GNSS signal processing with synthesized base station data

• US 9,594,168 B2
• Filed: 09/19/2010
• Issued: 03/14/2017
• Est. Priority Date: 06/22/2007
• Status: Active Grant

• Current Assignee: Trimble Inc.
• Original Assignee: Trimble Inc.
• Inventors: Vollath, Ulrich, Chen, Xiaoming, Leandro, Rodrigo
• Primary Examiner(s): Galt, Cassie
• Application Number:
  US13/393,140
• Publication Number:
  US 20120154215A1
• Time in Patent Office: 2,368 Days
• Field of Search: 342/357.26, 342/357.41
• 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 determining position of a rover antenna, comprising: obtaining rover GNSS data derived from code observations and carrier phase observations of GNSS signals of multiple satellites over multiple epochs, obtaining precise satellite data for the satellites, determining a virtual base station location, generating epochs of synthesized base station data using at least the precise satellite data and the virtual base station location, and applying a differential process to at least the rover GNSS data and the synthesized base station data to determine at least rover antenna positions.

Claims

1. A method for determining a position of a rover antenna, comprising:

(a) obtaining, at a global navigation satellite system (GNSS) receiver, rover GNSS data derived from code observations and carrier phase observations of GNSS signals of multiple satellites over multiple epochs,

(b) obtaining, at a synthesized base station processor, sets of precise satellite data for the multiple satellites,

(c) obtaining, at the synthesized base station processor, a virtual base station location,

(d) generating, at the synthesized base station processor, epochs of synthesized base station data using at least the sets of precise satellite data and the virtual base station location, wherein an epoch of the synthesized base station data is generated for each set of precise satellite data, the synthesized base station data including synthesized carrier and code observations, the synthesized carrier and code observations computed without using reference station pseudorange and carrier phase observables as inputs,

(e) matching, at a differential processor, a first epoch of the rover GNSS data with a first epoch of the synthesized base station data,

(f) applying, at the differential processor, a differential process to at least the first epoch of the rover GNSS data and the first epoch of the synthesized base station data to determine a first rover antenna position,

(g) matching, at the differential processor, a second epoch of the rover GNSS data with the first epoch of the synthesized base station data, the second epoch of the rover GNSS data being different from the first epoch of the rover GNSS data,

(h) applying, at the differential processor, the differential process to at least the second epoch of the rover GNSS data and the first epoch of the synthesized base station data to determine a second rover antenna position; and

(i) repeating steps (e)-(h) a plurality of times wherein;

each time step (e) is performed, the first epoch of the rover GNSS data is a most recently received epoch of the rover GNSS data, and the first epoch of the synthesized base station data is a most recently received epoch of the synthesized base station data, and

each time step (g) is performed, the second epoch of the rover GNSS data is a next epoch of the rover GNSS data in sequence after the first epoch of the rover GNSS data.

2. The method of claim 1, wherein the virtual base station location is based on at least one of:

an autonomously determined position of the rover antenna, a previously determined one of said rover antenna positions, a mobile telephone tower location, and information provided by a user.

3. The method of claim 1, further comprising updating the virtual base station location on the occurrence of at least one of:

never, for each epoch of the rover GNSS data, when the distance between an approximate rover antenna position and the virtual base station location exceeds a predetermined threshold, and for each update of a rover antenna position.

4. The method of claim 1, wherein each epoch of the synthesized base station data is generated for a corresponding virtual base station location.

5. The method of claim 1, wherein the virtual base station location is based on a virtual base station location proximate to a current approximate rover antenna position.

6. The method of claim 1, further comprising updating the virtual base station location when one or more of the following criteria is met:

each epoch of the rover GNSS data, each nth epoch of the rover GNSS data, after a time interval, after exceeding a distance between a current approximate rover antenna position and a current virtual base station location.

7. The method of claim 1, wherein the virtual base station location is associated with a specific GNSS time interval.

8. The method of claim 1, wherein applying the differential process to the first epoch of the rover GNSS data and the first epoch of the synthesized base station data comprises at least one of:

aided inertial navigation (integrated inertial navigation and GNSS) processing, real-time kinematic (RTK) processing, instant real-time kinematic (IRTK) processing;

differential GPS processing;

float processing;

triple differenced processing;

post-processing and real-time processing.

9. The method of claim 1, wherein a time associated with the first epoch of the rover GNSS data is within a few milliseconds of a time associated with the first epoch of the synthesized base station data.

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

20. The method of claim 1, wherein the synthesized base station processor and the differential processor are a same processor.

10. The method of 1, wherein a time associated with the second epoch of rover GNSS data is within ten seconds of a time associated with the first epoch of the synthesized base station data.

11. A system for determining position of a rover antenna, comprising:

a global navigation satellite system (GNSS) receiver operative to obtain rover GNSS data derived from code observations and carrier phase observations of GNSS signals of multiple satellites over multiple epochs,

a synthesized base station processor operative to;

obtain sets of precise satellite data for the multiple satellites,

obtain a virtual base station location, and

generate epochs of synthesized base station data using at least the sets of precise satellite data and the virtual base station location, wherein an epoch of the synthesized base station data is generated for each set of precise satellite data, the synthesized base station data including synthesized carrier and code observations, the synthesized carrier and code observations computed without using reference station pseudorange and carrier phase observables as inputs,

a differential processor operative to;

(a) match a first epoch of the rover GNSS data with a first epoch of the synthesized base station data,

(b) apply a differential process to at least the first epoch of the rover GNSS data and the first epoch of the synthesized base station data to determine a first rover antenna position,

(c) match a second epoch of the rover GNSS data with the first epoch of the synthesized base station data, the second epoch of the rover GNSS data being different from the first epoch of the rover GNSS data,

(d) apply the differential process to at least the second epoch of the rover GNSS data and the first epoch of the synthesized base station data to determine a second rover antenna position, and

(e) repeating steps (a)-(d) a plurality of times, wherein;

each time step (a) is performed, the first epoch of the rover GNSS data is a most recently received epoch of the rover GNSS data, and the first epoch of the synthesized base station data is a most recently received epoch of the synthesized base station data, and

each time step (c) is performed, the second epoch of the rover GNSS data is a next epoch of the rover GNSS data in sequence after the first epoch of the rover GNSS data.

12. The system of claim 11, wherein the virtual base station location is determined from at least one of:

an autonomously determined position of the rover antenna, a previously determined one of said rover antenna positions, a synthesized base station data generating module, an inertial navigation system, a mobile telephone tower location, and information provided by a user.

13. The system of claim 11, wherein the virtual base station location is updated on the occurrence of at least one of:

never, for each epoch of the rover GNSS data, when the distance between an approximate rover antenna position and the virtual base station location exceeds a predetermined threshold, and for each update of a rover antenna position.

14. The system of claim 11, wherein each epoch of the synthesized base station data is generated for a corresponding virtual base station location.

15. The system of claim 11, wherein the virtual base station location is proximate to a current approximate rover antenna position.

16. The system of claim 11, wherein a new virtual base station location is determined when one or more of the following criteria is met:

each epoch of the rover GNSS data, each nth epoch of the rover GNSS data, after a time interval, after exceeding a distance between a current approximate rover antenna position and a current virtual base station location.

17. The system of claim 11, wherein the virtual base station location is generated for a specific GNSS time interval.

18. The system of claim 11, wherein the differential processor is operative to perform at least one of:

aided inertial navigation (integrated inertial navigation and GNSS) processing, real-time kinematic (RTK) processing, instant real-time kinematic (IRTK) processing;

differential GPS processing;

float processing;

triple differenced processing;

post-processing and real-time processing.

21. The system of claim 11, wherein the synthesized base station processor and the differential processor are a same processor.