Method for improving GPS integrity and detecting multipath interference using inertial navigation sensors and a network of mobile receivers

• US 7,233,864 B2
• Filed: 07/27/2006
• Issued: 06/19/2007
• Est. Priority Date: 07/07/2003
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Dietrich, Arne, Moser, Michael
• Primary Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US11/495,010
• Publication Number:
  US 20060265129A1
• Time in Patent Office: 327 Days
• Field of Search: 701/207, 701/213, 701/215, 701/220, 701/225, 701/214, 342/357.06, 342/357.08, 342/357.09, 342/357.12, 342/357.15
• US Class Current: 701/214
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01S 19/074 providing integrity data, e.g. WAAS
• CPC Class Codes: G01S 19/22 Multipath-related issues
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

A method for checking the integrity of GPS measurements for a moving vehicle includes determining a first inter-vehicle distance between a first vehicle and a second vehicle based on GPS measurements obtained at both vehicles, independently determining a second inter-vehicle distance based on relative motion of the first vehicle and the second vehicle obtained using INS sensors at both vehicles, and comparing the first and second inter-vehicle distances. The integrity of the GPS measurements are checked if the first and second inter-vehicle distances are nearly equivalent. Methods for error detection and for mapping GPS multipath levels at each point in a vicinity for an entire range of satellite constellations are also described.

Claims

1. A method of mapping GPS multipath levels at each point in a vicinity for an entire range of satellite constellations, comprising:

a) detecting a GPS multipath error at a particular point in the vicinity for a satellite constellation using multiple GPS receivers that rove independently with respect to one another;

b) recording the multipath error as a GPS multipath level for the particular point and the satellite constellation; and

c) repeating steps a) and b) for all other points in the vicinity and at different times to capture the entire range of satellite constellations.

2. The method of claim 1, wherein each of the multiple roving GPS receivers generates test series data for each pair of the roving receivers obtaining signals from a same GPS satellite, the test series data for each pair comprising a difference between a first inter-vehicle distance between the pair calculated based on GPS data, and a second inter-vehicle distance independently calculated based on INS sensors in each of the pair of vehicles.

3. A system for providing a mapping of GPS multipath levels at each point in a vicinity for an entire range of satellite constellations, comprising:

a central information depository; and

multiple GPS receivers that rove independently with respect to one another, the multiple roving GPS receivers including means for detecting a GPS multipath error at a particular point in the vicinity for a particular satellite constellation;

wherein the multipath error is recorded as a GPS multipath level for the particular point and satellite constellation at the central information depository;

and wherein the detection of multipath error is repeated for all other points in the vicinity and at different times to capture the entire range of satellite constellations, the multipath errors being stored at the central information depository.

4. The system of claim 3, wherein the central information depository includes means for receiving wireless data signals, and the multiple roving GPS receivers are equipped with means for wirelessly transmitting GPS multipath errors as a data signal to the central information depository.