corrected height information from said near-continuous position estimates of said rover unit.

7. An on-the-fly real-time kinematic (OTF-RTK) system for use with the satellite positioning system (SATPS) comprising:

a rover unit including a rover SATPS satellite navigation receiver and a rover measurement means, said rover unit configured to receive SATPS satellite signals from said SATPS satellite system, configured to receive results of single frequency base code and carrier phase measurements from a base having known location coordinates, and configured to perform single frequency rover unit code and carrier phase measurements on said SATPS satellite signals;

a Double-Difference (DD) Kalman Filter configured to receive at each epoch results of said base single frequency code and carrier phase measurements and results of said rover unit single frequency code and carrier phase measurements, said base and said rover measurements being synchronized at each epoch, configured to calculate single frequency DD code phase and DD carrier phase quantities, configured to perform Kalman filtering operation on said DD code phase quantities and on said DD carrier phase quantities;

a storage device including a storage buffer, said storage device configured to receive and to store in said storage buffer at a specified epoch interval said single frequency DD carrier phase quantities starting at an epoch corresponding to the beginning of the measurements and ending at an epoch when said storage buffer is full;

a time-backward integer ambiguity resolution algorithm processor configured to perform an integer ambiguity search utilizing current and stored single frequency DD carrier phase quantities in order to determine said rover'"'"'s position fix and integer ambiguities;

wherein said time-backward integer ambiguity resolution algorithm processor utilizes the root mean square (RMS) computation for the stored carrier phase residuals RMS values corresponding to the correct integer ambiguities that remain small for the time-backward stored epochs and the future epochs; and

a navigation computer configured to provide a user with near-continuous position estimates of said rover unit with centimeter-level accuracy.

8. The system of claim 7, wherein said rover unit includes a rover GPS satellite navigation receiver, and wherein said rover unit is configured to receive GPS satellite signals from said GPS satellite system.

9. The system of claim 7, wherein said rover unit includes a rover GLONASS satellite navigation receiver, and wherein said rover unit is configured to receive GLONASS satellite signals from said GLONASS satellite system.

10. The system of claim 7, wherein said rover unit includes a rover combined GPS_-- GLONASS satellite navigation receiver, and wherein said rover unit is configured to receive GPS_-- GLONASS satellite signals simultaneously from GPS and GLONASS satellite systems.

11. The system of claim 8, further comprising:

a communication receiver connected to said rover unit, said communication rover receiver configured to receive said single frequency base code and carrier phase measurements; and

a communication link between said base and said rover unit for communicating said single frequency code and carrier phase measurement from said base to said rover unit.

12. The system of claim 8, further comprising:

a datum transformation circuit connected to said navigation computer in said rover unit, said datum transformation circuit configured to generate centimeter-level accurate position fixes in a local coordinate format from said near-continuous position estimates of said rover unit; and

an ellipsoid-to-geoid conversion circuit connected to said datum transformation circuit, said ellipsoid-to-geoid conversion circuit configured to generate locally corrected height information from said near-continuous position estimates of said rover unit.

13. A method for on-the-fly real-time kinematic (OTF-RTK) position estimation of a rover unit, said method comprising the steps of:

receiving SATPS satellite signals from a SATPS satellite system by a base SATPS receiver, said base being placed in a fixed location with known coordinates;

performing single frequency code and carrier phase measurements at said base;

transmitting results of said single frequency base code and carrier phase measurements from said base to said rover unit;

receiving SATPS satellite signals from said SATPS satellite system at said rover unit;

receiving, at said rover, results of said single frequency base code and carrier phase measurements;

performing single frequency code and carrier phase measurements at said rover unit;

calculating at each synchronized epoch single frequency DD code phase quantities and single frequency DD carrier phase quantities;

performing Kalman filtering on said DD code and carrier phase quantities;

receiving and storing at a storage device including a storage buffer at a specified epoch interval said DD carrier phase quantities starting at an epoch corresponding to the beginning of the measurements and ending at an epoch when said storage buffer is full;

performing an ambiguity search by using said current and said stored DD carrier phase quantities in order to determine a position fix and integer ambiguities for said rover unit; and

providing a user with near-continuous position estimates of said rover unit with centimeter-level accuracy by utilizing a navigation computer.

14. The method of claim 13, wherein said step of receiving and storing at said storage device including said storage buffer at said specified epoch interval said DD carrier phase quantities further includes the step of:

checking at said specified epoch interval the data validity and carrier phase cycle slips.

15. The method of claim 13, wherein said step of performing said ambiguity search by using said current and said stored DD carrier phase quantities in order to determine a position fix and integer ambiguities for said rover unit further comprises the steps of:

checking whether ambiguity search conditions are satisfied;

starting the ambiguity search if each said ambiguity condition is satisfied;

obtaining a list of possible integer ambiguity combinations;

testing each said integer ambiguity combination in said list of possible integer ambiguity combinations using said current and said stored DD carrier phase quantities; and

identifying a true integer solution by comparing the best integer number with the next best integer number.

16. A method for on-the-fly real-time kinematic (OTF-RTK) position estimation of a rover unit, said method comprising the steps of:

receiving SATPS satellite signals from a SATPS satellite system at said rover unit;

receiving, at said rover, results of single frequency base code and carrier phase measurements;

performing single frequency code and carrier phase measurements at said rover unit;

calculating at each synchronized epoch single frequency DD code phase quantities and single frequency DD carrier phase quantities;

performing Kalman filtering on said DD code and carrier phase quantities;

receiving and storing at a storage device including a storage buffer at a specified epoch interval said DD carrier phase quantities starting at an epoch corresponding to the beginning of the measurements and ending at an epoch when said storage buffer is full;

performing an ambiguity search by using said current and said stored DD carrier phase quantities in order to determine a position fix and integer ambiguities for said rover unit; and

providing a user with near-continuous position estimates of said rover unit with centimeter-level accuracy by utilizing a navigation computer.

17. The method of claim 16, wherein said step of receiving and storing at said storage device including said storage buffer at said specified epoch interval said DD carrier phase quantities further includes the step of:

checking at said specified epoch interval the data validity and carrier phase cycle slips.

18. The method of claim 16, wherein said step of performing said ambiguity search by using said current and said stored DD carrier phase quantities in order to determine a position fix and integer ambiguities for said rover unit further comprises the steps of:

checking whether ambiguity search conditions are satisfied;

starting the ambiguity search if each said ambiguity condition is satisfied;

obtaining a list of possible integer ambiguity combinations;

testing each said integer ambiguity combination in said list of possible integer ambiguity combinations using said current and said stored DD carrier phase quantities; and

identifying a true integer solution by comparing the best integer number with the next best integer number.