System for determining position over a network

• US 8,085,201 B2
• Filed: 11/13/2008
• Issued: 12/27/2011
• Est. Priority Date: 11/13/2007
• Status: Active Grant

• Current Assignee: Novatel Incorporated (Hexagon AB)
• Original Assignee: Novatel Incorporated (Hexagon AB)
• Inventors: Ladd, Jonathan, Fenton, Patrick C.
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): McGue, Frank
• Application Number:
  US12/270,405
• Publication Number:
  US 20090121940A1
• Time in Patent Office: 1,139 Days
• Field of Search: 342/464, 342/463
• US Class Current: 342/464
• CPC Class Codes: G01S 5/0045 Transmission from base station to mobile station G01S5/009 takes precedence
• CPC Class Codes: G01S 5/0236 Assistance data, e.g. base station almanac
• CPC Class Codes: G01S 5/10 Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements , e.g. omega or decca systemsG01S5/12 takes precedence ; beacons and receivers cooperating therewith G01S1/306, G01S1/308
• CPC Class Codes: G01S 5/145 Using a supplementary range measurement, e.g. based on pseudo-range measurements

Abstract

A system to determine position, frequency and clock offsets over a network utilizing signals of opportunity transmitted by one or more transmitters with known locations, the system includes a base receiver with a clock and a known position that determines ranges to the transmitters, takes a series of samples of the signals of opportunity and time tags the series with times of receipt, calculated times of transmission based on the calculated ranges, or both. The base receiver transmits the time tagged series and, as appropriate, computed ranges to the remote receivers. A given remote receiver saves and time tags samples of the signals of opportunity, correlates the time-tagged series with the saved samples, and calculates a time offset as a time difference of the times of receipt at the remote receiver and either the time of receipt at the base receiver or the time of transmission calculated at the base receiver. The remote receiver calculates position based on the time offsets, and as appropriate, the ranges provided by the base receiver. The elevations of the remote receivers may be calculated as part of the position calculations, determined iteratively based on constraining the Z coordinate to an average elevation, or determined from differences in air pressure sensor readings at the base and remoter receivers.

Claims

1. A system for determining position utilizing signals of opportunity transmitted by at least three transmitters with known locations, the system comprising:

a base receiver with a clock and a known position that calculates ranges to at least three of the transmitters and samples the signals of opportunity, time tags the signal samples with a time of receipt, a time of transmission or both and sends respective series of the time-tagged signal samples over a communications network;

one or more remote receivers that receive information over the communications network, each remote receiver

saving and time-tagging samples of signal segments of the signals of opportunity,

correlating the time-tagged series of signal samples received over the communications network with the saved time-tagged samples of signal segments,

determining for each of the at least three transmitters an associated time offset as a difference in the time of receipt at the remote receiver and either or both of the time of transmission by the transmitter or the time of receipt at the base receiver, and

determining a position by determining pseudoranges to the at least three transmitters based on the time offsets.

2. The system of claim 1 wherein

the base receiver sends the calculated ranges to the one or more remote receivers, and

the remote receivers utilize the ranges in determining pseudoranges.

3. The system of claim 2 wherein a given remote receiver calculates a pseudorange to a given transmitter as the range of the base receiver to the transmitter minus a range offset that is the time offset multiplied by the speed of light.

4. The system of claim 2 wherein the given remote receiver further determines a clock offset from the pseudoranges calculated from the at least three transmitters.

5. The system of claim 1 wherein the remote receivers calculate pseudoranges based on time offsets of the times of receipt of the series of signal samples at the remote receivers from the times of transmission calculated at the base receivers.

6. The system of claim 1 wherein one or both of the base and remote receivers include configurable front end filters that scan the broadcast signals to select one or more of signals of opportunity for use.

7. The system of claim 1 wherein the communication network provides a list of usable signals of opportunity and one or both of the base and remote receivers selects one or more signals of opportunity from the list for use.

8. The system of claim 1 wherein the remote receivers adjust a phase of sample collection to more closely align the phase with a phase of sample collection at the base receiver.

9. The system of claim 8 wherein the remote receivers determine if early and late correlation measurements are symmetrical and if not shift the phase in the direction of the measurement that is larger.

10. The system of claim 1 wherein the base and remote receivers include pressure sensors and the remote receivers determine their elevations based on the differences between the pressure sensor readings at the base and the remote receivers.

11. The system of claim 1 wherein the remote receiver elevations are determined using an iterative process that in a first iteration constrains the elevations during position calculation to an average elevation.

12. The system of claim 8 wherein the remote receiver further resolves a carrier cycle integer ambiguity between the tracking channels of the remote receiver and the base receiver based on the alignment of the phases of the sample collection.

13. A method of determining position utilizing signals of opportunity transmitted by at least three transmitters with known locations, the method including the steps of

calculating ranges from a known location to at least three of the transmitters;

sampling the signals of opportunity at the known location and time tagging series of signal samples with times of receipt, times of transmission or both;

sending respective series of the time-tagged signal samples over a communications network;

at one or more unknown locations

saving and time-tagging samples of the signal segments of the signals of opportunity,

correlating the time-tagged series of signal samples received over the communications network with the saved time-tagged samples of signal segments,

determining for each of the at least three transmitters an associated time offset as a difference in the time of receipt at the unknown location and either or both of the time of receipt at the known location or the time of transmission by the transmitter, and

determining a position by determining pseudoranges to the at least three transmitters based on the time offsets.

14. The method of claim 13 wherein the calculated ranges are provided to the unknown locations and the ranges are utilized in determining pseudoranges.

15. The method of claim 14 wherein the step of determining pseudoranges further includes calculating the pseudorange to a given transmitter as the range of the known location to the transmitter minus a range offset that is the time offset multiplied by the speed of light.

16. The method of claim 13 wherein the pseudoranges are calculated based on time offsets that are the differences between the times of receipt of the series of signal samples at the unknown locations and the times of transmission calculated at the known locations.

17. The method of claim 13 further including determining a clock offset from the pseudoranges calculated from the at least three transmitters.

18. The method of claim 13 further including selecting one or more signals of opportunity for use in determining position.

19. The method of claim 18 further including scanning the broadcast signals to select best candidate signals of opportunity.

20. The method of claim 18 further including providing a list of usable signals of opportunity from which the one or more signals of opportunity are selected.

21. The method of claim 13 wherein the step of correlating further includes adjusting a phase of sample collection to more closely align the phase with a phase of sample collection at the known location.

22. The method of claim 21 wherein the step of adjusting further includes determining if early and late correlation measurements are symmetrical and if not shifting the phase in the direction of the measurement that is larger.

23. The method of claim 13 wherein the step of determining position further includes determining elevation based on differences between pressure sensor readings at the known and unknown locations.

24. The method of claim 13 wherein the step of determining position further includes determining elevation using an iterative process that in a first iteration constrains the elevations during position calculation to an average elevation.

25. The method of claim 21 wherein the step of correlating further includes resolving a carrier cycle integer ambiguity between tracking channels of receivers at the known and unknown locations based on the alignment of the phases of the sample collection.