GNSS signal processing with regional augmentation message

• US 9,733,359 B2
• Filed: 02/14/2011
• Issued: 08/15/2017
• Est. Priority Date: 01/14/2008
• Status: Active Grant

• Current Assignee: Trimble Inc.
• Original Assignee: Trimble Inc.
• Inventors: Chen, Xiaoming, Vollath, Ulrich, Ferguson, Kendall
• Primary Examiner(s): Gregory, Bernarr
• Assistant Examiner(s): Mull, Fred H
• Application Number:
  US13/522,384
• Publication Number:
  US 20120306694A1
• Time in Patent Office: 2,374 Days
• 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 to generate a global navigation satellite system (GNSS) correction message, comprising:

observing GNSS signals using a GNSS receiver at a reference station, wherein the reference station is one of multiple reference stations,

receiving correction data derived from observations at the multiple reference stations, located within a region, including the reference station, of GNSS signals of multiple satellites over multiple epochs,

separating the correction data into network elements relating to the multiple reference stations and cluster elements relating to subsets of the multiple reference stations, wherein each network element includes a time tag, a geometric correction for each of the multiple satellites, and a location of a point within the region, and each cluster element includes a tropospheric scaling value for each of the multiple reference stations in a respective subset, an ionospheric correction for each of the multiple reference stations in the respective subset for each of the multiple satellites, and a location for each of the multiple reference stations in the respective subset, and

constructing the GNSS correction message comprising at least one network message containing the network elements and at least one cluster message containing the cluster elements; and

transmitting the GNSS correction message to a GNSS rover,

receiving the GNSS correction message, using the GNSS rover, and

determining a position of the GNSS rover using the GNSS correction message for improved positioning accuracy of the GNSS rover.

2. The method of claim 1, wherein the GNSS correction message comprises a plurality of correction-message epochs, each correction-message epoch comprising at least one network message and at least one cluster message.

3. The method of claim 2, wherein the GNSS correction message of a first correction-message epoch comprises cluster messages of a first group of the cluster elements, and the GNSS correction message of a second correction-message epoch comprises cluster messages of a second group of the cluster elements different from the first group of the cluster elements.

4. The method of claim 2, wherein at least one cluster message for each subset of the multiple reference stations is included in a series of correction-message epochs.

5. The method of claim 1, wherein the network elements comprise a code bias per satellite.

6. The method of claim 1, wherein the correction data comprises:

a fixed-nature Melbourne-Wü

bbena (MW) bias for each of the multiple satellites or values from which a fixed-nature MW bias for each of the multiple satellites is derivable; and

an ionospheric delay for each of the multiple satellites for each of the multiple reference stations or non-ionospheric corrections.

7. The method of claim 1, wherein the correction data comprises an ionospheric delay for each of the multiple satellites for each of the multiple reference stations and an ionospheric phase bias for each of the multiple satellites.

8. The method of claim 1, wherein the network elements comprise an ionospheric phase bias for each of the multiple satellites and the cluster elements comprise an ionospheric delay for each of the multiple satellites for each of the multiple reference stations.

9. The method of claim 1, wherein the location of at least one of the multiple reference stations in the respective subset is a virtual reference station location.

10. 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 processor to perform the method of claim 1.

11. A system to generate a global navigation satellite system (GNSS) correction message derived from observations at multiple reference stations, located within a region, of GNSS signals of multiple satellites over multiple epochs, the system comprising:

a reference station of the multiple reference stations, the reference station comprising a GNSS receiver to observe GNSS signals, and wherein the reference station is configured to generate correction data based on observed GNSS signals;

a memory device having instructions that when executed cause one or more processors to perform steps comprising;

receiving regional correction data from the multiple reference stations, including correction data from the reference station;

separating the regional correction data into network elements relating to the multiple reference stations and cluster elements relating to subsets of the multiple reference stations, wherein each network element includes a time tag, a geometric correction for each of the multiple satellites, and a location of a point within the region, and each cluster element includes a tropospheric scaling value for each of the multiple reference stations in a respective subset, an ionospheric correction for each of the multiple reference stations in the respective subset for each of the multiple satellites, and a location for each of the multiple reference stations in the respective subset,

constructing the GNSS correction message comprising at least one network message containing the network elements and at least one cluster message containing the cluster elements,

transmitting the GNSS correction message to a GNSS rover,

receiving the GNSS correction message, using the GNSS rover, and

determining a position of the GNSS rover using the GNSS correction message for improved positioning accuracy of the GNSS rover.

12. The system of claim 11, wherein the GNSS correction message comprises a plurality of correction-message epochs, each correction-message epoch comprising at least one network message and at least one cluster message.

13. The system of claim 12, wherein the GNSS correction message of a first correction-message epoch comprises cluster messages of a first group of the cluster elements, and the GNSS correction message of a second correction-message epoch comprises cluster messages of a second group of the cluster elements different from the first group of the cluster elements.

14. The system of claim 12, wherein at least one cluster message for each subset of the multiple reference stations is included in a series of correction-message epochs.

15. The system of claim 11, wherein the network elements comprise a code bias per satellite.

16. The system of claim 11, wherein the regional correction data comprises:

a fixed-nature Melbourne-Wü

bbena (MW) bias for each of the multiple satellites or values from which a fixed-nature MW bias for each of the multiple satellites is derivable; and

an ionospheric delay for each of the multiple satellites for each of the multiple reference stations or non-ionospheric corrections.

17. The system of claim 11, wherein the regional correction data comprises an ionospheric delay for each of the multiple satellites for each of the multiple reference stations and an ionospheric phase bias for each of the multiple satellites.

18. The system of claim 11, wherein the network elements comprise an ionospheric phase bias for each of the multiple satellites and the cluster elements comprise an ionospheric delay for each of the multiple satellites for each of the multiple reference stations.

19. The system of claim 11, wherein the location of at least one of the multiple reference stations in the respective subset is a virtual location.

20. A method to generate a global navigation satellite system (GNSS) correction message having at least one network message containing network elements relating to correction data of multiple reference stations of a network of multiple reference stations located within a region, and having at least one cluster message with each cluster message containing cluster elements relating to a respective subset of the multiple reference stations, comprising:

observing GNSS signals using a GNSS receiver at a reference station, wherein the reference station is one of the multiple reference stations and observed GNSS signals are used to generate at least a portion of the correction data,

extracting network elements from the at least one network message, wherein each network element includes a time tag, a geometric correction for each of multiple satellites, and a location of a point within the region,

extracting cluster elements from the at least one cluster message, wherein each cluster element includes a tropospheric scaling value for each of the multiple reference stations in the respective subset, an ionospheric correction for each of the multiple reference stations in the respective subset for each of the multiple satellites, and a location for each of the multiple reference stations in the respective subset,

generating from the network elements and the cluster elements the GNSS correction message,

transmitting the GNSS correction message to a GNSS rover,

receiving the GNSS correction message, using the GNSS rover, and

determining a position of the GNSS rover using the GNSS correction message for improved positioning accuracy of the GNSS rover.

21. The method of claim 20, wherein the GNSS correction message comprises a plurality of correction-message epochs, each correction-message epoch comprising at least one network message and at least one cluster message.

22. The method of claim 21, wherein the GNSS correction message of a first correction-message epoch comprises cluster messages of a first group of the cluster elements, and the GNSS correction message of a second correction-message epoch comprises cluster messages of a second group of the cluster elements different from the first group of the cluster elements.

23. The method of claim 21, wherein at least one cluster message for each subset of the multiple reference stations is included in a series of correction-message epochs.

24. The method of claim 20, the network elements comprise a code bias per satellite.

25. The method of claim 20, wherein the correction data comprises:

a fixed-nature Melbourne-Wü

bbena (MW) bias for each of the multiple satellites or values from which a fixed-nature MW bias for each of the multiple satellites is derivable; and

an ionospheric delay for each of the multiple satellites for each of the multiple reference stations or non-ionospheric corrections.

26. The method of claim 20, wherein the correction data comprises an ionospheric delay for each of the multiple satellites for each of the multiple reference stations and an ionospheric phase bias for each of the multiple satellites.

27. The method of claim 20, wherein the network elements comprise an ionospheric phase bias for each of the multiple satellites and the cluster elements comprise an ionospheric delay for each of the multiple satellites for each of the multiple reference stations.

28. The method of claim 20, wherein the location of at least one of the multiple reference stations in the respective subset is a virtual reference station location.

29. 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 processor to perform the method of claim 20.

30. A system to generate a global navigation satellite system (GNSS) correction message having at least one network message containing network elements relating to multiple reference stations of a network of multiple reference stations located within a region, and having at least one cluster message with each cluster message containing cluster elements relating to a respective subset of the multiple reference stations, the system comprising:

a reference station of the multiple reference stations, the reference station comprising a GNSS receiver to observe GNSS signals, and wherein the reference station is configured to generate correction data based on observed GNSS signals;

a memory device having instructions that when executed cause one or more processors to perform steps comprising;

receive regional correction data from the multiple reference stations, including correction data from the reference station;

extracting network elements from the at least one network message, wherein each network element includes a time tag, a geometric correction for each of multiple satellites, and a location of a point within the region,

extracting cluster elements from the at least one cluster message, wherein each cluster element includes a tropospheric scaling value for each of the multiple reference stations in the respective subset, an ionospheric correction for each of the multiple reference stations in the respective subset for each of the multiple satellites, and a location for each of the multiple reference stations in the respective subset,

generating from the network elements and the cluster elements the GNSS correction message,

transmitting the GNSS correction message to a GNSS rover,

receiving the GNSS correction message, using the GNSS rover, and

determining a position of the GNSS rover using the GNSS correction message for improved positioning accuracy of the GNSS rover.

31. The system of claim 30, wherein the GNSS correction message comprises a plurality of correction-message epochs, each correction-message epoch comprising at least one network message and at least one cluster message.

32. The system of claim 31, wherein the GNSS correction message of a first correction-message epoch comprises cluster messages of a first group of the cluster elements, and the GNSS correction message of a second correction-message epoch comprises cluster messages of a second group of the cluster elements different from the first group of the cluster elements.

33. The system of claim 31, wherein at least one cluster message for each subset of the multiple reference stations is included in a series of correction-message epochs.

34. The system of claim 30, wherein the network elements comprise a code bias per satellite.

35. The system of claim 30, wherein the regional correction data comprises:

a fixed-nature Melbourne-Wü

bbena (MW) bias for each of the multiple satellites or values from which a fixed-nature MW bias for each of the multiple satellites is derivable; and

an ionospheric delay for each of the multiple satellites for each of the multiple reference stations or non-ionospheric corrections.

36. The system of claim 30, wherein the regional correction data comprises an ionospheric delay for each of the multiple satellites for each of the multiple reference stations, and an ionospheric phase bias for each of the multiple satellites.

37. The system of claim 30, wherein the network elements comprise an ionospheric phase bias for each of the multiple satellites and the cluster elements comprise an ionospheric delay for each of the multiple satellites for each of the multiple reference stations.

38. The system of claim 30, wherein the location of at least one of the multiple reference stations in the respective subset is a virtual location.