Decoupled clock model with ambiguity datum fixing

• US 8,018,377 B2
• Filed: 01/23/2009
• Issued: 09/13/2011
• Est. Priority Date: 01/23/2009
• Status: Active Grant

• Current Assignee: Her Majesty The Queen In Right Of Canada (Government of Canada)
• Original Assignee: Her Majesty The Queen In Right Of Canada (Government of Canada)
• Inventors: Collins, John Paul
• Primary Examiner(s): PHAN, DAO LINDA
• Application Number:
  US12/358,928
• Publication Number:
  US 20100188285A1
• Time in Patent Office: 963 Days
• Field of Search: 342/357.26, 342/357.27, 342/357.31, 342/357.38, 701/207, 701/213
• US Class Current: 342/357.27
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

Abstract

The present invention relates to a method of processing Global Positioning System (GPS) carrier phase and pseudorange information. Dual-frequency carrier phase and pseudorange measurements from GPS receivers are processed by specifying separate oscillator parameters for the carrier phase and pseudorange measurements. Carrier phase estimates of errors of the oscillator are arbitrarily biased with respect to the pseudorange estimates, and ambiguity parameters are constrained to be integer-valued. Isolating the ambiguities as integer valued parameters provides extra information that can be exploited to maximize the use of GPS and other Global Navigation Satellite Systems.

Claims

1. A method of determining parameters of interest associated with one or more GPS receivers, comprising the steps of:

receiving GPS signals at one or more GPS receivers from a plurality of GPS satellite transmitters;

obtaining from the GPS signals received by the one or more GPS receivers undifferentiated GPS carrier phase and pseudorange measurements, made at two frequencies;

defining separate clock error parameters for the carrier phase and pseudorange measurements;

arbitrarily biasing carrier phase estimates of clock errors with respect to pseudorange estimates of clock errors;

constraining the ambiguity parameters to be integer-valued; and

determining parameters of interest associated with the one or more GPS receivers based on the constraint of the integer-valued ambiguity parameters.

2. The method of claim 1 being based on the following relationship:

P₁=ρ

+T+I+c(dt_P1^r−

dt_P1^s)+ε

_P1

P₂=ρ

+T+q² I+c(dt_P2^r−

dt_P2^s)+ε

_P2

L₁=ρ

+T−

I+c(dt_L1^r−

dt_L1^s)−

λ

₁N₁+ε

_L1

L₂=ρ

+T−

q²I+c(dt_L2^r−

dt_L2^s)−

λ

₂N₂+ε

_L2

wherein;

P_i is a pseudorange measurement made at frequency i,

L_i is an integer ambiguous carrier phase measurement made at frequency i,

N_i is the integer ambiguity at frequency i,

λ

_i is the wavelength of the carrier phase measurements at frequency i,

ρ

is the geometric range between transmitter and receiver antennas,

T is the range delay caused by signal propagation through the lower atmosphere (predominantly the Troposphere),

I is the range delay and apparent phase advance on the first frequency caused by signal propagation through the upper atmosphere (predominantly the Ionosphere),

the factor q is the ratio of the first frequency to the second,

the factor c is the vacuum speed of light,

dt_k^j is the clock error (combined oscillator and hardware time delay) on measurement k for receiver or transmitter j,

ε

_k represents unmodelled random or quasi-random errors on measurement k.

3. The method of claim 1 further comprising the step of fixing to arbitrary integer value a subset of ambiguity parameters, whereby a minimum constraint least-squares solution can be computed.

4. The method of claim 1 wherein the steps thereof are applied to the processing of measurements from a plurality of GPS receivers, whereby satellite clock errors therefor are computed.

5. The method of claim 4 comprising the formation of a least squares solution based on the following relationship:

P₃=ρ

+T+c(dt_P3^r−

dt_P3^s)+ε

_P3

L₃=ρ

+T+c(dt_L3^r−

dt_L3^s)−

λ

₃N₃+ε

_L3

wherein;

P₃ is a combined pseudorange measurement free of the ionospheric effect to first-order,

L₃ is a combined integer ambiguous carrier phase measurement free of the ionospheric effect to first-order,

N₃ is the resulting integer ambiguity,

λ

₃ is the ionosphere-free wavelength of the carrier phase measurements,

ρ

is the geometric range between transmitter and receiver antennas,

T is the range delay caused by signal propagation through the lower atmosphere (predominantly the Troposphere),

the factor c is the vacuum speed of light,

dt_k^j is the clock error (combined ionosphere-free oscillator and hardware time delay) on measurement k for receiver or transmitter j,

ε

_krepresents unmodelled random or quasi-random errors on measurement k, as well as second-and higher-order ionospheric effects.

6. The method of claim 4 further comprising the step of fixing one carrier phase clock parameter as a network datum.

7. The method of claim 4 further comprising the step of fixing one pseudorange clock parameter as a network datum.

8. The method of claim 4 further comprising the step of fixing one ambiguity parameter associated with each estimated carrier phase clock parameter, to an arbitrary integer value.

9. The method of claim 4 further comprising, for certain ionosphere-free combinations, an estimation of a widelane combination of ambiguities, whereby the ionosphere-free wavelength is numerically amplified to that of the narrowlane, such that the use of standard integer fixing techniques is made feasible.

10. The method of claim 9 comprising the formation of a least squares solution based on the following relationship:

A₄=L₄−

P₆=b_A4^r−

b_A4^s−

λ

₄N<sub>4+ε

A4</sub>

wherein;

P₆ is the narrowlane combination of dual-frequency pseudoranges,

L₄ is the widelane combination of dual-frequency carrier phases,

λ

₄ is the widelane wavelength,

N₄ is the widelane ambiguity,

b_k^j is the widelane clock-like error (combined carrier phase and pseudorange hardware time delays) on measurement k for receiver or transmitter j,

ε

_k a represents unmodelled random or quasi-random errors on measurement k.

11. The method of claim 9 further comprising the step of fixing one widelane clock-like parameter as a network datum.

12. The method of claim 9 further comprising the step of fixing one ambiguity parameter associated with each estimated widelane clock-like parameter, to an arbitrary integer value.

13. The method of claim 5 comprising the steps of:

for certain ionosphere-free combinations, estimating a widelane combination of ambiguities; and

one of;

insertion of the estimated widelane integer ambiguities as fixed quantities into the ionosphere-free relationship; and

simultaneous estimation of the widelane and ionosphere-free ambiguities;

whereby the ionosphere-free wavelength is numerically amplified to that of the narrowlane, such that the use of standard integer fixing techniques is made feasible.

14. The method of claim 4 wherein use is made of the satellite clock errors, such that a precise point positioning solution is realized for the processing of measurements from a single GPS receiver.

15. The method of claim 14 comprising the formation of a least squares solution based on the following relationship:

P₃=ρ

+T+c(dt_P3^r−

dt_P3^s)+ε

_P3

L₃=ρ

+T+c(dt_L3^r−

dt_L3^s)−

λ

₃N<sub>3+ε

L3</sub>

wherein;

P₃ is a combined pseudorange measurement free of the ionospheric effect to first-order,

L₃ is a combined integer ambiguous carrier phase measurement free of the ionospheric effect to first-order,

N₃ is the resulting integer ambiguity,

λ

₃ is the ionosphere-free wavelength of the carrier phase measurements,

ρ

is the geometric range between transmitter and receiver antennas,

T is the range delay caused by signal propagation through the lower atmosphere (predominantly the Troposphere),

the factor c is the vacuum speed of light,

dt_k^j is the clock error (combined ionosphere-free oscillator and hardware time delay) on measurement k for receiver or transmitter j,

ε

_k represents unmodelled random or quasi-random errors on measurement k, as well as second-and higher-order ionospheric effects.

16. The method of claim 14 further comprising the step of fixing of the satellite carrier phase clock errors.

17. The method of claim 14 further comprising the step of fixing the satellite pseudorange clock errors.

18. The method of claim 14 further comprising the step of fixing one ambiguity parameter to an arbitrary integer value.

19. The method of claim 14 further comprising, for certain ionosphere-free combinations, an estimation of a widelane combination of ambiguities, whereby the ionosphere-free wavelength is numerically amplified to that of the narrowlane, such that the use of standard integer fixing techniques is made feasible.

20. The method of claim 19 comprising the formation of a least squares solution based on the following relationship:

A₄=L₄−

P₆=b_A4^r−

b_A4<sup>s −

λ</sup>

₄N<sub>4+ε

A4</sub>

wherein;

P₆ is the narrowlane combination of dual-frequency pseudoranges,

L₄ is the widelane combination of dual-frequency carrier phases,

λ

₄ is the widelane wavelength,

N₄ is the widelane ambiguity,

b_k^j is the widelane clock-like error (combined carrier phase and pseudorange hardware time delays) on measurement k for receiver or transmitter j,

ε

_k represents unmodelled random or quasi-random errors on measurement k.

21. The method of claim 19 further comprising the step of fixing the satellite widelane clock-like errors.

22. The method of claim 19 further comprising the step of fixing one ambiguity parameter to an arbitrary integer value.

25. The method of claim 1 wherein the parameters of interest include at least one of position coordinates, time and atmosphere estimates.

26. The method of claim 1 wherein the steps of obtaining the carrier phase and peudorange measurements, defining separate clock error parameters, arbitrarily biasing carrier phase estimates, arbitrarily biasing carrier phase estimates of clock errors, and constraining the ambiguity parameters, are performed by the one or more GPS receivers.

27. The method of claim 15 comprising the steps of:

for certain ionosphere-free combinations, estimating a widelane combination of ambiguities; and

one of;

insertion of the estimated integer widelane ambiguities as fixed quantities into the ionosphere-free relationship; and

simultaneous estimation of the widelane and ionosphere-free ambiguities;

whereby the ionosphere-free wavelength is numerically amplified to that of the narrowlane, such that the use of standard integer fixing techniques is made feasible.

23. A method of determining GPS information comprising the steps of:

receiving GPS signals at one or more GPS receivers from a plurality of GPS satellite transmitters;

obtaining from the GPS signals undifferenced GPS carrier phase and pseudorange measurements, made at two frequencies, at the one or more GPS receivers;

defining separate clock error parameters for the carrier phase and pseudorange measurements;

arbitrarily biasing carrier phase estimates of clock errors with respect to pseudorange estimates of clock errors;

constraining the ambiguity parameters to be integer-valued; and

determining the estimated GPS information of the one or more GPS receivers based on the constraint of the integer-valued ambiguity parameters.

28. The method of claim 23 wherein the GPS information includes at least one of position coordinates, time and atmosphere estimates.

24. A system for determining GPS information comprising:

one or more GPS receivers for receiving GPS signals from a plurality of GPS satellite transmitters;

means for obtaining from the GPS signals undifferenced GPS carrier phase and pseudorange measurements, made at two frequencies, at the one or more GPS receivers;

means for defining separate clock error parameters for the carrier phase and pseudorange measurements;

means for arbitrarily biasing carrier phase estimates of clock errors with respect to pseudorange estimates of clock errors;

means for constraining the ambiguity parameters to be integer-valued; and

means for determining the estimated GPS information of the one or more GPS receivers based on the constraint of the integer-valued ambiguities.

29. The system of claim 24 wherein the GPS information includes at least one of position coordinates, time and atmosphere estimates.