Deeply-integrated adaptive INS/GPS navigator with extended-range code tracking

• US 6,630,904 B2
• Filed: 10/10/2001
• Issued: 10/07/2003
• Est. Priority Date: 02/02/1999
• Status: Expired due to Term

• Current Assignee: Charles Stark Draper Laboratory Incorporated
• Original Assignee: Charles Stark Draper Laboratory Incorporated
• Inventors: Gustafson, Donald E., Elwell, John M. Jr., Dowdle, John R.
• Primary Examiner(s): PHAN, DAO LINDA
• Application Number:
  US09/974,307
• Publication Number:
  US 20020047799A1
• Time in Patent Office: 727 Days
• Field of Search: 342/357.01, 342/357.06, 342/352, 342/357.12, 701/213, 701/215, 701/214, 701/217, 701/300
• US Class Current: 342/357.59
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G01S 11/02 using radio waves G01S19/00 takes precedence
• CPC Class Codes: G01S 19/21 Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
• CPC Class Codes: G01S 19/30 code related G01S19/246 takes precedence
• 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

Abstract

A system and method for generating a multidimensional navigation solution utilizes Global Positioning System (GPS) data to obtain highly reliable and accurate navigational solutions in high interference and dynamic environments, at a performance level which has been heretofore unattainable. Additional sensors such as inertial (gyros and accelerometers), altimeters, radars, etc. may be employed in a deeply integrated configuration. The approach taken in the present invention differs from that of previous techniques through its exploitation of nonlinear filtering methods; as a result, the navigation system architecture and processes employed yield significant improvements in navigation system performance, both in code tracking and reacquisition, and in carrier tracking and reacquisition. The improvements are particularly significant at low signal/noise ratios, where conventional approaches are especially susceptible to loss of code.

Claims

1. A system for determining a multidimensional navigation state for a navigation platform based on radio navigation data transmitted by external terminals comprising:

a radio navigation data receiver for receiving and amplifying said radio navigation data embedded in noise;

a bank of correlators, including a prompt correlator, for extracting said radio navigation data from said noise over a range of delay error, said correlators processing said radio navigation data and said noise to generate correlator output functions indicative of the degree of correlation for each correlator between said radio navigation data and a known internal replica signal;

an estimator for estimating the radio navigation data signal power and noise power from the correlator output functions; and

a measurement update unit including a nonlinear filter, said measurement update unit for updating the navigation state based on conditional moments of the navigation state calculated as a function of the estimated radio navigation data signal power and noise power, and the correlator outputs.

2. The system of claim 1 further comprising an inertial sensor unit for generating inertial data indicative of the inertial behavior of the platform and wherein the conditional moments of the navigation state are further calculated as a function of the inertial data.

3. The system of claim 1 wherein the radio navigation data comprises Global Positioning System (GPS) data, and wherein the radio navigation data receiver comprises a GPS receiver.

4. The system of claim 1 further comprising a propagator for applying sensed inertial data to a dynamic model based on a recently updated navigation state to generate updated inertial data provided to said measurement update unit.

5. The system of claim 1 wherein the multidimensional navigation state includes information selected from the group consisting of position, velocity, attitude, receiver clock errors, inertial sensor errors, propagation delays, and satellite errors.

6. The system of claim 1 wherein the conditional moments are calculated using a set of correlator moments which are calculated with said nonlinear filter and which represent statistical expectations of nonlinear functions of line-of-sight position error.

7. The system of claim 1 wherein the conditional moments are calculated to include measurement non-linearities in the correlator output functions.

8. The system of claim 1 wherein the bank of correlators comprises an extended-range bank of correlators for extracting said radio navigation data from said noise over an extended range of delay error, said correlators processing said radio navigation data and said noise to generate correlator output functions indicative of degree of correlation for each correlator in the extended-range bank between said radio navigation data and a known internal replica signal.

9. The system of claim 1 wherein said estimator comprises:

a signal power estimator for determining radio navigation data signal power based on correlator moments; and

a noise power estimator for estimating noise power based on the correlator moments and said signal power estimate.

10. The system of claim 1 wherein said estimator comprises:

a state update unit for updating the navigation state as a function of the prompt correlator output function weighted by state gain functions, the state gain functions being based on a set of correlator moments which represent statistical expectations of nonlinear functions of line-of-sight position error, and an error covariance matrix; and

an error covariance matrix update unit for updating the error covariances of the navigation state based on said state gain functions.

11. The system of claim 10 wherein the state gain functions are further based on estimates of the radio navigation data carrier signal power and noise power, a data bit estimate and an error covariance matrix.

12. The system of claim 10 wherein the state update unit and error covariance matrix update unit operate linearly for a relatively large radio navigation data carrier signal power to noise power ratio and operate non-linearly for a relatively small radio navigation data carrier signal power to noise power ratio.

13. A method for updating a navigation state and error covariances of the navigation state of a navigation platform based on radio navigation data transmitted by external terminals and embedded in noise, said radio navigation data signal being received by a radio navigation data receiver including a bank of correlators, including a prompt correlator, for extracting said radio navigation data from said noise over a range of delay error, said correlators processing said radio navigation data and said noise to generate correlator output functions indicative of degree of correlation for each correlator between said radio navigation data and a known replica signal, the method comprising:

calculating correlator moments, which represent statistical expectations of nonlinear functions of line-of-sight position errors, a propagation of a previous navigation state and an error covariance matrix, with a nonlinear filter;

updating the navigation state as a function of the correlator output functions weighted by state gain functions, the state gain functions being based on a set of said correlator moments; and

updating the error covariances of the navigation state based on the correlator moments.

14. The method of claim 13 wherein the propagation of a previous navigation state comprises an inertial data propagation.

15. The method of claim 13 wherein the line-of-sight position error is a function of the error covariances of the navigation state and the noise.

16. The method of claim 13 wherein the state gain functions and error covariances of the navigation state are further based on estimates of the radio navigation data signal power and noise power.

17. The method of claim 13 wherein said radio navigation data signal power estimate and noise power estimate are calculated by:

estimating radio navigation data signal power based on the correlator moments; and

estimating noise power based on the correlator moments and said signal power estimate.

18. The method of claim 13 wherein the bank of correlators comprises an extended-range bank of correlators for extracting said radio navigation data from said noise over an extended range of delay error, said correlators processing said radio navigation data and said noise to generate correlator output functions indicative of degree of correlation for each correlator in the extended-range bank between said radio navigation data and a known internal replica signal.

19. The method of claim 13 wherein the radio navigation data comprises Global Positioning System (GPS) data, and wherein the radio navigation data receiver comprises a GPS receiver.

20. The method of claim 13 wherein the line-of-sight error comprises the difference between a measured and an estimated line-of-sight range between the receiver and the external terminals.

21. The method of claim 13 further comprising:

updating the navigation state as a function of the prompt correlator output function weighted by state gain functions, the state gain functions being based on a set of correlator moments which are calculated with said nonlinear filter; and

updating the error covariances of the navigation state based on said state gain functions.

22. The method of claim 13 wherein the state gain functions are further based on estimates of the radio navigation data carrier signal power and noise power and a data bit estimate.

23. The method of claim 21 wherein the navigation state and the error covariance matrix are updated linearly for a relatively large radio navigation data carrier signal power to noise power ratio and non-linearly for a relatively small radio navigation data carrier signal power to noise power ratio.

24. A measurement update unit for updating a navigation state and error covariances of the navigation state of a navigation platform to provide carrier tracking based on radio navigation data carried on a radio navigation data carrier signal embedded in noise, said radio navigation data signal being received by a radio navigation data receiver including a bank of correlators for extracting said radio navigation data from said noise over a range of delay error, said correlators processing said radio navigation data and said noise to generate correlator output functions indicative of degree of correlation for each correlator between said radio navigation data and a known replica signal, said bank of correlators including a prompt correlator for processing radio navigation data signals near the radio navigation data carrier frequency, said measurement update unit comprising:

a state update unit including a nonlinear filter, said state update unit for updating the navigation state as a function of the prompt correlator output function weighted by state gain functions, the state gain functions being based on a set of correlatot moments which are calculated with said nonlinear filter and which represent statistical expectations of nonlinear functions of line-of-sight position error, and an error covariance matrix;

an error covariance matrix update unit for updating the error covariances of the navigation state based on the correlator moments; and

an integrity management unit for maintaining the integrity of the navigation state and the error covariances.

25. The measurement update unit of claim 24 wherein the state gain functions are further based on estimates of the radio navigation data carrier signal power and noise power, a data bit estimate, an inertial data propagation of a previous navigation state and an error covariance matrix.

26. The measurement update unit of claim 24 wherein the noise power is calculated based on the average noise power in at least two non-prompt correlator output functions.

27. The measurement update unit of claim 24 wherein the state update unit and error covariance matrix update unit operate linearly for a relatively large radio navigation data carrier signal power to noise power ratio and operate nonlinearly for a relatively small radio navigation data carrier signal power to noise power ratio.

28. The measurement update unit of claim 24 wherein the bank of correlators comprises an extended-range bank of correlators for extracting said radio navigation data from said noise over an extended range of delay error, said correlators processing said radio navigation data and said noise to generate correlator output functions indicative of degree of correlation for each correlator in the extended-range bank between said radio navigation data and a known internal replica signal.

29. A method for updating a navigation state and error covariances of the navigation state of a navigation platform to provide carrier tracking based on radio navigation data carried on a radio navigation data carrier signal embedded in noise, said radio navigation data signal being received by a radio navigation data receiver including a bank of correlators for extracting said radio navigation data from said noise over a range of delay error, said correlators processing said radio navigation data and said noise to generate correlator output functions indicative of degree of correlation for each correlator between said radio navigation data and a known replica signal, said bank of correlators including a prompt correlator for processing radio navigation data signals near the radio navigation data carrier frequency, the method comprising:

updating the navigation state as a function of the prompt correlator output function weighted by state gain functions, the state gain functions being based on a set of correlator moments which are calculated with a nonlinear filter and which represent statistical expectations of nonlinear functions of line-of-sight position error, and an error covariance matrix; and

updating the error covariances of the navigation state based on said state gain functions.

30. The method of claim 29 wherein the state gain functions are further based on estimates of the radio navigation data carrier signal power and noise power and a data bit estimate.

31. The method of claim 29 wherein a power of said noise is calculated based on an average noise power in at least two non-prompt correlator output functions.

32. The method of claim 29 wherein the navigation state and the error covariance matrix are updated linearly for a relatively large radio navigation data carrier signal power to noise power ratio and non-linearly for a relatively small radio navigation data carrier signal power to noise power ratio.

33. The method of claim 29 wherein the bank of correlators comprises an extended-range bank of correlators for extracting said radio navigation data from said noise over an extended range of delay error, said correlators processing said radio navigation data and said noise to generate correlator output functions indicative of degree of correlation for each correlator in the extended-range bank between said radio navigation data and a known internal replica signal lock or carrier lock.