Precise local positioning systems using ground-based transmitters

• US 7,511,667 B2
• Filed: 02/22/2006
• Issued: 03/31/2009
• Est. Priority Date: 02/22/2006
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Novariant Incorporated (Kubota Corporation)
• Inventors: Matsuoka, Masayoshi, Lawrence, David G., Montgomery, Paul Y., Zimmerman, Kurt R.
• Primary Examiner(s): Tarcza; Thomas H
• Assistant Examiner(s): LIU, HARRY K
• Application Number:
  US11/360,359
• Publication Number:
  US 20070194988A1
• Time in Patent Office: 1,133 Days
• Field of Search: 34235701- 17, 342/464
• US Class Current: 342/464
• CPC Class Codes: G01S 19/11 wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters

Abstract

A precise positioning method and system is disclosed wherein at least one ground transmitter is used for transmitting a ranging signal with code modulation. The at least one ground transmitter is configured to receive a signal from at least one satellite and a second ground transmitter. The at least one ground transmitter measures a code phase of the received signals. The measured code phase information is communicated to a rover that is associated with a user. The rover can determine the user'"'"'s precise position based on the measured code and/or carrier phase information and a clock correction model.

Claims

1. A method for determining a position solution, said method comprising:

transmitting a first ranging signal with code modulation, wherein the first ranging signal is to be transmitted by a first ground transmitter and to be received by a rover;

receiving a second signal, the second signal to be received by the first ground transmitter from a second ground transmitter;

determining a ground transmitter time relative to a reference time, the ground transmitter time to be determined by the first ground transmitter based on the second signal received from the second ground transmitter;

communicating the ground transmitter time relative to the second ground transmitter, the ground transmitter time to be communicated to the rover by the first ground transmitter;

receiving the first ranging signal, the first ranging signal to be received by the rover; and

determining a position associated with the rover based on the ground transmitter time relative to the second ground transmitter and the first ranging signal, the position to be determined by the rover without synchronization of the first and second ground transmitters to a common clock source.

2. The method of claim 1, further comprising generating a clock model based on the ground transmitter time relative to the reference time for determining the position within 1 meter level of accuracy;

wherein the clock model is generated by the ground transmitter.

3. The method of claim 1, wherein the ground transmitter time relative to the reference time is raw data.

4. The method of claim 1, wherein the code modulation of the first ranging signal has a chipping rate faster than 30 MHz.

5. The method of claim 1, further comprising using a plurality of ground transmitters.

6. The method of claim 5, wherein said plurality of ground transmitters includes a master ground transmitter.

7. The method of claim 2, wherein said plurality of ground transmitters is adapted to receive a ranging signal from said master ground transmitter including information on a master clock and wherein said information on said master clock is used for determining said clock model as a difference between a corresponding ground transmitter clock and said master clock.

8. The method of claim 7, wherein said plurality of ground transmitters compares clock signals for generating a collection of relative clock models, wherein any one relative clock model from said collection of relative clock models can be used as a clock reference for determining said clock model.

9. The method of claim 1, wherein the reference time is used for determining said clock model as a difference between a corresponding ground transmitter clock and said reference time.

10. The method of claim 1, wherein the communicating the ground transmitter time relative to the second ground transmitter is implemented via a wireless data link.

11. The method of claim 1, wherein the communicating the ground transmitter time relative to the second ground transmitter includes using a modulated data message on the first ranging signal of the first ground transmitter.

12. The method of claim 6, further comprising collecting a set of clock models at said master ground transmitter.

13. The method of claim 12, wherein said set of clock models collected at said master ground transmitter is modulated on a ranging signal associated with said master ground transmitter for conveying said set of clock models to said rover.

14. The method of claim 12, further comprising using a wireless data link for communicating said set of clock models to said rover.

15. The method of claim 1, further comprising determining the ground transmitter time relative to the reference time;

wherein the ground transmitter time is determined by the first ground transmitter based on the second signal received from the satellite.

16. A system for determining a position of a rover, said system comprising:

at least one ground transmitter communicatively coupled to a second ground transmitter, wherein said at least one ground transmitter is operatively configured to, when in operation, transmit a wideband ranging signal; and

to determine a transmitter time relative to a reference time based on the second ground transmitter;

a rover communicatively coupled to the at least one ground transmitter, wherein said rover;

is operatively configured to, when in operation, receive said wideband ranging signal from the at least one ground transmitter and to determine said position of the rover based on said wideband signal without a need for synchronization of the at least one around transmitter to a common clock source and wherein said position of the rover is determined within one meter level of accuracy.

17. The system of claim 16, wherein the at least one ground transmitter is further operatively configured to generate a clock model for determining said position associated with the rover wherein said clock model is generated based on the transmitter time of said at least one ground transmitter relative to the reference time.

18. A transmitter method for determining a position, said transmitter method comprising:

transmitting a ranging signal with code modulation to an external rover;

receiving a second ranging signal from another transmitter;

determining the transmitter clock based on the second ranging signal received from the another transmitter;

determining a relative transmitter clock, the relative transmitter clock to be determined based on the transmitter clock relative to a reference clock without a need for synchronization of the transmitter and the other transmitter to a common clock source; and

generating a clock model based on relative transmitter clock.

19. The method of claim 18, further comprising communicating with said external rover to transmit the clock model, the external rover to determine the position that is associated with said external rover based on the ranging signal and the clock model;

wherein said position to be substantially within one meter level of accuracy.