GNSS signal processing with regional augmentation network

• US 9,201,147 B2
• Filed: 02/14/2011
• Issued: 12/01/2015
• Est. Priority Date: 01/14/2008
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Chen, Xiaoming, Vollath, Ulrich, Ferguson, Kendall
• Primary Examiner(s): McGue, Frank J
• Application Number:
  US13/522,323
• Publication Number:
  US 20120293367A1
• Time in Patent Office: 1,751 Days
• Field of Search: 342/357.24
• US Class Current: 1/1
• CPC Class Codes: G01S 1/00 Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith position fixing by co-ordinating a plurality of determinations of direction or position lines G01S5/00
• CPC Class Codes: G01S 19/02 Details of the space or ground control segments
• CPC Class Codes: G01S 19/04 providing carrier phase data
• CPC Class Codes: G01S 19/073 involving a network of fixed stations
• CPC Class Codes: G01S 19/32 Multimode operation in a single same satellite system, e.g. GPS L1/L2
• CPC Class Codes: G01S 19/40 Correcting position, velocity or attitude
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• 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 for processing of GNSS data derived from multi-frequency code and carrier observations are presented which make available correction data for use by a rover located within the region, the correction data comprising: the ionospheric delay over the region, the tropospheric delay over the region, the phase-leveled geometric correction per satellite, and the at least one code bias per satellite. In some embodiments the correction data includes an ionospheric phase bias per satellite. Methods and apparatus for determining a precise position of a rover located within a region are presented in which a GNSS receiver is operated to obtain multi-frequency code and carrier observations and correction data, to create rover corrections from the correction data, and to determine a precise rover position using the rover observations and the rover corrections. The correction data comprises at least one code bias per satellite, a fixed-nature MW bias per satellite and/or values from which a fixed-nature MW bias per satellite is derivable, and an ionospheric delay per satellite for each of multiple regional network stations and/or non-ionospheric corrections. Methods and apparatus for encoding and decoding the correction messages containing correction data are also presented, in which network messages include network elements related to substantially all stations of the network and cluster messages include cluster elements related to subsets of the network.

Claims

1. A method of operating one or more processors each having associated data storage and program code to determine rover correction data, the method comprising:

operating the one or more processors to process global navigation satellite system (GNSS) data derived from observations at multiple stations, located within a local region, of GNSS signals of multiple satellites over multiple epochs, wherein the GNSS signals have at least two carrier frequencies and the observations include code observations and carrier-phase observations, wherein the one or more processors use the observations to;

operating the one or more processors to obtain at least one code bias for each of the multiple satellites;

obtain an ionospheric delay over the local region;

obtain a tropospheric delay over the local region; and

obtain a phase-leveled geometric correction for each of the multiple satellites, wherein the phase-leveled geometric correction is based at least on geometric range, satellite clock error, and carrier-phase ambiguities;

transmitting correction data to a rover located within the local region, the correction data comprising;

the ionospheric delay over the local region, the tropospheric delay over the local region, the phase-leveled geometric correction for each of the multiple satellites, and the at least one code bias for each of the multiple satellites.

2. The method of claim 1, wherein obtaining at least one code bias for each of the multiple satellites comprises obtaining an estimated code bias for each of the multiple satellites from a global network processor.

3. The method of claim 1, wherein obtaining at least one code bias for each of the multiple satellites comprises operating a processor to estimate a code bias for each of the multiple satellites from GNSS observations of the multiple stations.

4. The method of claim 3, wherein obtaining the code bias comprises operating a processor to fix a set of ambiguities and to estimate at least one code bias for each of the multiple satellites which is consistent with integer carrier-phase ambiguities.

5. The method of claim 4, wherein the code bias comprises a Melbourne-Wü

benna (MW) bias that is consistent with integer carrier ambiguities.

6. The method of claim 4, wherein the set of ambiguities comprises at least one of:

(i) widelane ambiguities, (ii) L1 and L2 ambiguities, (iii) L2E and L2C ambiguities, and (iv) a combination of carrier-phase ambiguities from which widelane ambiguities can be determined.

7. The method of claim 1, wherein obtaining an ionospheric delay over the region comprises operating a processor to determine the ionospheric delay over the local region from a model.

8. The method of claim 1, wherein obtaining an ionospheric delay over the local region comprises operating a processor to estimate from the observations an ionospheric delay per station for each of the multiple satellites.

9. The method of claim 1, wherein obtaining an ionospheric delay over the local region comprises operating a processor to estimate from the observations an ionospheric delay per station for each of the multiple satellites and an ionospheric phase bias for each of the multiple satellites.

10. The method of claim 1, wherein obtaining a tropospheric delay over the local region comprises operating a processor to estimate from the observations a tropospheric delay per station.

11. The method of claim 10, wherein the tropospheric delay per station comprises a zenith total delay per station.

12. The method of claim 1, wherein obtaining a phase-leveled geometric correction for each of the multiple satellites comprises operating a processor to estimate a geometric correction which preserves integer nature of carrier-phase ambiguities.

13. The method of claim 1, wherein the phase-leveled geometric correction includes an integer-cycle bias per satellite.

14. The method of claim 1, wherein the correction data comprises at least one of (i) an ionospheric delay per station for each of the multiple satellites, (ii) an ionospheric delay per station for each of the multiple satellites and an ionospheric phase bias for each of the multiple satellites, and (iii) a tropospheric delay per station.

15. The method of claim 1, wherein the phase-leveled geometric correction for each of the multiple satellites comprises a geometric correction term for each of three locations within the local region from which a geometric correction at an arbitrary location within the local region can be determined.

16. A computer program product comprising:

a non-transitory computer usable medium having computer readable instructions physically embodied therein, the computer readable instructions when executed by a processor enabling the one or more processors to perform the method of claim 1.

17. Apparatus for determining rover correction data, comprising:

at least one processor operative to process global navigation satellite system (GNSS) data derived from observations at multiple stations, located within a local region, of GNSS signals of multiple satellites over multiple epochs, wherein the GNSS signals have at least two carrier frequencies and the observations include code observations and carrier-phase observations, wherein the at least one processor is also operative to use the observations to obtain;

at least one code bias for each of the multiple satellites, an ionospheric delay over the local region, a tropospheric delay over the local region, and a phase-leveled geometric correction for each of the multiple satellites, wherein obtaining the phase-leveled geometric correction comprises operating the at least one processor to estimate a set of carrier-phase ambiguities for the multiple satellites and using at least some of the set of carrier-phase ambiguities to estimate the phase-leveled geometric correction for each of the multiple satellites; and

a transmitter operative to transmit correction data to a rover located within the local region, the correction data comprising;

the ionospheric delay over the local region, the tropospheric delay over the local region, the phase-leveled geometric correction for each of the multiple satellites, and the at least one code bias for each of the multiple satellites.

18. The apparatus of claim 17, wherein the at least one processor obtains the at least one code bias for each of the multiple satellites from a global network processor.

19. The apparatus of claim 17, wherein the at least one processor is operative to estimate a code bias for each of the multiple satellites from GNSS observations of the multiple stations.

20. The apparatus of claim 19, wherein the at least one processor is operative to fix the set of carrier-phase ambiguities and to estimate the at least one code bias for each of the multiple satellites which is consistent with integer carrier-phase ambiguities.

21. The apparatus of claim 20, wherein the code bias comprises a Melbourne-Wü

benna (MW) bias that is consistent with integer carrier ambiguities.

22. The apparatus of claim 20, wherein the set of carrier-phase ambiguities comprises at least one of:

(i) widelane ambiguities, (ii) L1 and L2 carrier-phase ambiguities, (iii) L2E and L2C carrier-phase ambiguities, and (iv) a combination of carrier-phase ambiguities from which widelane ambiguities can be determined.

23. The apparatus of claim 17, wherein the at least one processor is operative to determine the ionospheric delay over the local region from a model.

24. The apparatus of claim 17, wherein the at least one processor is operative to estimate from the observations an ionospheric delay per station for each of the multiple satellites.

25. The apparatus of claim 17, wherein the at least one processor is operative to estimate from the observations an ionospheric delay per station for each of the multiple satellites and an ionospheric phase bias for each of the multiple satellites.

26. The apparatus of claim 17, wherein the at least one processor is operative to estimate from the observations a tropospheric delay per station.

27. The apparatus of claim 26, wherein the tropospheric delay per station comprises a zenith total delay per station.

28. The apparatus of claim 17, wherein the at least one processor is operative to estimate a geometric correction that preserves integer nature of carrier-phase ambiguities.

29. The apparatus of claim 17, wherein the phase-leveled geometric correction includes an integer-cycle bias for each of the multiple satellites.

30. The apparatus of claim 17, wherein the correction data comprises at least one of (i) an ionospheric delay per station for each of the multiple satellites, and (ii) a tropospheric delay per station.

31. The apparatus of claim 17, wherein the phase-leveled geometric correction for each of the multiple satellites comprises a geometric correction term for each of three locations within the local region from which a geometric correction at an arbitrary location within the local region can be determined.

32. A method of operating one or more processors each having associated data storage and program code to determine rover correction data, the method comprising:

operating the one or more processors to process global navigation satellite system (GNSS) data derived from observations at multiple stations, located within a local region, of GNSS signals of multiple satellites over multiple epochs, wherein the GNSS signals have at least two carrier frequencies and the observations include code observations and carrier-phase observations, wherein the one or more processors use the observations to determine correction data that includes;

at least one code bias for each of the multiple satellites;

an ionospheric delay over the local region;

a tropospheric delay over the local region; and

a phase-leveled geometric correction for each of the multiple satellites, wherein the phase-leveled geometric correction is based at least on geometric range, satellite clock error, and carrier-phase ambiguities without considering ionospheric delay;

transmitting at least a portion of the correction data to a rover located within the local region.