Ionosphere modeling apparatus and methods

• US 7,868,820 B2
• Filed: 09/05/2006
• Issued: 01/11/2011
• Est. Priority Date: 09/09/2005
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Kolb, Peter F.
• Primary Examiner(s): PHAN, DAO LINDA
• Application Number:
  US11/988,763
• Publication Number:
  US 20090224969A1
• Time in Patent Office: 1,589 Days
• Field of Search: 342/357.02, 342/357.04, 342/357.06, 342/357.12, 701/207, 701/213
• US Class Current: 342/357.27
• CPC Class Codes: G01S 19/04 providing carrier phase data
• CPC Class Codes: G01S 19/071 DGPS corrections
• CPC Class Codes: G01S 19/32 Multimode operation in a single same satellite system, e.g. GPS L1/L2
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

Abstract

Methods and apparatus which characterize the ionospheric error across a network of GNSS reference stations are presented. The method relies on dual-frequency phase measurements in a geometry-free linear combination. The data are filtered for ambiguities and the characteristic parameters of the ionosphere. In combination with filter results from other combinations of phase measurements (ionosphere free combination), the physically-based model provides rapid and reliable ambiguity resolution.

Claims

1. A method of processing a set of GNSS signal data derived from signals having at least two carrier frequencies and received from two or more satellites at two or more reference stations over multiple epochs, comprising:

a. For each satellite, forming a geometry-free combination of GNSS signal data derived from two carrier frequencies received at the reference stations during an epoch;

b. For each satellite, applying a filter to the geometry-free combination to obtain state values representing (i) a carrier-phase ambiguity for each reference station and (ii) ionospheric advance at a reference point and state values representing variation of ionospheric advance relative to the reference point across a network area, along with error estimates for the state values; and

c. Repeating a, and b, for each of multiple epochs to update the state values and error estimates.

2. The method of claim 1, wherein the filter of b, further obtains state values representing a multipath parameter for each reference station.

3. The method of claim 1, wherein the state values representing ionospheric advance comprise a state value representing ionospheric advance at a reference point and state values representing gradient of ionospheric advance in mutually-orthogonal directions relative to the reference point.

4. The method of claim 3, wherein the network area is defined by a region over which the reference stations are spaced apart at known locations, and wherein the reference point lies within or outside a projection of the network area on a surface representing the earth'"'"'s ionosphere.

5. The method of claim 4, further comprising:

d. Forming an ionosphere-free combination of the GNSS signal data;

e. Applying a filter to the ionosphere-free geometric combination to obtain state values representing carrier-phase integer ambiguity estimates for the ionosphere-free carrier-phase combination and associated statistical information; and

f. Combining the state values and associated statistical information of b, and e, to determine ambiguity estimates for all carrier phase observations and associated statistical information.

6. The method of claim 1, further comprising:

d. Forming an ionosphere-free geometric combination of the GNSS signal data;

e. Applying a filter to the ionosphere-free combination to obtain state values representing carrier-phase integer ambiguity estimates for the ionosphere-free carrier-phase combination and associated statistical information;

f. Applying at least one code filter to the GNSS signal data using a plurality of geometry-free code-carrier combinations to obtain ambiguity estimates for the code-carrier combinations and associated statistical information; and

g. Combining the state values and associated statistical information of b, e, and f, to determine ambiguity estimates for all carrier phase observations and associated statistical information.

7. The method of claim 1, wherein the GNSS signal data is derived from at least three carrier frequencies received at the reference stations over multiple epochs, further comprising:

d. Forming an ionosphere-free combination of the GNSS signal data;

e. Applying a filter to the ionosphere-free combination to obtain state values representing carrier-phase integer ambiguity estimates for the ionosphere-free carrier-phase combination and associated statistical information;

f. Applying at least one code filter to the GNSS signal data using a plurality of geometry-free code-carrier combinations to obtain ambiguity estimates for the code-carrier combinations and associated statistical information;

g. Applying at least one quintessence filter to the GNSS signal data using a plurality of geometry-free and ionosphere-free carrier-phase combinations to obtain ambiguity estimates for the geometry-free and ionosphere-free carrier-phase combinations and associated statistical information; and

h. Combining the state values and associated statistical information of b, e, i, and j, to determine ambiguity estimates for all carrier phase observations and associated statistical information.

8. The method of claim 5, further comprising:

computing from the ambiguity estimates for all carrier phase observations a set of errors at the reference stations, generating from the set of errors at the reference stations a set of virtual-reference-station data for use by a GNSS receiver at the mobile GNSS receiver location, and transmitting the set of virtual-reference-station data for use by a GNSS receiver at the mobile GNSS receiver location.

9. The method of claim 5, further comprising:

combining the ambiguity estimates for all carrier phase observations with the set of GNSS signal data to produce a set of network broadcast data for use by GNSS receivers within the network area, and transmitting the network broadcast data for use by GNSS receivers within the network area.

10. Apparatus for processing a set of GNSS signal data derived from signals having at least two carrier frequencies and received from two or more satellites at two or more reference stations over multiple epochs, comprising:

a. A processing element to prepare a geometry-free combination of GNSS signal data derived from two carrier frequencies received at the reference stations during an epoch; and

b. For each satellite, a filter to obtain from the geometry-free combination state values representing (i) a carrier-phase ambiguity for each reference station and (ii) ionospheric advance at a reference point and variation of ionospheric advance relative to the reference point across a network area, along with error estimates for the state values,

wherein the processing element a, and the filter b, are operative over each of multiple epochs to update the state values and error estimates.

11. The apparatus of claim 10, wherein the filter further obtains state values representing a multipath parameter for each reference station.

12. The apparatus of claim 10, wherein the state values representing ionospheric advance comprise a state value representing ionospheric advance at a reference point and state values representing gradient of ionospheric advance in mutually-orthogonal directions relative to the reference point.

13. The apparatus of claim 10, wherein the network area is defined by a region over which the reference stations are spaced apart at known locations, and wherein the reference point lies within or outside a projection of the network area on a surface representing the earth'"'"'s ionosphere.

14. The apparatus of claim 10, further comprising:

c. A processing element to prepare an ionosphere-free combination of the GNSS signal data;

d. A filter to obtain from the ionosphere-free geometric combination state values representing carrier-phase integer ambiguity estimates for the ionosphere-free carrier-phase combination and associated statistical information; and

e. A combiner to determine ambiguity estimates for all carrier phase observations and associated statistical information by combining the state values and associated statistical information obtained by filters b, with the state values and associated statistical information obtained by filter d.

15. The apparatus of claim 10, further comprising:

c. A processing element to prepare an ionosphere-free combination of the GNSS signal data;

d. A filter to obtain from the ionosphere-free geometric combination state values representing carrier-phase integer ambiguity estimates for the ionosphere-free carrier-phase combination and associated statistical information;

e. At least one code filter to using a plurality of geometry-free code-carrier combinations of the GNSS signal data to obtain ambiguity estimates for the code-carrier combinations and associated statistical information; and

f. A combiner to determine ambiguity estimates for all carrier phase observations and associated statistical information by combining the state values and associated statistical information obtained by filters b, with the state values and associated statistical information obtained by filter d, and with the ambiguity estimates and associated statistical information obtained by at least one code filter.

16. The apparatus of claim 10, wherein the GNSS signal data is derived from at least three carrier frequencies received at the reference stations over multiple epochs, further comprising:

c. A processing element to prepare an ionosphere-free geometric combination of the GNSS signal data;

d. A filter to obtain from the ionosphere-free combination state values representing carrier-phase integer ambiguity estimates for the ionosphere-free carrier-phase combination and associated statistical information;

e. At least one code filter to using a plurality of geometry-free code-carrier combinations of the GNSS signal data to obtain ambiguity estimates for the code-carrier combinations and associated statistical information;

f. At least one quintessence filter using a plurality of geometry-free and ionosphere-free carrier-phase combinations of the GNSS signal data to obtain ambiguity estimates for geometry-free and ionosphere-free carrier-phase combinations and associated statistical information; and

g. A combiner to determine ambiguity estimates for all carrier phase observations and associated statistical information by combining the state values and associated statistical information obtained by filters b, with the state values and associated statistical information obtained by filter d, and with the ambiguity estimates and associated statistical information obtained by the at least one code filter and with the ambiguity estimates and associated statistical information obtain by the at least one quintessence filter.

17. The apparatus of claim 14, further comprising:

a resolver to compute from the ambiguity estimates for all carrier phase observations a set of errors at the reference stations, generating from the set of errors at the reference stations a set of virtual-reference-station data for use by a GNSS receiver at the mobile GNSS receiver location, and transmitting the set of virtual-reference-station data for use by a GNSS receiver at the mobile GNSS receiver location.

18. The apparatus of claim 14, further comprising:

a combining element to combine the ambiguity estimates for all carrier phase observations with the set of GNSS signal data to produce a set of network broadcast data for use by GNSS receivers within the network area, and transmitting the network broadcast data for use by GNSS receivers within the network area.

19. A network correction data stream prepared by processing a set of GNSS signal data derived from signals having at least two carrier frequencies and received from two or more satellites at two or more reference stations over multiple epochs, wherein the data stream is prepared by:

a. For each satellite, forming a geometry-free combination of GNSS signal data derived from two carrier frequencies received at the reference stations during an epoch;

b. For each satellite, applying a filter to the geometry-free combination to obtain state values representing (i) a carrier-phase integer ambiguity for each reference station and (ii) ionospheric advance at a reference point and variation of ionospheric advance relative to the reference point across a network area, along with error estimates for the state values;

c. Repeating a, and b, for each of multiple epochs to update the state values and error estimates;

d. Combining the ambiguity estimates for all carrier phase observations with the set of GNSS signal data to produce a set of network broadcast data for use by GNSS receivers within the network area, and transmitting the network broadcast data for use by GNSS receivers within the network area.

20. A network correction data stream prepared by processing a set of GNSS signal data derived from signals having at least two carrier frequencies and received from two or more satellites at two or more reference stations over multiple epochs, wherein the data stream is prepared by:

a. For each satellite, forming a geometry-free combination of GNSS signal data derived from two carrier frequencies received at the reference stations during an epoch;

b. For each satellite, applying a filter to the geometry-free combination to obtain state values representing (i) a carrier-phase integer ambiguity for each reference station and (ii) ionospheric advance at a reference point and variation of ionospheric advance relative to the reference point across a network area, along with error estimates for the state values;

c. Repeating a, and b, for each of multiple epochs to update the state values and error estimates;

d. Forming an ionosphere-free combination of the GNSS signal data;

e. Applying a filter to the ionosphere-free geometric combination to obtain state values representing carrier-phase integer ambiguity estimates for the ionosphere-free carrier-phase combination and associated statistical information;

f. Combining the state values and associated statistical information of b, and e, to determine ambiguity estimates for all carrier phase observations and associated statistical information; and

g. Combining the ambiguity estimates for all carrier phase observations with the set of

GNSS signal data to produce a set of network broadcast data for use by GNSS receivers within the network area, and transmitting the network broadcast data for use by GNSS receivers within the network area.

21. A network correction data stream prepared by processing a set of GNSS signal data derived from signals having at least two carrier frequencies and received from two or more satellites at two or more reference stations over multiple epochs, wherein the data stream is prepared by:

a. For each satellite, forming a geometry-free combination of GNSS signal data derived from two carrier frequencies received at the reference stations during an epoch;

b. For each satellite, applying a filter to the geometry-free combination to obtain state values representing (i) a carrier-phase integer ambiguity for each reference station and (ii) ionospheric advance at a reference point and variation of ionospheric advance relative to the reference point across a network area, along with error estimates for the state values;

c. Repeating a, and b, for each of multiple epochs to update the state values and error estimates;

d. Forming an ionosphere-free geometric combination of the GNSS signal data;

e. Applying a filter to the ionosphere-free combination to obtain state values representing carrier-phase integer ambiguity estimates for the ionosphere-free carrier-phase combination and associated statistical information;

f. Applying at least one code filter to the GNSS signal data using a plurality of geometry-free code-carrier combinations to obtain ambiguity estimates for the code-carrier combinations and associated statistical information;

g. Combining the state values and associated statistical information of b, e, and f, to determine ambiguity estimates for all carrier phase observations and associated statistical information; and

h. Combining the ambiguity estimates for all carrier phase observations with the set of GNSS signal data to produce a set of network broadcast data for use by GNSS receivers within the network area, and transmitting the network broadcast data for use by GNSS receivers within the network area.

22. A network correction data stream prepared by processing a set of GNSS signal data derived from signals having at least three carrier frequencies and received from two or more satellites at two or more reference stations over multiple epochs, wherein the data stream is prepared by:

a. For each satellite, forming a geometry-free combination of GNSS signal data derived from two carrier frequencies received at the reference stations during an epoch;

b. For each satellite, applying a filter to the geometry-free combination to obtain state values representing (i) a carrier-phase integer ambiguity for each reference station and (ii) ionospheric advance at a reference point and variation of ionospheric advance relative to the reference point across a network area, along with error estimates for the state values;

c. Repeating a, and b, for each of multiple epochs to update the state values and error estimates;

d. Forming an ionosphere-free geometric combination of the GNSS signal data;

e. Applying a filter to the ionosphere-free geometric combination to obtain state values representing carrier-phase integer ambiguity estimates for the ionosphere-free carrier-phase combination and associated statistical information;

f. Applying at least one code filter to the GNSS signal data using a plurality of geometry-free code-carrier combinations to obtain ambiguity estimates for the code-carrier combinations and associated statistical information;

g. Applying at least one quintessence filter to the GNSS signal data using a plurality of geometry-free and ionosphere-free carrier-phase combinations to obtain ambiguity estimates for the geometry-free and ionosphere-free carrier-phase combinations and associated statistical information;

h. Combining the state values and associated statistical information of b, e, f, and g, to determine ambiguity estimates for all carrier phase observations and associated statistical information; and

i. Combining the ambiguity estimates for all carrier phase observations with the set of GNSS signal data to produce a set of network broadcast data for use by GNSS receivers within the network area, and transmitting the network broadcast data for use by GNSS receivers within the network area.