GPS receiver using coarse orbital parameters for achieving a fast time to first fix

• US 6,275,185 B1
• Filed: 01/12/2001
• Issued: 08/14/2001
• Est. Priority Date: 09/22/1999
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Loomis, Peter Van Wyck
• Primary Examiner(s): Tarcza, Thomas H.
• Assistant Examiner(s): Mull, Fred H
• Application Number:
  US09/759,307
• Time in Patent Office: 214 Days
• Field of Search: 342/357.14, 342/357.12
• US Class Current: 342/357.46
• CPC Class Codes: G01S 19/24 Acquisition or tracking or demodulation of signals transmitted by the system synchronisation aspects of direct sequence spread spectrum modulation H04B1/7073
• CPC Class Codes: G01S 19/40 Correcting position, velocity or attitude
• CPC Class Codes: G01S 19/52 Determining velocity

Abstract

A GPS receiver having a fast time to first fix by comparing measured range rates for GPS satellites to GPS satellite velocities that are calculated from coarse GPS satellite orbital parameters. The coarse GPS satellite parameters are GPS almanac parameters or GPS ephemeris parameters that are older than the GPS-specified curve fit interval. The GPS receiver includes a satellite velocity calculator and a satellite line-of-sight calculator using the coarse GPS satellite orbital parameters previously stored in memory for calculating GPS satellite velocities and unit vectors to GPS satellites, respectively; a range rate measurer using GPS signal carrier measurements for determining range rates to GPS satellites; a user velocity calculator using the satellite velocities, unit vectors, and range rates for calculating a user velocity; and a user location integrator for integrating the user velocity from the last user location for a first location fix. Optionally, the user velocity calculator provides user direction information that can be used for initializing an inertial navigation device.

Claims

1. A method for determining velocity, comprising steps of:

calculating one or more satellite velocities for one or more GPS satellites, respectively, from coarse orbital parameters for said one or more GPS satellites, respectively, said coarse orbital parameters including at least one of (i) ephemeris data older than a specified curve fit interval and (ii) almanac data;

measuring one or more range rates to said one or more GPS satellites, respectively; and

using said one or more calculated satellite velocities with said one or more measured range rates for calculating a user velocity.

2. The method of claim 1, wherein:

said curve fit interval is in a range of two to twelve hours.

3. The method of claim 1, wherein:

said curve fit interval is four hours.

4. The method of claim 1, further comprising a step of:

receiving non-GPS navigation information from another source; and

wherein;

the step of using said one or more calculated satellite velocities with said one or more measured range rates for calculating a user velocity includes using fewer than four said calculated satellite velocities and fewer than four said measured range rates with said navigation information for calculating said user velocity.

5. The method of claim 4, wherein:

the step of receiving said non-GPS navigation information includes a step of receiving a scalar speed from a speed measuring device.

6. The method of claim 1, further comprising steps of:

retrieving a last location fix; and

calculating a new location fix from said last location fix and said user velocity.

7. A method for determining direction, comprising steps of:

calculating one or more satellite velocities for one or more GPS satellites, respectively, from coarse orbital parameters for said one or more GPS satellites, respectively, said coarse orbital parameters including at least one of (i) ephemeris data older than a specified curve fit interval and (ii) almanac data;

measuring one or more range rates to said one or more GPS satellites, respectively; and

using said one or more calculated satellite velocities with said one or more measured range rates for calculating a user direction.

8. The method of claim 7, wherein:

said curve fit interval is in a range of two to twelve hours.

9. The method of claim 7, wherein:

said curve fit interval is four hours.

10. The method of claim 7, wherein:

receiving non-GPS navigation information from another source; and

wherein;

the step of using said one or more calculated satellite velocities with said one or more measured range rates for calculating a user direction includes using fewer than four said calculated satellite velocities and fewer than four said measured range rates with said navigation information for calculating said user direction.

11. The method of claim 10, wherein:

the step of receiving said non-GPS navigation information includes a step of receiving a scalar speed from a speed measuring device.

12. The method of claim 7, further comprising a step of:

using said user direction for initializing an inertial navigation device.

13. An apparatus for determining velocity, comprising:

a satellite velocity calculator for calculating one or more satellite velocities for one or more GPS satellites, respectively, from coarse orbital parameters for said one or more GPS satellites, respectively, said coarse orbital parameters including at least one of (i) ephemeris data older than a specified curve fit interval and (ii) almanac data;

a range rate measurer for measuring one or more range rates to said one or more GPS satellites, respectively; and

a user velocity calculator for using said one or more calculated satellite velocities with said one or more measured range rates for calculating a user velocity.

14. The apparatus of claim 13, wherein:

said curve fit interval is in a range of two to twelve hours.

15. The apparatus of claim 13, wherein:

said curve fit interval is four hours.

16. The apparatus of claim 13, wherein:

the user velocity calculator is further for receiving navigation information from a non-GPS source and using fewer than four said calculated satellite velocities and fewer than four said measured range rates with said navigation information for calculating said user velocity.

17. The apparatus of claim 16, wherein:

said source is a speedometer for determining a scalar speed for said navigation information.

18. The apparatus of claim 13, further comprising:

a user location integrator for retrieving a last location fix and calculating a new location fix from said last location fix and said user velocity.

19. An apparatus for determining direction, comprising:

a satellite velocity calculator for calculating one or more satellite velocities for one or more GPS satellites, respectively, from coarse orbital parameters for said one or more GPS satellites, respectively, said coarse orbital parameters including at least one of (i) ephemeris data older than a specified curve fit interval and (ii) almanac data;

a range rate measurer for measuring one or more range rates to said one or more GPS satellites, respectively; and

a direction calculator for using said one or more calculated satellite velocities with said one or more measured range rates for calculating a user direction.

20. The apparatus of claim 19, wherein:

said curve fit interval is in a range of two to twelve hours.

21. The apparatus of claim 19, wherein:

said curve fit interval is four hours.

22. The apparatus of claim 19, further comprising:

the user velocity calculator is further for receiving navigation information from a non-GPS source and using fewer than four said calculated satellite velocities and fewer than four said measured range rates with said navigation information for calculating said user direction.

23. The apparatus of claim 22, wherein:

said source is a speedometer for determining a scalar speed for said navigation information.

24. The apparatus of claim 19, further comprising:

an inertial navigation device for using said user direction as an initial direction.