GNSS signal processing to estimate phase-leveled clocks

• US 9,157,999 B2
• Filed: 09/19/2010
• Issued: 10/13/2015
• Est. Priority Date: 06/22/2007
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Leandro, Rodrigo, Seeger, Stephan, Glocker, Markus
• Primary Examiner(s): McGue, Frank J
• Application Number:
  US13/393,017
• Publication Number:
  US 20120162007A1
• Time in Patent Office: 1,850 Days
• Field of Search: 342/357.42
• US Class Current: 1/1
• CPC Class Codes: G01S 19/04 providing carrier phase data
• CPC Class Codes: G01S 19/20 Integrity monitoring, fault detection or fault isolation of space segment
• CPC Class Codes: G01S 19/258 relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
• CPC Class Codes: G01S 19/37 Hardware or software details of the signal processing chain
• CPC Class Codes: G01S 19/43 using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

Abstract

Methods and apparatus are described for processing a set of GNSS signal data derived from code observations and carrier-phase observations at multiple receivers of GNSS signals of multiple satellites over multiple epochs, the GNSS signals having at least two carrier frequencies and a navigation message containing orbit information, comprising: obtaining precise orbit information for each satellite, determining at least one set of ambiguities per receiver, each ambiguity corresponding to one of a receiver-satellite link and a satellite-receiver-satellite link, and using at least the precise orbit information, the ambiguities and the GNSS signal data to estimate a phase-leveled clock per satellite.

Claims

1. A method of operating a processor having associated data storage and program code enabling the processor to estimate phase-leveled satellite clocks, the method comprising:

processing a set of global navigation satellite system (GNSS) signal data derived from code observations and carrier-phase observations at multiple receivers of GNSS signals of multiple satellites over multiple epochs, the GNSS signals having at least two carrier frequencies and a navigation message containing orbit information,

obtaining precise orbit information for each satellite using the GNSS signal data, the precise orbit information being separate from ephemerides included with the navigation message,

obtaining a tropospheric delay for each receiver,

operating the processor to determine at least one set of ambiguities per receiver using the GNSS signal data and the tropospheric delay, each ambiguity corresponding to one of a receiver-satellite link and a satellite-receiver-satellite link, wherein operating the processor to determine the at least one set of ambiguities per receiver comprises at least one of;

estimating float ambiguity values,

estimating float ambiguity values and fixing the float ambiguity values to integer values, and

estimating float ambiguity values and forming at least one weighted average of integer value candidates,

operating the processor, using at least the precise orbit information, the tropospheric delay, the ambiguities and the GNSS signal data, to estimate a phase-leveled clock per satellite, and

transmitting correction data including the phase-leveled clock per satellite to a rover for use in determining rover position.

2. The method of claim 1, wherein operating the processor to determine the at least one set of ambiguities per receiver is performed at a first rate and wherein operating the processor to estimate a phase-leveled clock per satellite is performed at a second rate higher than the first rate.

3. The method of claim 1, wherein operating the processor to estimate the phase-leveled clock per satellite comprises:

using at least the precise orbit information, the tropospheric delay, the ambiguities and the GNSS signal data to estimate a set of phase-leveled clocks per receiver, each phase-leveled clock corresponding to one of a receiver-satellite link and a satellite-receiver-satellite link, and

using a plurality of the phase-leveled clocks to estimate one phase-leveled clock per satellite.

4. The method of claim 1, wherein operating the processor to determine the at least one set of ambiguities per receiver comprises using at least one phase-leveled clock per satellite previously estimated to estimate the ambiguities.

5. The method of claim 1, further comprising obtaining at least one additional phase-leveled clock per satellite estimated from an external source, and wherein operating the processor to determine the at least one set of ambiguities per receiver comprises using said at least one additional phase-leveled clock per satellite to estimate the ambiguities.

6. The method of claim 1, further comprising:

operating the processor to determine at least one set of ambiguities per receiver for additional receivers, each ambiguity corresponding to one of a receiver-satellite link and a satellite-receiver-satellite link, and

after determining the ambiguities for the additional receivers, operating the processor, using at least the precise orbit information, the tropospheric delay, the ambiguities for the additional receivers and the GNSS signal data, to estimate at least one additional phase-leveled clock per satellite.

7. The method of claim 1, wherein the at least two carrier frequencies comprise at least two of the GPS L1, GPS L2 and GPS L5 frequencies.

8. The method of claim 1, wherein operating the processor to determine the at least one set of ambiguities per receiver comprises constraining the ambiguity values in a sequential filter.

9. The method of claim 1, wherein the at least one set of ambiguities per receiver are undifferenced between satellites.

10. The method of claim 1, wherein the at least one set of ambiguities per receiver are single-differenced between satellites.

21. Computer-related physical non-transitory storage medium embodying instructions configured, when executed on a computer processing unit, to carry out the method of claim 1.

11. Apparatus for estimating phase-leveled satellite clocks, comprising:

a global navigation satellite system (GNSS) signal processor configured to process a set of GNSS signal data derived from code observations and carrier-phase observations at multiple receivers of GNSS signals of multiple satellites over multiple epochs, the GNSS signals having at least two carrier frequencies and a navigation message containing orbit information,

an orbit processor configured to obtain precise orbit information for each satellite using the GNSS signal data, the precise orbit information being separate from ephemerides included with the navigation message,

an clock processor configured to obtain a tropospheric delay for each receiver,

an ambiguity processor configured to determine at least one set of ambiguities per receiver using the GNSS signal data and the tropospheric delay, each ambiguity corresponding to one of a receiver-satellite link and a satellite-receiver-satellite link, wherein operating the ambiguity processor to determine the at least one set of ambiguities per receiver comprises at least one of;

estimating float ambiguity values,

estimating float ambiguity values and fixing the float ambiguity values to integer values, and

estimating float ambiguity values and forming at least one weighted average of integer value candidates,

a phase clock processor configured to use at least the precise orbit information, the tropospheric delay, the ambiguities and the GNSS signal data to estimate a phase-leveled clock per satellite, and

a transmitter configured to transmit correction data including the phase-leveled clock per satellite to a rover for use in determining rover position.

12. The apparatus of claim 11, wherein the at least one set of ambiguities per receiver are determined at a first rate and wherein the phase-leveled clock per satellite is determined at a second rate higher than the first rate.

13. The apparatus of claim 11, wherein the phase clock processor is operative to use at least the precise orbit information, the tropospheric delay, the ambiguities and the GNSS signal data to estimate a set of phase-leveled clocks per receiver, each phase-leveled clock corresponding to one of a receiver-satellite link and a satellite-receiver-satellite link, and to use a plurality of the phase-leveled clocks to estimate one phase-leveled clock per satellite.

14. The apparatus of claim 11, wherein the at least one set of ambiguities per receiver are estimated using at least one previously-estimated phase-leveled clock per satellite.

15. The apparatus of claim 11, wherein the at least one set of ambiguities per receiver are estimated using at least one additional phase-leveled clock per satellite obtained from an external source.

16. The apparatus of claim 11, wherein the ambiguity processor is operative to determine at least one set of ambiguities per receiver for additional receivers, each ambiguity corresponding to one of a receiver-satellite link and a satellite-receiver-satellite link, and wherein the phase clock processor is operative to use at least the precise orbit information, the tropospheric delay, the ambiguities for the additional receivers and the GNSS signal data to estimate at least one additional phase-leveled clock per satellite.

17. The apparatus of claim 11, wherein the at least two carrier frequencies comprise at least two of the GPS L1, GPS L2 and GPS L5 frequencies.

18. The apparatus of claim 11, wherein the ambiguity processor is operative to constrain the ambiguity values in a sequential filter.

19. The apparatus of claim 11, wherein the at least one set of ambiguities per receiver are undifferenced between satellites.

20. The apparatus of claim 11, wherein the at least one set of ambiguities per receiver are single-differenced between satellites.