Multiple content message base-rover architecture

• US 9,562,974 B2
• Filed: 05/24/2014
• Issued: 02/07/2017
• Est. Priority Date: 05/24/2014
• Status: Active Grant

• Current Assignee: Trimble Inc.
• Original Assignee: Trimble Inc.
• Inventors: Boriskin, Alexey D., Ivanov, Dmitry V., Kozlov, Dmitry G., Zyryanov, Gleb A.
• Primary Examiner(s): Liu, Harry
• Application Number:
  US14/287,027
• Publication Number:
  US 20150338520A1
• Time in Patent Office: 990 Days
• Field of Search: 342/357.51
• US Class Current: 1/1
• CPC Class Codes: G01S 19/04 providing carrier phase data
• CPC Class Codes: G01S 19/09 providing processing capability normally carried out by the receiver
• CPC Class Codes: G01S 19/13 Receivers
• 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 5/0036 of measured values, i.e. measurement on mobile and position calculation on base station

Abstract

A multiple content message (MCM) base apparatus configured to generate a composite base data stream is proposed. A multiple content message (MCM) rover apparatus configured to generate a set of fast frequency baseline data is proposed.

Claims

1. A multiple content message (MCM) base apparatus mounted on a platform;

said apparatus comprising;

A Global Navigation Satellite System (GNSS) sensor configured to acquire at least one GNSS signal emanating from at least one visible GNSS satellite;

wherein said GNSS sensor is configured to provide a set of original fast frequency raw data obtained from said at least one visible GNSS satellite;

a Position Velocity Time (PVT) Engine configured to receive said set of original fast frequency raw data provided by said GNSS sensor;

said Position Velocity Time (PVT) Engine configured to generate a set of fast frequency positioning data in an Integrated Velocity (IV) solution format;

and

a Composite Message generator configured to receive said set of original fast frequency raw data provided by said GNSS sensor, and configured to receive said set of fast frequency positioning data in said Integrated Velocity (IV) solution format provided by said PVT Engine;

said Composite message generator configured to generate a composite base data stream comprising a first set of data and a second set of data;

said first set of data including a set of slow frequency observable data, and said second set of data including a set of fast frequency positioning data in said Integrated Velocity (IV) solution format;

said two sets of data being packed into a transport layer by using a packing protocol.

2. The apparatus of claim 1, said apparatus mounted on said platform, said platform being selected from the group consisting of:

a mobile platform; and

a stationary platform.

3. The apparatus of claim 1, wherein said Global Navigation Satellite System (GNSS) sensor is selected from the group consisting of:

a single GNSS sensor;

a combination of two GNSS sensors;

a combination of three GNSS sensors;

a combination of four GNSS sensors;

a combination of five GNSS sensors; and

a combination of six GNSS sensors;

wherein at least one said GNSS sensor is selected from the group consisting of;

a GPS sensor;

a GLONASS sensors;

a Galileo sensor;

a BEIDOU sensor;

a QZSS sensor; and

a SBAS sensor.

4. The apparatus of claim 1, wherein said Position Velocity Time (PVT) Engine is selected from the group consisting of:

a standalone Position Velocity Time (PVT) Engine; and

a differential Position Velocity Time (PVT) Engine.

5. The apparatus of claim 4, wherein said differential Position Velocity Time (PVT) Engine is selected from the group consisting of:

A Measurement Space Corrected (MSC) Engine; and

a State Space Corrected (SSC) Engine.

6. The apparatus of claim 1, wherein said Position Velocity Time (PVT) Engine employs a base navigation algorithm selected from the group consisting of:

a real time base navigation algorithm; and

a post-processing base navigation algorithm.

7. The apparatus of claim 1, wherein said Composite Message generator employs said packing protocol selected for the group consisting of

a Radio Technical Commission for Maritime Services (RTCM) protocol;

a Compact Measurement Record (CMR) protocol; and

an AshTech Optimized Messaging (ATOM) protocol.

8. A multiple content message (MCM) rover apparatus mounted on a platform;

said apparatus comprising;

a Global Navigation Satellite System (GNSS) sensor configured to acquire at least one GNSS signal emanating from at least one visible GNSS satellite;

wherein said GNSS sensor is configured to provide a set of original fast frequency raw data obtained from said at least one visible GNSS satellite;

a Position Velocity Time (PVT) Engine configured to receive said set of original fast frequency raw data provided by said GNSS sensor;

said Position Velocity Time (PVT) Engine configured to generate a set of fast frequency positioning data in an Integrated Velocity (IV) solution format;

a Composite Message decoder configured to receive from a multiple content message (MCM) base apparatus a composite base data stream and configured to recover from said received composite base data stream a set of slow frequency observable data, and a set of fast frequency positioning data in said Integrated Velocity (IV) solution format;

a Real Time Kinematic (RTK) engine configured to receive said set of fast frequency raw data provided by said Global Navigation Satellite System (GNSS) sensor;

configured to receive said set of slow frequency observable data provided by said Composite Message decoder; and

configured to generate a set of slow frequency baseline estimates data with a matched slow frequency of said base data and said slow frequency of said rover raw data;

said baseline comprising a line between said multiple signal message (MCM) rover apparatus and a multiple signal message (MCM) base apparatus;

and

a baseline corrector/combiner configured to combine said set of fast frequency rover data in said Integrated Velocity (IV) solution format provided by said PVT engine;

said set of slow frequency baseline data provided by said RTK baseline engine, and said set of fast frequency positioning data in said Integrated Velocity (IV) solution format provided by said decoder of said base data;

said baseline corrector/combiner configured to generate a set of fast frequency baseline data.

9. The apparatus of claim 8, said apparatus mounted on said platform, said platform being selected from the group consisting of:

a mobile platform; and

a stationary platform.

10. The apparatus of claim 8, wherein said Global Navigation Satellite System (GNSS) sensor is selected from the group consisting of:

a single GNSS sensor;

a combination of two GNSS sensors;

a combination of three GNSS sensors;

a combination of four GNSS sensors;

a combination of five GNSS sensors; and

a combination of six GNSS sensors;

wherein at least one said GNSS sensor is selected from the group consisting of;

a GPS sensor;

a GLONASS sensors;

a Galileo sensor;

a BEIDOU sensor;

a QZSS sensor; and

a SBAS sensor.

11. The apparatus of claim 8, wherein said Position Velocity Time (PVT) Engine is selected from the group consisting of:

a standalone Position Velocity Time (PVT) Engine; and

a differential Position Velocity Time (PVT) Engine.

12. The apparatus of claim 11, wherein said differential Position Velocity Time (PVT) Engine is selected from the group consisting of:

A MSC (Measurement Space Corrected) Engine; and

a State Space Corrected (SSC) Engine.

13. The apparatus of claim 8, wherein said Position Velocity Time (PVT) Engine employs a navigation rover algorithm selected from the group consisting of:

a real time rover navigation algorithm; and

a post-processing rover navigation algorithm.

14. The apparatus of claim 8, wherein said Real Time Kinematic (RTK) engine further comprises:

a high latency Real Time Kinematic (RTK) engine configured to compute a slow frequency baseline estimates with a high latency.

15. A method of multiple content message (MCM) base navigation comprising:

(A) obtaining a set of original fast frequency raw data by using a Global Navigation Satellite System (GNSS) sensor;

said set of original fast frequency raw data emanating from at least one visible GNSS satellite;

(B) processing said set of original fast frequency raw data obtained by said GNSS sensor by using a Position Velocity Time (PVT) Engine to generate a set of fast frequency positioning data in an Integrated Velocity (IV) solution format;

and

(C) processing said set of original fast frequency raw data provided by said GNSS sensor and said set of fast frequency positioning data in said Integrated Velocity (IV) solution format provided by said PVT Engine by using a Composite Message generator to generate a composite base data stream comprising two sets of data;

a first set of data including a set of slow frequency observable data, and a second set of data including a set of fast frequency positioning data in said Integrated Velocity (IV) solution format;

said two sets of data being packed into a transport layer by using a packing protocol.

16. The method of claim 15, wherein said step (A) further comprises:

(A1) selecting said Global Navigation Satellite System (GNSS) sensor from the group consisting of;

a single GNSS sensor;

a combination of two GNSS sensors;

a combination of three GNSS sensors;

a combination of four GNSS sensors;

a combination of five GNSS sensors; and

a combination of six GNSS sensors.

17. The method of claim 15, wherein said step (A) further comprises:

(A2) selecting said Global Navigation Satellite System (GNSS) sensor from the group consisting of;

a GPS sensor;

a GLONASS sensors;

a Galileo sensor;

a BEIDOU sensor;

a QZSS sensor; and

a SBAS sensor.

18. The method of claim 15, wherein said step (B) further comprises:

(B1) selecting said Position Velocity Time (PVT) Engine from the group consisting of;

a standalone Position Velocity Time (PVT) Engine; and

a differential Position Velocity Time (PVT) Engine.

19. The method of claim 18, wherein said step (B1) further comprises:

(B1,

     1) selecting said differential Position Velocity Time (PVT) Engine from the group consisting of;

A Measurement Space Corrected (MSC) Engine; and

a State Space Corrected (SSC) Engine.

20. The method of claim 15, wherein said Position Velocity Time (PVT) Engine employs a base navigation algorithm;

and wherein said step (B) further comprises;

(B2) selecting said base navigation algorithm from the group consisting of;

a real time base navigation algorithm; and

a post-processing base navigation algorithm.

21. The method of claim 15, wherein said step (C) further comprises:

(C1) selecting said packing protocol employed by said Composite message generator from the group consisting of

a Radio Technical Commission for Maritime Services (RTCM) protocol;

a Compact Measurement Record (CMR) protocol; and

an AshTech Optimized Messaging (ATOM) protocol.

22. A method of multiple content message (MCM) rover apparatus navigation comprising:

(A) obtaining a set of original fast frequency raw data by using a Global Navigation Satellite System (GNSS) sensor;

said set of original fast frequency raw data emanating from at least one visible GNSS satellite;

(B) processing said set of original fast frequency raw data provided by said GNSS sensor by using a Position Velocity Time (PVT) Engine to generate a set of fast frequency positioning data in an Integrated Velocity (IV) solution format;

(C) processing a composite base data stream provided by a multiple content message (MCM) base apparatus by using a Composite Message decoder to recover a set of slow frequency observable data, and a set of fast frequency positioning data in said Integrated Velocity (IV) solution format;

(D) processing said set of fast frequency raw data provided by said Global Navigation Satellite System (GNSS) sensor and processing said set of slow frequency observable data provided by said Composite Message decoder by using a Real Time Kinematic (RTK) engine to generate a set of slow frequency baseline estimates data with a matched slow frequency of said base data and said slow frequency of said rover raw data;

said baseline comprising a line between a multiple signal message (MCM) rover apparatus and a multiple signal message (MCM) base apparatus;

and

(E) combining said set of fast frequency rover data in said Integrated Velocity (IV) solution format provided by said PVT engine;

said set of slow frequency baseline data provided by said RTK baseline engine, and said set of fast frequency positioning data in said Integrated Velocity (IV) solution format provided by said decoder of said base data by using a baseline corrector/combiner to generate a set of fast frequency baseline data.