Method for GPS positioning in a weak signal environment

• US 7,710,317 B2
• Filed: 02/03/2006
• Issued: 05/04/2010
• Est. Priority Date: 02/03/2006
• Status: Active Grant

• Current Assignee: O2 Micro International Limited (O2 Micro Incorporated)
• Original Assignee: O2 Micro International Limited (O2 Micro Incorporated)
• Inventors: Li, Cheng, Zeng, Yi, Cheng, MingQiang, Li, Shijie, Yu, Bo, Yang, Xiquan
• Primary Examiner(s): PHAN, DAO LINDA
• Application Number:
  US11/347,498
• Publication Number:
  US 20070183486A1
• Time in Patent Office: 1,551 Days
• Field of Search: 342/356, 342/357.06, 342/357.12, 342/357.15, 701/213, 701/215, 375/150, 375/152
• US Class Current: 342/357.64
• CPC Class Codes: G01S 19/25 involving aiding data received from a cooperating element, e.g. assisted GPS
• CPC Class Codes: G01S 19/254 relating to Doppler shift of satellite signals
• CPC Class Codes: G01S 19/258 relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view

Abstract

The present invention is a method for GPS positioning in a weak signal environment. The method includes obtaining assistance data for a GPS signal from a satellite at a predetermined time, wherein the assistance data including predicted navigation data, Doppler shift and Doppler shift rate and the GPS signal being modulated by a carrier signal, a pseudorandom code and navigation data, estimating a predicted receiving time for the GPS signal reaching the GPS receiver, capturing the GPS signal, converting the GPS signal to an intermediate frequency signal, acquiring a code phase of the pseudorandom code from the intermediate frequency signal by using the assistance data and the predicted receiving time, and obtaining a position for the GPS receiver based on the predicted navigation data and the code phase of the pseudorandom code. To acquire the code phase of the pseudorandom code, the GPS receiver corrects a real time clock to one millisecond accuracy and process the intermediate frequency signal through coherent correlation of one second.

Claims

1. A method for processing a global positioning system (GPS) signal at a GPS receiver, comprising the steps of:

converting the GPS signal to an intermediate frequency signal, wherein the GPS signal being modulated by a carrier signal, a pseudorandom code and a predicted navigation data;

obtaining the predicted navigation data for the GPS signal;

generating a local carrier signal and a local pseudorandom code; and

correlating the intermediate frequency signal with the predicted navigation data, the local carrier signal and the local pseudorandom code at a starting time.

2. The method of claim 1, wherein the predicted navigation data is obtained before the GPS signal is received at the GPS receiver.

3. The method of claim 1, further comprising the step of:

correcting a real-time clock of the GPS receiver to 1 millisecond accuracy against a GPS time of a satellite, wherein the GPS signal is from the satellite.

4. The method of claim 3, wherein the starting time is controlled by the real-time clock of the GPS receiver.

5. A method for synchronizing a GPS receiver with a satellite, comprising the steps of:

obtaining assistance data for a GPS signal received from the satellite at a predetermined time, wherein the assistance data including predicted navigation data, Doppler shift and Doppler shift rate and the GPS signal being modulated by a carrier signal, a pseudorandom code and navigation data;

estimating a predicted receiving time for the GPS signal reaching the GPS receiver;

capturing the GPS signal through channels of the GPS receiver;

acquiring the GPS signal at each channel by using the assistance data to obtain a local receiving time for the GPS signal, wherein the GPS signal at each channel has a starting point and a predetermined search period; and

correcting a real-time clock of the GPS receiver based on the local receiving time and the predicted receiving time.

6. The method of claim 5, wherein the predicted receiving time being based on a starting time of transmission and an estimated transmission time of the GPS signal.

7. The method of claim 6, wherein the starting time of transmission being derived from the predicted navigation data.

8. The method of claim 6, wherein the estimated transmission time being estimated based on a transmission time of the GPS signal from the satellite to an assisted-GPS base station.

9. The method of claim 5, wherein the step of acquiring the GPS signal further comprising the steps of:

a) converting the GPS signal to an intermediate frequency signal;

b) generating a local carrier signal and a local pseudorandom code;

c) aligning the starting point of the GPS signal with the predicted navigation data;

d) correlating the GPS signal with the predicted navigation data, the local carrier signal and the local pseudorandom code to obtain a correlation result;

e) repeating step d) for all possible frequencies of the local carrier signal and all possible code phases of the local pseudorandom code to search for a correlation peak from all correlation results;

f) offsetting the GPS signal a predetermined time interval against the predicted navigation data within the predetermined search period;

g) repeating the steps from step d) to step f) until the correlation peak is found, wherein when the correlation peak is found, a code phase of the pseudorandom code is identical to the possible code phase of the local pseudorandom code;

h) tracking the code phase of the pseudorandom code in the GPS signal when the correlation peak is found; and

i) obtaining the local receiving time for the GPS signal based on the code phase and an overall time offset of the GPS signal against the predicted navigation data.

10. The method of claim 9, further comprising the step of:

adjusting the local carrier signal according to the Doppler shift and the Doppler shift rate.

11. The method of claim 9, further comprising the step of:

tracking a Doppler frequency of the carrier signal in the GPS signal according to the Doppler shift and the Doppler shift rate when the correlation peak is found.

12. A method for positioning of a GPS receiver in a weak signal environment, comprising the steps of:

a) obtaining assistance data for a GPS signal from a satellite at a predetermined time, wherein the assistance data including predicted navigation data, Doppler shift and Doppler shift rate and the GPS signal being modulated by a carrier signal, a pseudorandom code and navigation data;

b) estimating a predicted receiving time for the GPS signal reaching the GPS receiver;

c) capturing the GPS signal;

d) converting the GPS signal to an intermediate frequency signal;

e) acquiring a code phase of the pseudorandom code from the intermediate frequency signal by using the assistance data and the predicted receiving time; and

f) obtaining a position for the GPS receiver based on the predicted navigation data and the code phase of the pseudorandom code.

13. The method of claim 12, further comprising the step of:

synchronizing the GPS receiver and an assisted-GPS base station with the satellite.

14. The method of claim 13, wherein the step of synchronizing the GPS receiver and the assisted-GPS base station with the satellite further comprising the steps of:

providing a frame of navigation data from the satellite to the GPS receiver and the assisted-GPS base station;

recording a first time stamp at the assisted-GPS base station when the frame of navigation data reaches the assisted-GPS base station;

recording a second time stamp at the GPS receiver when the frame of navigation data reaches the GPS receiver;

transmitting the frame of navigation data and the first time stamp from the assisted-GPS base station to the GPS receiver;

correcting a first real-time clock in the assisted-GPS base station based on the frame of navigation data and the first time stamp; and

correcting a second real-time clock in the GPS receiver based on the frame of navigation data, the first time stamp and the second time stamp.

15. The method of claim 12, wherein the predicted receiving time being based on a starting time of transmission and an estimated transmission time of the GPS signal.

16. The method of claim 15, wherein the starting time of transmission being derived from the predicted navigation data.

17. The method of claim 15, wherein the estimated transmission time being estimated based on a transmission time of the GPS signal from the satellite to the assisted-GPS base station.

18. The method of claim 12, wherein the step of acquiring a code phase of the pseudorandom code further comprising the steps of:

a) generating a local carrier signal and a local pseudorandom code;

b) correlating the intermediate frequency signal with the predicted navigation data, the local carrier signal and the local pseudorandom code to obtain a correlation result;

c) repeating step b) for all possible frequencies of the local carrier signal and all possible code phases of the local pseudorandom code to search for a correlation peak from all correlation results, wherein when the correlation peak is found, a code phase of the pseudorandom code is identical to the possible code phase of the local pseudorandom code; and

d) tracking the code phase of the pseudorandom code in the GPS signal when the correlation peak is found.

19. The method of claim 18, wherein step b) being firstly performed at a time based on the predicted receiving time.

20. The method of claim 18, further comprising the step of:

adjusting the local carrier signal according to the Doppler shift and the Doppler shift rate.

21. The method of claim 18, further comprising the step of:

tracking a Doppler frequency of the carrier signal in the GPS signal by using the Doppler shift and the Doppler shift rate when the correlation peak is found.

22. The method of claim 18, wherein the step of obtaining the position for the GPS receiver further comprising the steps of:

calculating a receiving time for the GPS signal based on the starting time and the code phase of the pseudorandom code;

decoding satellite parameters from the predicted navigation data; and

calculating the position for the GPS receiver based on the receiving time and the satellite parameters.

23. A method for controlling a GPS receiver, comprising the steps of:

initiating the GPS receiver to a stand-alone mode;

determining whether the GPS receiver succeeded to acquire GPS signals from at least four satellites;

shifting the GPS receiver to a self-assisted mode if the GPS receiver failed to acquire the GPS signals from the at least four satellites;

determining whether valid assistance data are stored in memory of the GPS receiver; and

shifting the GPS receiver to an assisted-GPS mode if no valid assistance data are stored in the memory of the GPS receiver.

24. The method of claim 23, further comprising the step of:

positioning the GPS receiver in the self-assisted mode by using the valid assistance data when the valid assistance data are stored in the memory of the GPS receiver.

25. The method of claim 23, further comprising the steps of:

receiving assistance data from an assisted-GPS base station when no valid assistance data are stored in the memory of the GPS receiver; and

positioning the GPS receiver in the assisted-GPS mode by using the assistance data.