Nudged broadcast orbit drift correction

• US 7,737,887 B2
• Filed: 06/10/2008
• Issued: 06/15/2010
• Est. Priority Date: 01/14/2008
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Remondi, Benjamin William
• Primary Examiner(s): Tarcza; Thomas H.
• Assistant Examiner(s): LIU, HARRY K
• Application Number:
  US12/136,536
• Publication Number:
  US 20090179793A1
• Time in Patent Office: 735 Days
• Field of Search: 342/357.02, 342/357.09
• US Class Current: 342/357.66
• CPC Class Codes: G01S 19/258 relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]

Abstract

In method of correcting for drift in a Global Navigation Satellite System (GNSS) receiver, a broadcast orbit in use at the GNSS receiver is nudged based on a first message received from a GNSS base station. The nudging creates a first nudged broadcast orbit for a GNSS satellite, the first nudged broadcast orbit being more precise than the broadcast orbit. A second message is received from the GNSS base station. Information included in the second message is employed to determine a drift rate of the first nudged broadcast orbit relative to a more precise orbit in use at the GNSS base station. Based upon the second message, the broadcast orbit is nudged to create a second nudged broadcast orbit for the GNSS satellite. A component of the drift rate is corrected for, relative to the second nudged broadcast orbit.

Claims

1. A method in a Global Navigation Satellite System (GNSS) receiver of correcting for drift, said method comprising:

based on a first message received from a GNSS base station, nudging a broadcast orbit in use at said GNSS receiver to create a first nudged broadcast orbit for a GNSS satellite, said first nudged broadcast orbit being more precise than said broadcast orbit;

receiving a second message from said GNSS base station;

employing information included in said second message to determine a drift rate of said first nudged broadcast orbit relative to a more precise orbit in use at said GNSS base station;

based upon said second message, nudging said broadcast orbit to create a second nudged broadcast orbit for said GNSS satellite; and

correcting for a component of said drift rate relative to said second nudged broadcast orbit.

2. The method as recited in claim 1, wherein said receiving said second message from said GNSS base station comprises:

receiving said second message from said GNSS base station, said second message comprising an encoded ambiguity value derived from a satellite position of said GNSS satellite and a time tag, wherein said satellite position has been calculated by said GNSS base station utilizing a first orbit for said GNSS satellite and a time represented by said time tag.

3. The method as recited in claim 2, wherein said employing information included in said second message to determine a drift rate of said first nudged broadcast orbit relative to a more precise orbit comprises:

calculating a second satellite position for said GNSS satellite utilizing said time represented by said time tag and said broadcast orbit;

resolving a third satellite position for said GNSS satellite using said encoded ambiguity value and an ambiguous portion of said second satellite position; and

determining said drift rate of said first nudged broadcast orbit by comparing said third satellite position to a fourth satellite position generated from said first nudged broadcast orbit for said time.

4. The method as recited in claim 3, wherein said nudging said broadcast orbit to create a second nudged broadcast orbit for said GNSS satellite comprises:

in response to an absolute value of a z-coordinate of said third satellite position being greater than one earth radius, utilizing a linear algebra technique to adjust parameters roota, M₀, and I₀ of said broadcast orbit, such that said broadcast orbit becomes synchronized with said first orbit; and

in response to said absolute value of said z-coordinate of said third satellite position being less than or equal to one earth radius, utilizing said linear algebra technique to adjust parameters roota, M₀, and Ω

₀ of said broadcast orbit, such that said broadcast orbit becomes synchronized with said first orbit.

5. The method as recited in claim 1, wherein said nudging said broadcast orbit to create a second nudged broadcast orbit for said GNSS satellite comprises:

nudging said broadcast orbit into synchronization with a first orbit in use at said GNSS base station.

6. The method as recited in claim 1, wherein said correcting for a component of said drift rate relative to said second nudged broadcast orbit comprises:

correcting over time for a linear component of said drift rate.

7. The method as recited in claim 6, wherein said correcting over time for a linear component of said drift rate comprises:

applying a time dependent linear correction to a positional coordinate of said GNSS satellite, said positional coordinate generated from said second nudged broadcast orbit.

8. A Global Navigation Satellite System (GNSS) receiver comprising:

a message receiver configured for receiving a message broadcast from a GNSS base station, said message comprising a time tag associated with a satellite position and an encoded ambiguity value derived from said satellite position;

an orbit nudger coupled with said message receiver and configured for employing information from said message to adjust at least one parameter of a broadcast orbit in use at said GNSS receiver such that said broadcast orbit is nudged toward congruence with an orbit utilized in said GNSS base station; and

a drift module configured for determining a drift rate of said nudged broadcast orbit in relation to said orbit in use at said GNSS base station.

9. The GNSS receiver of claim 8, further comprising a message requester configured for transmitting a request for transmission of said message to said GNSS base station.

10. The GNSS receiver of claim 8, wherein said drift module is further configured for correcting for a component of said drift rate.

11. The GNSS receiver of claim 10, wherein said drift module is configured for correcting for a component of said drift rate by applying a time dependent linear correction to any positional coordinate of said GNSS satellite generated from said nudged broadcast orbit.

12. A method of conveying requested information regarding an orbit used at a Global Navigation Satellite System (GNSS) base station to a GNSS receiver, said method comprising:

determining a satellite position for a particular time from an orbit of a GNSS satellite;

extracting an ambiguity value from said satellite position, said extracting based upon a satellite position determination margin of error of a GNSS receiver;

encoding said ambiguity value into an encoded ambiguity value;

assembling a message including said encoded ambiguity value and a time tag representing said time; and

transmitting said message from said GNSS base station on an ad hoc basis in response to receiving a request for transmission of said message from said GNSS receiver, whereby said encoded ambiguity value and said time tag convey information regarding said orbit to said GNSS receiver.

13. The method as recited in claim 12, wherein said resolving an ambiguity value from said satellite position further comprises:

resolving an ambiguity window at least as large as a maximum satellite position determination margin of error of said GNSS receiver; and

using said ambiguity window to resolve said ambiguity value.

14. The method as recited in claim 12, wherein said encoding said ambiguity value into an encoded ambiguity comprises:

encoding said ambiguity value into said encoded ambiguity value such that a recipient GNSS receiver is enabled to recreate an approximation of a coordinate of said satellite position by combining a decoded ambiguity value and an ambiguous portion of a second satellite position generated locally at said GNSS receiver.

15. The method as recited in claim 12, wherein transmitting said message from said GNSS base station on an ad hoc basis in response to receiving a request for transmission of said message further comprises:

after a predefined interval, performing said determining, said extracting, said encoding and said assembling again for a successive particular time such that a second message is assembled; and

transmitting said second message from said GNSS base station for receipt by said GNSS receiver.

16. The method as recited in claim 12, further comprising:

performing said determining, said extracting, said encoding and said assembling on an iterative basis for a plurality of periodic successive particular times; and

transmitting individual successive instances of said message on a periodic basis in addition to any transmission of said message on said ad hoc basis.

17. A Global Navigation Satellite System (GNSS) base station comprising:

an orbit processor configured for executing a GNSS orbit algorithm in association with an orbit of a GNSS satellite and a time, such that a satellite position is determined for said time;

an ambiguity value extractor configured for extracting an ambiguity value from said satellite position based upon a satellite position determination margin of error of a GNSS receiver;

an ambiguity value encoder configured for encoding said ambiguity value as an encoded ambiguity value;

a message assembler configured for assembling a message comprising said encoded ambiguity value and a time tag representing said time; and

a message request receiver configured for receiving a request from a GNSS receiver for a transmission of said message and, in response to receiving said request, triggering an ad hoc transmission of said message.

18. The GNSS bases station of claim 17, wherein said ambiguity value extractor is configured for extracting said ambiguity value using an ambiguity window at least as large as a maximum satellite position determination margin of error a GNSS receiver intended to receive said message.

19. The GNSS base station of claim 17, wherein said message assembler is further configured for assembling said message to include refinement information generated by said GNSS base station, said refinement information for use in refining positioning and navigation data calculated by said GNSS receiver.

20. The GNSS base station of claim 17, wherein said message request receiver is further configured for triggering a second transmission of a later iteration of said message to facilitate a drift correction at a GNSS receiver, said second transmission being automatically triggered after a pre-defined period of time after transmission of said message.