Ground-based system and method to extend the detection of excessive delay gradients using parity corrections

• US 9,557,418 B2
• Filed: 04/15/2014
• Issued: 01/31/2017
• Est. Priority Date: 04/15/2014
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Weed, Douglas, Reuter, Randy J.
• Primary Examiner(s): Phan, Dao
• Application Number:
  US14/253,445
• Publication Number:
  US 20150293231A1
• Time in Patent Office: 1,022 Days
• Field of Search: 342/357.26, 342/357.4, 342/357.41, 342/357.46, 701/468, 701/469
• US Class Current: 1/1
• CPC Class Codes: G01S 19/04 providing carrier phase data
• CPC Class Codes: G01S 19/08 providing integrity information, e.g. health of satellites or quality of ephemeris data
• CPC Class Codes: G01S 19/20 Integrity monitoring, fault detection or fault isolation of space segment

Abstract

A processing function to monitor a horizontal delay gradient in satellite signals is provided. The processing function includes a satellite differencing module, a double differencing module, a parity test module, and a gradient estimator module. The satellite differencing module receives carrier phase measurements for at least two satellites from at least three reference receivers. The satellite differencing module determines differences in the carrier phase measurements between signals from the monitored satellite and at least one of the at least one other satellite. The double differencing module: forms double-differences between pairs of the reference receivers; compensates the double-differences between the pairs; performs a modulo operation; and averages the double differences. The parity test module inputs the averaged compensated double differences when the average exceeds a parity enable threshold. The gradient estimator module configured is to estimate a magnitude of the horizontal delay gradient.

Claims

1. A processing module to monitor a horizontal delay gradient in satellite signals representative of an ionospheric delay gradient, the processing function comprising:

a satellite differencing module configured to receive carrier phase measurements for at least two satellites from at least three reference receivers, the at least two satellites including a monitored satellite and at least one other satellite, wherein the at least three reference receivers have a known geometric relationship to each other, and wherein the satellite differencing module determines differences in the carrier phase measurements between signals from the monitored satellite and at least one of the at least one other satellite;

a double differencing module configured to;

form double-differences between one or more pairs of the at least three reference receivers based on the differences in the carrier phase measurements,

compensate the double-differences between the pairs for the known difference-in-position of the reference receivers in the pairs,

perform a modulo operation to limit the compensated double-differences to a range of minus one-half wavelength to plus one-half wavelength, and

for the monitored satellite, average the double differences over the other satellites among the at least two satellites; and

a parity test module configured to input the averaged compensated double differences when the average of the compensated double differences over the other satellites among the at least two satellites exceed a parity enable threshold; and

a gradient estimator module configured to estimate a magnitude of the horizontal delay gradient based on a set of the averaged compensated double-differences input from the parity test module.

2. The processing module of claim 1, further comprising;

selection logic configured to;

determine if the averaged compensated double differences for the reference receiver pairs are greater than the parity enable threshold; and

direct the averaged compensated double differences to the parity test module when the average of the compensated double differences exceed the parity enable threshold.

3. The processing module of claim 1, wherein the parity test module is operable to output, for further processing, the set of averaged compensated double differences associated with a reference receiver pair having a smallest parity value of all the determined parity values.

4. The processing module of claim 1, wherein the parity test module is operable to output, for further processing, the set of averaged compensated double differences associated with at least one reference receiver pair having a respective at least one parity value less than a parity threshold.

5. The processing module of claim 1, wherein the double differencing module is further configured to filter the compensated double-differences to reduce noise content.

6. The processing module of claim 1, wherein the double differencing module is further configured to compensate for elevation and azimuth dependent antenna variations between antennas respectively associated with the at least three reference receiver pairs.

7. A method of monitoring for a delay gradient to a monitored satellite representative of an ionospheric delay gradient, the method comprising:

receiving carrier phase measurements from at least three reference receivers, wherein the at least three reference receivers substantially simultaneously receive radio frequency signals from the monitored satellite and at least one other satellite, and wherein the at least three reference receivers have a known geometric relationship to each other;

determining differences in the carrier phase measurements between the signals from the monitored satellite and at least one other satellite for the at least three reference receivers;

forming double-differences between pairs of the at least three reference receivers;

compensating the double-differences for the known difference-in-position of the reference receivers in the pairs;

performing a modulo operation on the compensated double-differences to limit the compensated double-differences to a range of minus one-half wavelength to plus one-half wavelength;

averaging the compensated double differences over the at least one other satellites;

directing the averaged compensated double differences to a parity test module when the averaged compensated double differences exceed a parity enable threshold;

outputting a set of the averaged compensated double-differences input from the parity test module to a gradient estimator module; and

estimating a magnitude of a horizontal delay gradient based on the set of averaged compensated double-differences.

8. The method of claim 7, wherein directing the averaged compensated double differences to the parity test module when the averaged compensated double differences exceed the parity enable threshold comprises:

determining if the averaged compensated double differences for the reference receiver pairs are greater than the parity enable threshold.

9. The method of claim 7, further comprising:

outputting, for further processing, the set of averaged compensated double differences associated with a reference receiver pair having a smallest parity value of all the determined parity values.

10. The method of claim 9, further comprising:

outputting, for further processing, the set of averaged compensated double differences associated with at least one reference receiver pair having a respective at least one parity value less than a parity threshold.

11. The method of claim 7, further comprising:

determining if the estimated magnitude of the horizontal delay gradient exceeds a selected threshold.

12. The method of claim 11, further comprising:

excluding the monitored satellite from providing navigation system data to an aircraft if the estimated magnitude of the horizontal delay gradient exceeds the selected gradient threshold.

13. The method of claim 7, further comprising:

filtering the averaged compensated double-differences to reduce noise.

14. The method of claim 7, further comprising:

compensating for elevation and azimuth dependent antenna variations between antennas associated with the respective at least three reference receiver pairs.

15. A ground based system to monitor for a horizontal delay gradient to a monitored satellite representative of an ionospheric delay gradient, the system comprising:

at least three reference receivers configured to substantially simultaneously receive radio frequency signals from the monitored satellite and at least one other satellite, wherein the at least three reference receivers have a known geometric relationship to each other; and

a processing function communicatively coupled to the at least three reference receivers, the processing function configured to;

receive carrier phase measurements for the monitored satellite and at least one other satellite from the at least three reference receivers,

determine differences in the carrier phase measurements between the signals transmitted from the monitored satellite and at least one other satellite and substantially simultaneously received at the at least three reference receivers,

form double-differences between pairs of the at least three reference receivers based on the differences in the carrier phase measurements,

compensate the double-differences for the known difference-in-position of the reference receivers in the pairs,

perform a modulo operation to limit the compensated double-differences to a range of minus one-half wavelength to plus one-half wavelength,

average the compensated double-differences over the other satellites for the monitored satellite at the pairs, and

input the averaged compensated double differences at a parity test module when the average of the compensated double differences exceed a parity enable threshold;

estimate a magnitude of the horizontal delay gradient based on a set of the averaged compensated double-differences input from the parity test module.

16. The ground based system of claim 15, wherein the processing function is further configured to:

determine if the averaged compensated double differences for the reference receiver pairs are greater than the parity enable threshold; and

direct the averaged compensated double differences to the parity test module when the average of the compensated double differences exceed the parity enable threshold.

17. The ground based system of claim 15, wherein the processing function is further configured to output, for further processing, the set of averaged compensated double differences associated with a reference receiver pair having the smallest parity value of all the determined parity values.

18. The ground based system of claim 15, wherein the processing function is further configured to output, for further processing, the set of averaged compensated double differences associated with at least one reference receiver pair having a respective at least one parity value less than a parity threshold.

19. The ground based system of claim 15, wherein the processing function is further configured to compensate for elevation and azimuth dependent antenna variations between antennas associated with the respective at least three reference receiver pairs.

20. The processing function of claim 16, wherein the processing function is further configured to output at least one of an alert signal or exclusion command when the magnitude of the estimated delay gradient exceeds a selected gradient threshold.