Method and system using GNSS phase measurements for relative positioning

• US 8,271,194 B2
• Filed: 09/04/2009
• Issued: 09/18/2012
• Est. Priority Date: 03/19/2004
• Status: Active Grant

• Current Assignee: Hemisphere GNSS(USA) Incorporated
• Original Assignee: Hemisphere GPS LLC (Kubota Corporation)
• Inventors: Whitehead, Michael L., Miller, Steven R., McClure, John A., Davis, Cary, Feller, Walter J.
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): MARC-COLEMAN, MARTHE Y
• Application Number:
  US12/554,741
• Publication Number:
  US 20090322600A1
• Time in Patent Office: 1,110 Days
• Field of Search: 701/1, 701/408, 701/411, 701/412, 701/422, 701/468, 701/470, 342/357.02, 342/357.03, 342/357.01, 342/357.06, 342/357.27, 342/357.26, 342/357.34, 342/357.36, 455/502, 455/456.1, 702/166, 717/106
• US Class Current: 701/468
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/36 relating to the receiver frond end
• CPC Class Codes: G01S 19/53 Determining attitude
• CPC Class Codes: G01S 5/0063 of measured values, i.e. measurement on base station and position calculation on mobile
• CPC Class Codes: G05D 1/0206 specially adapted to water vehicles
• CPC Class Codes: G05D 1/0259 using magnetic or electromagnetic means
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A method for locating GNSS-defined points, distances, directional attitudes and closed geometric shapes includes the steps of providing a base with a base GNSS antenna and providing a rover with a rover GNSS antenna and receiver. The receiver is connected to the rover GNSS antenna and is connected to the base GNSS antenna by an RF cable. The receiver thereby simultaneously processes signals received at the antennas. The method includes determining a vector directional arrow from the differential positions of the antennas and calculating a distance between the antennas, which can be sequentially chained together for determining a cumulative distance in a “digital tape measure” mode of operation. A localized RTK surveying method uses the rover antenna for determining relative or absolute point locations. A system includes a base with an antenna, a rover with an antenna and a receiver, with the receiver being connected to the antennas. A processor is provided for computing positions, directional vectors, areas and other related tasks.

Claims

1. A method of locating GNSS-defined points and deriving distances, directional attitudes or closed geometric shapes from the locations of such points, which method comprises the steps of:

providing a base with a base antenna;

locating said base antenna in relation to a desired distance, attitude or shape;

defining the location of said base antenna using GNSS;

providing a rover with a rover receiver and a rover antenna connected to said receiver;

connecting said base antenna to said rover receiver with an RF cable;

locating additional points on said desired distance, attitude or shape with said rover antenna using GNSS;

providing a microprocessor connected to said rover receiver and adapted for receiving as input GNSS-defined data from said rover receiver;

calculating with said microprocessor a distance, attitude or shape using said GNSS-defined data;

providing a graphical user interface (GUI) with a display;

connecting said GUI to said rover receiver;

transmitting code and carrier phase data from said base to said multiple-antenna rover;

said processor determining the relative locations and relative ambiguities of the multiple rover antennas using an attitude solution that takes advantage of known constraints in geometry or clock;

storing the rover-determined attitude solution locations and ambiguities;

time-tag matching the data from the base;

storing the current GNSS carrier phase observations; and

improving positioning results by avoiding extrapolation errors by time tag matching base and rover data.

2. The method of claim 1, which includes the additional steps of:

displaying a location on said display;

displaying a directional arrow towards said location on said display; and

orienting said directional arrow towards said location based on GNSS ranging data received by said base and rover antennas.

3. The method of claim 2, which includes the additional steps of:

providing said display with a circular array of circumferentially-spaced indicator lights corresponding to respective user headings;

illuminating a respective indicator light corresponding to a heading from the user'"'"'s present location towards said location; and

illuminating all of said indicator lights on said user reaches said location.

4. The method of claim 3, which includes the additional steps of:

providing said GUI with a screen display;

displaying said rover location on said screen display;

displaying said directional arrow on said screen display;

marking a structure perimeter with multiple said locations; and

displaying said multiple locations defining said perimeter on said screen display.

5. The method of claim 1, which includes the additional steps of:

providing said rover with a support structure and a location marking device;

placing said support structure over said location; and

marking said location with said location marking device.

6. The method of claim 1, which includes the additional steps of:

transmitting code and carrier phase data from said base station to a multiple-antenna rover system;

said rover determining the relative locations and relative ambiguities of the multiple antennas using an attitude solution that takes advantage of known constraints in geometry or clock;

storing the rover-determined attitude solution locations and ambiguities;

time-tag matching the data from the base station;

storing the current GNSS observations (carrier phase); and

improving positioning results by avoiding extrapolation errors by time tag matching base and rover data.

7. The method according to claim 6, which includes the additional steps of calculating a carrier phase observation vector R of the rover as follows:

at antenna 1 of the rover;

R1=[A]x1−

N1, where R1 is a carrier phase observation vector (single or double difference) at antenna (1), A is a design matrix, X1 the location vector of antenna 1 (may include clock if single differencing is used), and N1 is an ambiguity vector for antenna 1;

at antenna 2;

R2=[A]x2−

N2 where R2 is a carrier phase observation vector at antenna 1, A is a design matrix, X2 is the location vector of antenna 2, and N2 is an ambiguity vector for antenna (2);

relative antenna displacement (V) =x2−

x1;

relative ambiguity (M)=N2−

N1;

R1=[A]x1−

N1;

R2=[A](x1+V)−

(N1+M); and

R=[A}x1−

N where R=[R1, R2−

[A]V+M]^T and N=[N1, N1]^T and ‘

T’

denotes transpose.

8. The method claim 1, which includes the additional steps of:

locating said base at a first location;

locating said rover a predetermined distance from said base;

defining a baseline extending between said base and said rover;

calculating a vector extending perpendicularly from said baseline; and

locating said rover at a second location based on said predetermined distance and said the vector.

9. The method of claim 8, which includes the additional steps of:

connecting said base and said rover by a fixed-length link corresponding to said predetermined distance.

10. The method of claim 9, which includes the additional step of:

marking the predetermined GNSS-defined locations of structure corners using one or more predetermined distances between said base and rover and multiple vectors for locating and marking said locations.

11. The method of claim 1, which includes the additional steps of:

locating predetermined grading elevations for a slab by forming a grid of predetermined locations;

associating a predetermined grading elevation with each said predetermined grid location;

placing elevation stakes at each said grid location; and

associating a respective design grading elevation with each said elevation stake.

12. The method of claim 1, which includes the additional steps of:

calculating the distance between first and second locations using GNSS-defined positions of said base and rover units;

calculating the distance between second and third locations using GNSS-defined positions of said base and rover units; and

calculating the distance between said first and third locations by using the distances between said first and second and said second and third locations respectively.

13. A method of locating and marking a plurality of predetermined, GNSS-defined locations defining a perimeter of a structure, which method comprises the steps of:

providing a base with a base antenna;

placing said base in proximity to a position of said structure;

providing a rover with a rover receiver and multiple rover antennas connected to said receiver;

providing a processor connected to said rover receiver and adapted for receiving as input GNSS-defined data from said rover receiver;

connecting said base antenna to said rover receiver with an RF cable;

defining the location of said base antenna using GNSS signals received by said base antenna;

locating points along said structure perimeter with said rover antenna using GNSS signals;

calculating with said processor a distance, attitude or shape using said GNSS-defined data;

providing a graphical user interface (GUI) with a display;

connecting said GUI to said processor;

displaying a target location on said display;

displaying a directional arrow towards said target location on said display;

orientating said directional arrow towards said target location based on GNSS ranging data received by said base and rover antennas;

providing said GUI with a screen display;

displaying said rover location on said screen display;

displaying said directional arrow on said screen display;

marking a structure perimeter with multiple said locations;

displaying said multiple locations defining said perimeter on said screen display;

providing said rover with a support structure and a location marking device;

placing said support structure over said locations;

marking said locations with said location marking device;

locating said base at a first location;

locating said rover a predetermined distance from said base;

defining a baseline extending between said base and said rover;

calculating a vector extending perpendicularly from said baseline;

locating said rover at a second location based on said predetermined distance and said vector;

transmitting code and carrier phase data from said base to said multiple-antenna rover;

said processor determining the relative locations and relative ambiguities of the multiple rover antennas using an attitude solution that takes advantage of known constraints in geometry or clock;

storing the rover-determined attitude solution locations and ambiguities;

time-tag matching the data from the base;

storing the current GNSS carrier phase observations; and

improving positioning results by avoiding extrapolation errors by time tag matching base and rover data.

14. A system for locating GNSS-defined points and deriving distances, directional attitudes or geometric shapes from the locations of such points, which system includes:

a base with a base antenna located in relation to a desired distance, attitude or shape;

a rover with a rover receiver and a rover antenna connected to said receiver;

said base antenna being connected to said rover receiver with an RF cable;

a processor connected to said rover receiver and adapted for receiving as input GNSS-defined data from said rover receiver;

said processor being adapted to calculate a distance, attitude or shape using said GNSS-defined data;

a graphical user interface (GUI) with a screen display connected to said rover receiver;

a transmitter for transmitting code and carrier phase data from said base to said multiple-antenna rover;

said processor being adapted for determining the relative locations and relative ambiguities of the multiple rover antennas using an attitude solution that takes advantage of known constraints in geometry or clock;

a storage device connected to said processor and adapted for storing the rover-determined attitude solution locations and ambiguities;

said processor being adapted for time-tag matching the data from the base;

said processor being adapted for storing the current GNSS carrier phase observations; and

said processor being adapted for improving positioning results by avoiding extrapolation errors by time tag matching base and rover data.

15. The system according to claim 14, which includes:

said GUI being adapted for displaying a directional arrow towards said location on said display; and

said directional arrow being directed towards said location based on GNSS ranging data received by said base and rover antennas.

16. The system of claim 15, which includes:

said display including a circular array of circumferentially-spaced indicator lights corresponding to respective user headings;

said processor being adapted for illuminating a respective indicator light corresponding to a heading from the user'"'"'s present location towards said location; and

said processor being adapted for illuminating all of said indicator lights when said user is at said location.

17. The system of claim 14, which includes:

said rover including a support structure and a location marking device connected to said support structure and adapted for placement over said location and marking said location.

18. The system of claim 14, which includes:

said processor being adapted for defining a baseline extending between said base and said rover;

said processor being adapted for calculating a vector extending perpendicularly from said baseline; and

said processor being adapted for locating said rover at a location based on said predetermined distance and said vector.

19. The system of claim 14, which includes:

said rover having multiple antennas;

said base station being adapted for transmitting code and carrier phase data to said rover;

said processor being adapted for determining the relative locations and relative ambiguities of the multiple rover antennas using an attitude solution that takes advantage of known constraints in geometry or clock;

said processor being adapted for storing the rover-determined attitude solution locations and ambiguities;

said processor being adapted for time-tag matching the data from the base station;

said processor being adapted for storing the current GNSS observations, carrier phase, and

said processor being adapted for time tag matching base and rover data and thereby improving positioning results by avoiding extrapolation errors.

20. The system of claim 14, which includes:

said processor being adapted for calculating the distance between first and second locations using GNSS-defined positions of said base and rover;

said processor being adapted for calculating the distance between second and third locations using GNSS-defined positions of said base and rover; and

said processor being adapted for calculating the distance between said first and third locations by using the distances between said first and second and said second and third locations respectively.

21. A system for measuring distances using GNSS-defined points, which system includes:

a base with a base antenna located in relation to a desired distance, attitude or shape;

a rover with a rover receiver and multiple rover antennas connected to said receiver;

said base station being adapted for transmitting code and carrier phase data to said rover;

said base antenna being connected to said rover receiver with an RF cable;

a processor connected to said rover receiver and adapted for receiving as input GNSS-defined data from said rover receiver;

said processor being adapted to calculate a distance, attitude or shape using said GNSS-defined data;

said processor being adapted for calculating the distance between first and second locations using GNSS-defined positions of said base and rover;

said processor being adapted for calculating the distance between second and third locations using GNSS-defined positions of said base and rover;

said processor being adapted for calculating the distance between said first and second locations by using the distances between said first and second and said second and third locations respectively;

said processor being adapted for determining the relative locations and relative ambiguities of the multiple rover antennas using an attitude solution that takes advantage of known constraints in geometry or clock;

said processor being adapted for storing the rover-determined attitude solution locations and ambiguities;

said processor being adapted for time-tag matching the data from the base station;

said processor being adapted for storing the current GNSS observations, carrier phase, and

said processor being adapted for time tag matching base and rover data and thereby improving positioning results by avoiding extrapolation errors.