Technique for accurate distance and velocity calculations using the global positioning system (GPS)

• US 6,704,650 B1
• Filed: 05/31/2001
• Issued: 03/09/2004
• Est. Priority Date: 05/31/2000
• Status: Expired due to Term

• Current Assignee: NVIDIA Corporation
• Original Assignee: Skynetix LLC
• Inventors: Fuller, Richard A., Hayward, Roger, Christie, Jock
• Primary Examiner(s): Marc-Coleman, Marthe Y.
• Application Number:
  US09/872,767
• Time in Patent Office: 1,013 Days
• Field of Search: 701/213, 701/214, 701/216, 701/208, 701/215, 342/357.01, 342/357.09
• US Class Current: 701/213
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 22/02 by conversion into electric waveforms and subsequent integration, e.g. using tachometer generator G01C22/002, G01C22/004, G01C22/006 take precedence
• CPC Class Codes: G01S 19/39 the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
• CPC Class Codes: G01S 19/52 Determining velocity

Abstract

A method of determining the distance traveled during an event by a mobile GPS receiver. The event comprises epochs. The method comprises receiving pseudorange data comprised of one of pseudorange differences or range rates. Each pseudorange difference, in turn, comprises a difference between a first pseudorange and a second pseudorange. The first pseudorange comprises the pseudorange between the receiver and a GPS satellite at a first epoch. The second pseudorange comprises the pseudorange between the receiver and the GPS satellite at a second epoch. The range rates comprise a range rate measurement taken by the receiver of the GPS satellite from the first epoch to the second epoch. Line-of-sight data comprised of at least one normalized vector between the receiver and the GPS satellite is then determined. Based on the pseudorange and line-of-sight data, incremental distance data is then determined. A sum over the event of the incremental distance data is then determined.

Claims

1. A computer system for storing information, the system comprising:

a processor; and

a memory coupled to the processor, the memory configured to store a plurality of code modules for execution by the processor, the plurality of code modules comprising;

a code module for receiving pseudorange data, said pseudorange data comprising one of pseudorange differences or range rates, said pseudorange differences comprising a difference between a first pseudorange and a second pseudorange, said first pseudorange comprising the pseudorange between a mobile GPS receiver and a GPS satellite at a first epoch of a plurality of epochs, said second pseudorange comprising the pseudorange between said receiver and said GPS satellite at a second epoch of said plurality of epochs, said range rates comprising a range rate measurement taken by said receiver of said GPS satellite from said first epoch to said second epoch;

a code module for determining line-of-sight data, said line-of-sight data comprising at least one normalized vector between said receiver and said GPS satellite;

a code module for determining, based on said pseudorange and line-of-sight data, incremental distance data, said determining incremental distance data comprising determining a linear algebraic solution of said pseudorange and line-of-sight data, said linear algebraic solution determination yielding one of receiver position difference data or three-dimensional velocity data, said determining incremental distance data further comprising determining a root mean square of said receiver position difference data or three-dimensional velocity data, said linear algebraic solution comprising a pseudoinverse; and

a code module for determining a sum over an event of said incremental distance data, said event comprising said first and second epochs.

2. The system of claim 1, wherein said determining incremental distance data further comprises determining a product of a time interval and said root mean square of said three-dimensional velocity data, said time interval comprising the elapsed time between said first and second epochs.

3. A computer system for storing information, the system comprising:

a processor; and

a memory coupled to the processor, the memory configured to store a plurality of code modules for execution by the processor, the plurality of code modules comprising;

a code module for receiving pseudorange data;

a code module for determining line-of-sight data;

a code module for determining, based on said pseudorange and line-of-sight data, incremental distance data; and

a code module for determining a sum over an event of said incremental distance data,

wherein said pseudorange data comprises pseudorange differences, and

wherein said pseudorange differences comprise a difference between a first pseudorange and a second pseudorange, said first pseudorange comprising the pseudorange between a mobile GPS receiver and a GPS satellite at a first epoch of a plurality of epochs, said second pseudorange comprising the pseudorange between said receiver and said GPS satellite at a second epoch of said plurality of epochs.

4. The system of claim 3, wherein said line-of-sight data comprises at least one normalized vector between a mobile GPS receiver and a GPS satellite.

5. The system of claim 3, wherein said event comprises a first epoch of a plurality of epochs and a second epoch of said plurality of epochs.

6. A computer system for storing information, the system comprising:

a processor; and

a memory coupled to the processor, the memory configured to store a plurality of code modules for execution by the processor, the plurality of code modules comprising;

a code module for receiving pseudorange data;

a code module for determining line-of-sight data;

a code module for determining, based on said pseudorange and line-of-sight data incremental distance data; and

a code module for determining a sum over an event of said incremental distance data,

wherein said determining incremental distance data comprises determining a linear algebraic solution of said pseudorange and line-of-sight data,

wherein said linear algebraic solution determination yields receiver position difference data, and

wherein said determining incremental distance data further comprises determining a root mean square of said receiver position difference data.

7. The system of claim 6, wherein said linear algebraic solution determination yields three-dimensional velocity data.

8. The system of claim 6, wherein said linear algebraic solution comprises a pseudoinverse.

9. The system of claim 6, wherein said determining incremental distance data further comprises determining a root mean square of said three-dimensional velocity data.

10. A computer system for storing information, the system comprising:

a processor; and

a memory coupled to the processor, the memory configured to store a plurality of code modules for execution by the processor, the plurality of code modules comprising;

a code module for receiving pseudorange data;

a code module for determining line-of-sight data;

a code module for determining, based on said pseudorange and line-of-sight data, incremental distance data; and

a code module for determining a sum over an event of said incremental distance data,

wherein said determining incremental distance data comprises determining a linear algebraic solution of said pseudorange and line-of-sight data,

wherein said linear algebraic solution determination yields three-dimensional velocity data,

wherein said determining incremental distance data further comprises determining a root mean square of said three-dimensional velocity data, and

wherein said determining incremental distance data further comprises determining a product of a time interval and said root mean square of said three-dimensional velocity data.

11. The system of claim 10, wherein said time interval comprises the elapsed time between a first epoch of a plurality of epochs and a second epoch of said plurality of epochs.

12. A method of determining the distance traveled during an event by a mobile GPS receiver, the event comprising a plurality of epochs, the method comprising:

receiving pseudorange data, said pseudorange data comprising one of pseudorange differences or range rates, said pseudorange differences comprising a difference between a first pseudorange and a second pseudorange, said first pseudorange comprising the pseudorange between the receiver and a GPS satellite at a first epoch of the plurality of epochs, said second pseudorange comprising the pseudorange between the receiver and said GPS satellite at a second epoch of the plurality of epochs, said range rates comprising a range rate measurement taken by the receiver of said GPS satellite from said first epoch to said second epoch;

determining line-of-sight data, said line-of-sight data comprising at least one normalized vector between the receiver and said GPS satellite;

determining, based on said pseudorange and line-of-sight data, incremental distance data, said determining incremental distance data comprising determining a linear algebraic solution of said pseudorange and line-of-sight data, said linear algebraic solution determination yielding one of receiver position difference data or three-dimensional velocity data, said determining incremental distance data further comprising determining a root mean square of said receiver position difference data or three-dimensional velocity data; and

determining a sum over the event of said incremental distance data.

13. The system of claim 12, wherein said determining incremental distance data further comprises determining a product of a time interval and said root mean square of said three-dimensional velocity data, said time interval comprising the elapsed time between said first and second epochs.

14. A method of determining the distance traveled during an event by a mobile GPS receiver, the event comprising a plurality of epochs, the method comprising:

receiving pseudorange data;

determining line-of-sight data;

determining, based on said pseudorange and line-of-sight data, incremental distance data; and

determining a sum over the event of said incremental distance data,

wherein said pseudorange data comprises pseudorange differences, and

wherein said pseudorange differences comprise a difference between a first pseudorange and a second pseudorange, said first pseudorange comprising the pseudorange between the receiver and a GPS satellite at a first epoch of the plurality of epochs, said second pseudorange comprising, the pseudorange between the receiver and said GPS satellite at a second epoch of the plurality of epochs.

15. The method of claim 14, wherein said line-of-sight data comprises at least one normalized vector between the receiver and a GPS satellite.

16. The method of claim 15, wherein said line-of-sight data comprises at least one normalized vector between the receiver and a GPS satellite.

17. A method of determining the distance traveled during an event by a mobile GPS receiver, the event comprising a plurality of epochs, the method comprising:

receiving pseudorange data;

determining line-of-sight data;

determining, based on said pseudorange and line-of-sight data, incremental distance data; and

determining a sum over the event of said incremental distance data,

wherein said determining incremental distance data comprises determining a linear algebraic solution of said pseudorange and line-of-sight data,

wherein said linear algebraic solution determination yields receiver position difference data, and

wherein said determining incremental distance data further comprises determining a root mean square of said receiver position difference data.

18. The method of claim 17, wherein said linear algebraic solution determination yields three-dimensional velocity data.

19. The method of claim 17, wherein said linear algebraic solution comprises a pseudoinverse.

20. A method of determining the distance traveled during an event by a mobile GPS receiver, the event comprising a plurality of epochs, the method comprising:

receiving pseudoranie data;

determining line-of-sight data;

determining, based on said pseudorange and line-of-sight data, incremental distance data; and

determining a sum over the event of said incremental distance data,

wherein said determining incremental distance data comprises determining a linear algebraic solution of said pseudorange and line-of-sight data,

wherein said linear algebraic solution determination yields three-dimensional velocity data, and

wherein said determining incremental distance data further comprises determining a root mean square of said three-dimensional velocity data.

21. The method of claim 20, wherein said determining incremental distance data further comprises determining a product of a time interval and said root mean square of said three-dimensional velocity data.

22. The method of claim 21, wherein said time interval comprises the elapsed time between said first and second epochs of the plurality of epochs.