Method and apparatus of using height aiding from a contour table for GNSS positioning

• US 8,736,487 B2
• Filed: 09/21/2011
• Issued: 05/27/2014
• Est. Priority Date: 09/21/2011
• Status: Active Grant

• Current Assignee: CSR Technology Incorporated (Qualcomm, Inc.)
• Original Assignee: CSR Technology Incorporated (Qualcomm, Inc.)
• Inventors: Jambulingam, Shreeram, Chansarkar, Mangesh
• Primary Examiner(s): LIU, HARRY K
• Application Number:
  US13/239,318
• Publication Number:
  US 20130069821A1
• Time in Patent Office: 979 Days
• Field of Search: 342/357.23
• US Class Current: 342/357.23
• CPC Class Codes: G01S 19/50 whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks

Abstract

The present invention is related to location positioning systems, and more particularly, to a method and apparatus for making accuracy improvements to a GPS receiver'"'"'s navigation calculations. According to a first aspect, the invention includes maintaining a table of height attributes for major cities and urban areas around the world (contour table) in the GNSS chipset. The information in the table preferably includes latitude, longitude of the city along with height attributes of those cities, such as the average, min, max height and region boundary etc. Additional information such as average gradient could also be saved in the table. According to further aspects, when GPS signals are degraded in environments such as urban canyons, the height information can be obtained from the table and used to improve the navigation solution.

Claims

1. A method for determining a position of a GPS receiver, the method comprising:

at the GPS receiver;

computing a coarse estimate of an absolute position of the GPS receiver using GNSS signals;

retrieving height information stored in a contour table associated with the GPS receiver using the coarse estimate; and

computing a final estimate of the absolute position of the GPS receiver by using the retrieved height information and the GNSS signals.

2. A method according to claim 1, wherein retrieving height information includes:

comparing the coarse estimate of the absolute position with entries in the contour table, each entry comprising height information for a corresponding location; and

finding one or more matching entries in the contour table.

3. A method according to claim 2, wherein computing the coarse estimate of the absolute position includes using pseudoranges for satellites whose GNSS signals are acquired by the GPS receiver.

4. A method according to claim 2, wherein computing the coarse estimate of the absolute position includes receiving assistance data from a network.

5. A method according to claim 2, wherein computing the coarse estimate of the absolute position includes performing cell-ID positioning.

6. A method according to claim 2, wherein computing the coarse estimate of the absolute position includes performing wi-fi positioning.

7. A method according to claim 3, wherein the acquired signals consist of signals from three satellites, and the coarse estimate of the absolute position is a minimally computed position.

8. A method according to claim 2, wherein comparing includes comparing a position associated with one of the entries to determine whether it is within a predetermined distance of the coarse estimate of the absolute position.

10. A method according to claim 2, wherein comparing includes determining whether the coarse estimate of the absolute position falls within a boundary associated with one of the entries.

11. A method according to claim 2, wherein finding includes identifying a plurality of height values respectively associated with different locations, the method further comprising interpolating, using the plurality of height values, to determine the retrieved height information.

12. A method according to claim 1, wherein computing the final estimate of the absolute position includes placing a pseudolite at a pseudorange corresponding to the retrieved height information and solving for the final estimate using the pseudorange together with pseudoranges associated with the GNSS signals.

13. A method according to claim 1, wherein computing the final estimate of the absolute position includes improving the accuracy of the coarse estimate of the absolute position by including the height information as another measurement in a position solution together with measurements from acquired satellite signals.

14. A method according to claim 1, wherein the retrieved height information includes height uncertainty, the method further comprising computing a position uncertainty associated with the final estimate of the absolute position.

15. A method according to claim 1, wherein computing the final estimate of the absolute position includes solving for two-dimensional position and clock.

16. A method according to claim 2, wherein the coarse estimate of the absolute position is an overly determined solution, and wherein computing the final estimate of the absolute position includes cross-checking the coarse estimate of the absolute position using the height information to determine whether the coarse estimate of the absolute position is within a predetermined tolerance.

17. A method according to claim 1, wherein the height information includes gradient information, and wherein the computed final estimate of the absolute position is compared with a previously computed position to determine consistency with the gradient information.

18. A method according to claim 1, further comprising using the retrieved height information to tune navigation filters of the GPS receiver.

21. A method according to claim 1, wherein the retrieved height information is a height value for the coarse estimate of the absolute position.

9. A method for determining a position of a GPS receiver, the method comprising:

at the GPS receiver;

retrieving height information stored in a contour table associated with the GPS receiver; and

computing a position fix of the GPS receiver by using the retrieved height information, wherein retrieving height information includes;

computing a coarse position;

comparing the coarse position with entries in the contour table, each entry comprising height information for a corresponding location, wherein comparing a position associated with one of the entries to determine whether it is within a predetermined distance of the coarse position, wherein the predetermined distance is adjusted based on a height of the coarse position; and

finding one or more matching entries in the contour table.

19. A device, comprising:

a contour table; and

a GPS receiver coupled to the contour table, the GPS receiver including a processor that is programmed to perform a method comprising;

computing a coarse estimate of an absolute position of the GPS receiver using GNSS signals;

retrieving height information stored in a contour table associated with the GPS receiver using the coarse estimate; and

computing a final estimate of the absolute position of the GPS receiver by using the retrieved height information and the GNSS signals.

20. A device according to claim 19, wherein contents of the contour table are constrained to a plurality of predetermined locations.