Substitution of high quality position measurements with upgraded low quality position measurements

• US 6,810,324 B1
• Filed: 06/06/2002
• Issued: 10/26/2004
• Est. Priority Date: 06/06/2002
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Nadkarni, Vivek Bhalchandra
• Primary Examiner(s): Louis-Jacques, Jacques H.
• Application Number:
  US10/165,712
• Time in Patent Office: 873 Days
• Field of Search: 701/200, 701/224, 701/226, 701/207, 701/209, 701/210, 701/213, 701/214, 701/215, 701/216, 342/357.08, 342/357.12, 342/352, 342/357.01, 342/357.02, 342/357.03, 342/357.04, 342/357.06, 342/357.14, 342/357.15, 342/358, 375/147-150
• US Class Current: 701/207
• CPC Class Codes: G01S 19/421 by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system

Abstract

A method for substituting at least one high quality position measurement with a set of upgraded low quality position measurements comprising the steps of: selecting a high quality source of position measurements of an object; obtaining at least one high quality position measurement of the object by using the high quality source; wherein each high quality position measurement of the object satisfies the threshold of acceptability requirement for the object; saving at least one high quality position measurement of the object taken at at least one high quality epoch timing coordinate; selecting a low quality source of position measurements of the object; obtaining at least one low quality position measurement of the object using the low quality source; if at least one high quality position measurement of the object is available and substantially recent, using at least one high quality position measurement of the object for navigation purposes of the object; if each high quality position measurement of the object is unavailable, or is available but is not substantially recent, upgrading at least one low quality position measurement of the object by using at least one high quality position measurement of the object to obtain at least one upgraded low quality position measurement that satisfies the threshold of acceptability requirement for the object; and using at least one upgraded low quality position measurement of the object that satisfies the threshold of acceptability requirement for the object in place of at least one high quality position measurement for navigation purposes of the object.

Claims

1. A method for substituting at least one high quality position measurement with a set of upgraded low quality position measurements, said method comprising the steps of:

(A1) selecting a high quality source of position measurements of said object from a group of high quality sources;

(A2) obtaining at least one high quality position measurement of said object obtained by using said high quality source;

(B) saving said at least one high quality position measurement of said object;

(C) obtaining at least one low quality position measurement of said object using a low quality source;

(D) if said at least one high quality position measurement of said object is of substantially high quality, using said at least one high quality position measurement of said object for navigation purposes of said object;

(E) if each said high quality position measurement of said object is not of substantially high quality, and if each said low quality position measurement of said object is not of substantially high quality, upgrading said at least one low quality position measurement of said object by using said at least one high quality position measurement of said object to obtain at least one upgraded low quality position measurement of said object; and

(F) using said at least one upgraded low quality position measurement of said object in place of said at least one high quality position measurement of said object for navigation purposes, if each said upgraded low quality position measurement of said object is of substantially high quality;

wherein said at least one high quality position measurement of said object includes a high quality epoch timing coordinate indicative of when said high quality position measurement of said object was taken,

and wherein said high quality position measurement of said object is of said high quality if said high quality position measurement of said object includes an acceptable error in said high quality position measurement of said object and is substantially recent,

and wherein each said high quality position measurement of said object is of said high quality if said high quality position measurement of said object satisfies a threshold of acceptability requirement for said object,

and wherein the threshold of acceptability is defined as a bound between said acceptable error in a position measurement of said object and an unacceptable error in said position measurement of said object,

and wherein said high quality position measurement is substantially recent if a rate of updating said high quality position measurement is substantially sufficient to obtain a substantially accurate position measurement of said object.

2. The method of claim 1, wherein said (C) of obtaining at least one low quality position measurement of said object using said low quality source further includes the steps of:

(C1) selecting said low quality source of position measurements of said object from a group of low quality sources; and

(C2) obtaining at least one low quality position measurement of said object using said low quality source;

wherein said at least one low quality position measurement of said object includes a low quality epoch timing coordinate indicative of when said at least one low quality position measurement of said object was taken;

and wherein said low quality position measurement of said object is not of said substantially high quality if said low quality position measurement of said object includes said unacceptable error in said low quality position measurement of said object, or is not substantially recent.

3. The method of claim 2, wherein said (C1) of selecting said low quality source of position measurements of said object further includes the step of:

providing said low quality source of position measurements selected from the group consisting of;

{a carrier differential SATPS;

a code differential SATPS;

an autonomous SATPS; and

an Inertial Navigation System (INS) having a low accuracy (LAINS)}.

4. The method of claim 1, wherein said step (F) of using said at least one upgraded low quality position measurement of said object in place of said at least one high quality position measurement of said object for navigation purposes further includes the step of:

(F1) checking whether said upgraded low quality position measurement of said object includes said acceptable error in said upgraded low quality position measurement of said object and is substantially recent.

5. The method of claim 1 further including the step of:

setting said position measurements threshold of acceptability for said object.

6. The method of claim 1 further including the step of:

setting said position measurements threshold of acceptability for said object to be a standard deviation of a set of position measurement errors taken over a statistically significant time period.

7. The method of claim 1 further including the step of:

setting said position measurements threshold of acceptability for said object to be a maximum measurement error that is acceptable for a given navigation application of said object.

8. The method of claim 7, wherein said step of setting said position measurements threshold of acceptability for said object to be said maximum measurement error that is acceptable for said given navigation application of said object further includes the step of:

determining said maximum measurement error that is acceptable for said given navigation application of said object.

9. The method of claim 8, wherein said step of determining said maximum measurement error further includes the step of:

determining a largest measurement error that is less then said threshold of acceptability for said object, and setting said maximum measurement error to be equal to said largest measurement error that is less then said threshold of acceptability for said object.

10. The method of claim 9, wherein said step of determining said largest measurement error that is less then said threshold of acceptability for said object further includes the step of:

monitoring errors in said upgraded low quality position measurements of said object.

11. The method of claim 1, wherein said step (A1) of selecting said high quality source of position measurements further includes the step of:

providing said high quality source of position measurements selected from the group consisting of;

{a carrier differential SATPS;

a code differential SATPS;

an autonomous SATPS;

an Inertial Navigation System (INS) having a high accuracy (HAINS);

a high quality source including said HAINS and said carrier differential SATPS;

a high quality source including said HAINS and said code differential SATPS; and

a high quality source including said HAINS and said autonomous SATPS}.

12. The method of claim 1, wherein said step (E) of upgrading said at least one low quality position measurement of said object by using said at least one high quality position measurement of said object to obtain said at least one upgraded low quality position measurement of said object further includes the steps of:

(E1) if a set of correction terms is substantially unavailable, computing said set of correction terms;

wherein said set of correction terms comprises a set of error estimates of said at least one low quality position measurement;

(E2) if said set of correction terms is substantially available, computing at least one system quality metric;

wherein each said system quality metric indicates whether or not said set of correction terms is substantially adequate for upgrading purposes;

(E3) if each said system quality metric indicates that said set of correction terms is substantially adequate for upgrading purposes;

setting a flag indicating said, set of correction terms is substantially adequate for upgrading purposes, using said set of correction terms to upgrade said at least one low quality position measurement of said object to obtain said at least one upgraded low quality position measurement of said object, and outputting said at least one upgraded low quality position measurement of said object;

(E4) if at least one said system quality metric indicates that said set of correction terms is substantially inadequate for upgrading purposes, setting a flag indicating said set of correction terms is substantially inadequate for upgrading purposes, and checking whether said set of correction terms can be updated to become substantially adequate for upgrading purposes;

(E5) if said set of correction terms is updatable to become substantially adequate for upgrading purposes;

updating said set of correction terms, using said set of updated correction terms to upgrade said at least one low quality position measurement of said object to obtain said at least one upgraded low quality position measurement of said object, and, outputting said at least one upgraded low quality position measurement of said object; and

(E6) repeating said steps (E1-E5) for each next epoch of a low quality position measurements of said object when said high quality source of said high quality position measurements of said object is unavailable, or is available but is not substantially recent.

13. A method for substituting at least one high quality position measurement with a set of upgraded low quality position measurements, said method comprising the steps of:

(A1) selecting a high quality source of position measurements of said object from a group of high quality sources;

(A2) obtaining at least one high quality position measurement of said object obtained by using said high quality source;

(B) saving said at least one high quality position measurement of said object;

(C) if said at least one high quality position measurement of said object is of substantially high quality, using said at least one high quality position measurement of said object for navigation purposes of said object;

(D) if each said high quality position measurement of said object is not of substantially high quality, obtaining at least one low quality position measurement of said object using a low quality source;

(E) if each said low quality position measurement of said object is not of substantially high quality, upgrading said at least one low quality position measurement of said object by using said at least one high quality position measurement of said object to obtain at least one upgraded low quality position measurement of said object; and

(F) using said at least one upgraded low quality position measurement of said object in place of said at least one high quality position measurement of said object for navigation purposes, if each said upgraded low quality position measurement of said object is of substantially high quality,

wherein said at least one high quality position measurement of said object includes a high quality epoch timing coordinate indicative of when said high quality position measurement of said object was taken,

and wherein said high quality position measurement of said object is of said high quality if said high quality position measurement of said object includes an acceptable error in said high quality position measurement of said object and is substantially recent,

and wherein each said high quality position measurement of said object is of said high quality if said high quality position measurement of said object satisfies a threshold of acceptability requirement for said object,

and wherein the threshold of acceptability is defined as a bound between said acceptable error in a position measurement of said object and an unacceptable error in said position measurement of said object,

and wherein said high quality position measurement is substantially recent if a rate of updating said high quality position measurement is substantially sufficient to obtain a substantially accurate position measurement of said object.

14. The method of claim 13, wherein said (D) of obtaining at least one low quality position measurement of said object using said low quality source further includes the steps of:

(D1) selecting said low quality source of position measurements of said object from a group of low quality sources; and

(D2) obtaining at least one low quality position measurement of said object using said low quality source;

wherein said at least one low quality position measurement of said object includes a low quality epoch timing coordinate indicative of when said at least one low quality position measurement of said object was taken;

and wherein said low quality position measurement of said object is not of said substantially high quality if said low quality position measurement of said object includes said unacceptable error in said low quality position measurement of said object, or is not substantially recent.

15. The method of claim 13, wherein said step (F) of using said at least one upgraded low quality position measurement of said object in place of said at least one high quality position measurement of said object for navigation purposes further includes the step of:

(F1) checking whether said upgraded low quality position measurement of said object includes said acceptable error in said upgraded low quality position measurement of said object and is substantially recent.

16. The method of claim 13 further including the step of:

setting said position measurements threshold of acceptability for said object.

17. The method of claim 13 further including the step of:

setting said position measurements threshold of acceptability for said object to be a standard deviation of a set of position measurement errors taken over a statistically significant time period.

18. The method of claim 13 further including the step of:

setting said position measurements threshold of acceptability for said object to be a maximum measurement error that is acceptable for a given navigation application of said object.

19. The method of claim 18, wherein said step of setting said position measurements threshold of acceptability for said object to be said maximum measurement error that is acceptable for said given navigation application of said object further includes the step of:

determining said maximum measurement error that is acceptable for said given navigation application of said object.

20. The method of claim 19, wherein said step of determining said maximum measurement error further includes the step of:

determining a largest measurement error that is less then said threshold of acceptability for said object, and setting said maximum measurement error to be equal to said largest measurement error that is less then said threshold of acceptability for said object.

21. The method of claim 20, wherein said step of determining said largest measurement error that is less then said threshold of acceptability for said object further includes the step of:

monitoring errors in said upgraded low quality position measurements of said object.

22. The method of claim 13, wherein said step (A1) of selecting said high quality source of position measurements further includes the step of:

providing said high quality source of position measurements selected from the group consisting of;

{a carrier differential SATPS;

a code differential SATPS;

an autonomous SATPS;

an Inertial Navigation System (INS) having a high accuracy (HAINS);

a high quality source including said HAINS and said carrier differential SATPS;

a high quality source including said HAINS and said code differential SATPS; and

a high quality source including said HAINS and said autonomous SATPS}.

23. The method of claim 14, wherein said (D1) of selecting said low quality source of position measurements of said object further includes the step of:

providing said low quality source of position measurements selected from the group consisting of;

{a carrier differential SATPS;

a code differential SATPS;

an autonomous SATPS; and

an Inertial Navigation System (INS) having a low accuracy (LAINS)}.

24. The method of claim 13, wherein said step (E) of upgrading said at least one low quality position measurement of said object by using said at least one high quality position measurement of said object to obtain said at least one upgraded low quality position measurement of said object further includes the steps of:

(E1) if a set of correction terms is substantially unavailable, computing said set of correction terms;

wherein said set of correction terms comprises a set of error estimates of said at least one low quality position measurement;

(E2) if said set of correction terms is substantially available, computing at least one system quality metric;

wherein each said system quality metric indicates whether or not said set of correction terms is substantially adequate for upgrading purposes;

(E3) if each said system quality metric indicates that said set of correction terms is substantially adequate for upgrading purposes;

setting a flag indicating said set of correction terms is substantially adequate for upgrading purposes, using said set of correction terms to upgrade said at least one low quality position measurement of said object to obtain said at least one upgraded low quality position measurement of said object, and outputting said at least one upgraded low quality position measurement of said object;

(E4) if at least one said system quality metric indicates that said set of correction terms is substantially inadequate for upgrading purposes, setting a flag indicating said set of correction terms is substantially inadequate for upgrading purposes, and checking whether said set of correction terms can be updated to become substantially adequate for upgrading purposes;

(E5) if said set of correction terms is updatable to become substantially adequate for upgrading purposes;

updating said set of correction terms, using said set of updated correction terms to upgrade said at least one low quality position measurement of said object to obtain said at least one upgraded low quality position measurement of said object, and outputting said at least one upgraded low quality position measurement of said object; and

(E6) repeating said steps (E1-E5) for each next epoch of a low quality position measurements of said object when said high quality source of said high quality position measurements of said object is unavailable, or is available but is not substantially recent.

25. A method for substituting at least one high quality position measurement with a set of upgraded low quality position measurements, said method comprising the steps of:

(A1) selecting at least one said high quality source of position measurements of said object from a group of high quality sources;

(A2) obtaining at least one high quality position measurement of said object obtained by using at least one said high quality source;

(B) saving said at least one high quality position measurement of said object;

(C) obtaining at least one low quality position measurement of said object using at least one low quality source;

(D) if said at least one high quality position measurement of said object is of substantially high quality, using said at least one high quality position measurement of said object for navigation purposes of said object;

(E) if each said high quality position measurement of said object is not of substantially high quality, upgrading said at least one low quality position measurement of said object by using said at least one high quality position measurement of said object to obtain at least one upgraded low quality position measurement of said object; and

(F) using said at least one upgraded low quality position measurement of said object in place of said at least one high quality position measurement of said object for navigation purposes, if each said upgraded low quality position measurement of said object is of substantially high quality,

wherein said at least one high quality position measurement of said object includes a high quality epoch timing coordinate indicative of when said high quality position measurement of said object was taken,

and wherein said high quality position measurement of said object is of said high quality if said high quality position measurement of said object includes an acceptable error in said high quality position measurement of said object and is substantially recent,

and wherein each said high quality position measurement of said object is of said high quality if said high quality position measurement of said object satisfies a threshold of acceptability requirement for said object,

and wherein the threshold of acceptability is defined as a bound between said acceptable error in a position measurement of said object and an unacceptable error in said position measurement of said object,

and wherein said high quality position measurement is substantially recent if a rate of updating said high quality position measurement is substantially sufficient to obtain a substantially accurate position measurement of said object.

26. The method of claim 25, wherein said (C) of obtaining at least one low quality position measurement of said object using at least one said low quality source further includes the steps of:

(C1) selecting said at least one low quality source of position measurements of said object from a group of low quality sources; and

(C2) obtaining at least one low quality position measurement of said object using said low quality source;

wherein said at least one low quality position measurement of said object includes a low quality epoch timing coordinate indicative of when said at least one low quality position measurement of said object was taken;

and wherein said low quality position measurement of said object is not of said substantially high quality if said low quality position measurement of said object includes said unacceptable error in said low quality position measurement of said object, or is not substantially recent.

27. The method of claim 26, wherein said (C1) of selecting said low quality source of position measurements of said object further includes the step of:

providing said low quality source of position measurements selected from the group consisting of;

{a carrier differential SATPS;

a code differential SATPS;

an autonomous SATPS; and

an Inertial Navigation System (INS) having a low accuracy (LAINS)}.

28. The method of claim 26, wherein said (C1) of selecting said low quality source of position measurements of said object further includes the step of:

selecting a highest ranked low quality source of position measurements of said object from a group of low quality sources;

wherein said highest ranked low quality source outputs at least one highest ranked low quality position measurement of said object;

and wherein a highest rank is selected from the group consisting of;

{a longest substitution period;

wherein said substitution period is a period of time during which each said upgraded highest rank low quality position measurement is expected to satisfy said threshold of acceptability requirement;

a lowest standard deviation of errors of said low quality position measurements during said substitution period; and

a lowest maximum expected error of low quality position measurements during said substitution period}.

29. The method of claim 25, wherein said step (A1) of selecting said high quality source of position measurements further includes the step of:

providing said high quality source of position measurements selected from the group consisting of;

{a carrier differential SATPS;

a code differential SATPS;

an autonomous SATPS;

an Inertial Navigation System (INS) having a high accuracy (HAINS);

a high quality source including said HAINS and said carrier differential SATPS;

a high quality source including said HAINS and said code differential SATPS; and

a high quality source including said HAINS and said autonomous SATPS}.

30. The method of claim 25, wherein said step (E) of upgrading said at least one low quality position measurement of said object by using said at least one high quality position measurement of said object further includes the step of:

(E1) upgrading said at least one low quality position measurement of said object by using the most recently saved high quality position measurement of said object.

31. The method of claim 30, wherein said step (E1) of upgrading said at least one low quality position measurement of said object by using said at least one most recently saved high quality position measurement of said object to obtain at least one upgraded low quality position measurements of said object further includes the step of:

using a quality upgrade algorithm.

32. The method of claim 31, wherein said step of using said quality upgrade algorithm further includes the steps of:

(1) if a set of correction terms is substantially unavailable, computing said set of correction terms;

wherein said set of correction terms comprises a set of error estimates of said at least one low quality position measurement;

(2) if said set of correction terms is substantially available, computing at least one system quality metric;

wherein each said system quality metric indicates whether or not said set of correction terms is substantially adequate for upgrading purposes;

(3) if each said system quality metric indicates that said set of correction terms is substantially adequate for upgrading purposes;

setting a flag indicating said set of correction terms is substantially adequate for upgrading purposes, using said set of correction terms to upgrade said at least one low quality position measurement of said object to obtain said at least one upgraded low quality position measurement of said object, and outputting said at least one upgraded low quality position measurement of said object;

(4) if at least one said system quality metric indicates that said set of correction terms is substantially inadequate for upgrading purposes, setting a flag indicating said set of correction terms is substantially inadequate for upgrading purposes, and checking whether said set of correction terms can be updated to become substantially adequate for upgrading purposes;

(5) if said set of correction terms is updatable to become substantially adequate for upgrading purposes;

updating said set of correction terms, using said set of updated correction terms to upgrade said at least one low quality position measurement of said object to obtain said at least one upgraded low quality position measurement of said object, and outputting said at least one upgraded low quality position measurement of said object; and

(6) repeating said steps (1-5) for each next epoch of a low quality position measurements of said object when said high quality source of said high quality position measurements of said object is unavailable, or is available but is not substantially recent.

33. The method of claim 31, wherein said step of using said quality upgrade algorithm further includes the steps of:

(A) using said quality upgrade algorithm for each said low quality source in a group of low quality sources; and

(B) selecting a highest ranked low quality source in said group of low quality sources.

34. The method of claim 33 further including the step of:

(C) if said highest ranked low quality source outputs an upgraded low quality measurement that does not satisfy the threshold of acceptability or is not substantially recent;

eliminating said highest ranked low quality source from said group of tow quality sources, and repeating said steps (B-C).

35. The method of claim 25, wherein said step (E) of upgrading said at least one low quality position measurement of said object by using said at least one high quality position measurement of said object further includes the step of:

(E2) upgrading said at least one low quality position measurement of said object by using the most recently saved highest ranked high quality position measurement of said object.