Position determination of a cellular device using carrier phase smoothing

• US 9,910,158 B2
• Filed: 05/02/2014
• Issued: 03/06/2018
• Est. Priority Date: 12/28/2012
• Status: Active Grant

• Current Assignee: Trimble Inc.
• Original Assignee: Trimble Inc.
• Inventors: Rudow, Richard, Wold, Robert, Kasirajan, Venkateswaran, Talbot, Nicholas C., Loomis, Peter Van Wyck, Weisenburger, Shawn D., Janky, James M.
• Primary Examiner(s): Gregory, Bernarr E
• Application Number:
  US14/268,956
• Publication Number:
  US 20140240170A1
• Time in Patent Office: 1,404 Days
• CPC Class Codes: G01S 19/04 providing carrier phase data
• CPC Class Codes: G01S 19/07 providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
• CPC Class Codes: G01S 19/42 Determining position
• 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
• CPC Class Codes: G01S 19/46 the supplementary measurement being of a radio-wave signal type

Abstract

A Global Navigation Satellite System (GNSS) chipset embedded within the cellular device is accessed. The GNSS chipset calculates raw observables that include raw pseudoranges and carrier phase information. The raw observables are extracted from the GNSS chipset for processing elsewhere in the cellular device outside of the GNSS chipset. Smoothed pseudoranges are provided by smoothing the raw pseudoranges based on the carrier phase information. The accessing, the extracting and the providing are performed by one or more hardware processors located in the cellular device and outside of the GNSS chipset.

Claims

1. A method of improving position determination of a cellular device using carrier phase smoothing, the method comprising:

accessing a Global Navigation Satellite System (GNSS) chipset embedded within the cellular device by one or more hardware processors located in the cellular device and outside of the GNSS chipset, wherein the GNSS chipset is configured to derive raw pseudoranges and carrier phase information from satellite signals received by a GNSS receiver coupled to the GNSS chipset;

extracting the raw pseudoranges and the carrier phase information from the GNSS chipset using one or more custom commands specific to the GNSS chipset for processing by the one or more hardware processors located in the cellular device and outside of the GNSS chipset;

smoothing the raw pseudoranges to obtain smoothed pseudoranges by applying the carrier phase information to the raw pseudoranges using the one or more hardware processors located in the cellular device and outside of the GNSS chipset; and

providing the smoothed pseudoranges.

2. The method of claim 1, wherein the method further comprises:

providing unsmoothed corrected pseudoranges by applying external corrections to the raw pseudoranges, wherein the external corrections are from a correction source that is external to the cellular device; and

determining an unsmoothed corrected position fix based on the unsmoothed corrected pseudoranges.

3. The method of claim 2, wherein the method further comprises:

obtaining locally measured cellular device movement information from at least one sensor that is in a known physical relationship with the cellular device; and

providing a smoothed corrected position fix by applying the locally measured cellular device movement information to the unsmoothed corrected position fix.

4. The method of claim 1, wherein the carrier phase information is Doppler Shift Information and wherein the method further comprises:

providing reconstructed carrier phase information by reconstructing carrier phase information based on the Doppler Shift Information, wherein the reconstructing is performed by the one or more processors located in the cellular device and outside of the GNSS chipset.

5. The method of claim 4, wherein the method further comprises:

providing smoothed uncorrected pseudoranges by smoothing the raw pseudoranges based on the reconstructed carrier phase information.

6. The method of claim 5, wherein the method further comprises:

providing smoothed corrected pseudoranges by applying external corrections to the smoothed uncorrected pseudoranges; and

determining a smoothed corrected position fix based on the smoothed corrected pseudoranges.

7. The method of claim 6, wherein the method further comprises:

obtaining locally measured cellular device movement information from at least one sensor that is in a known physical relationship with the cellular device; and

providing additional smoothing to the smoothed corrected position fix based on the locally measured cellular device movement information.

8. The method of claim 7, wherein the method further comprises:

providing the additional smoothing to the smoothed corrected position fix based on the locally measured cellular device movement information using a filter.

9. The method of claim 5, wherein the method further comprises:

determining a smoothed uncorrected position fix based on the smoothed uncorrected pseudoranges.

10. The method of claim 9, wherein the method further comprises:

obtaining locally measured cellular device movement information from at least one sensor that is in a known physical relationship with the cellular device; and

providing additional smoothing to the smoothed uncorrected position fix based on the locally measured cellular device movement information.

11. The method of claim 1, wherein the carrier phase information is real carrier phase information and wherein the method further comprises:

providing smoothed uncorrected pseudoranges by applying the real carrier phase information to the raw pseudoranges.

12. The method of claim 11, further comprising:

providing smoothed corrected pseudoranges by applying external corrections to the smoothed uncorrected pseudoranges, wherein the external corrections are from a correction source that is external to the cellular device.

13. The method of claim 12, wherein the method further comprises:

determining a smoothed corrected position fix based on the smoothed corrected pseudoranges.

14. The method of claim 13, wherein the method further comprises:

obtaining locally measured cellular device movement information from at least one sensor that is in a known physical relationship with the cellular device; and

providing additional smoothing to the smoothed corrected position fix based on the locally measured cellular device movement information.

15. The method of claim 11, further comprising:

determining a smoothed uncorrected position fix based on the smoothed uncorrected pseudoranges.

16. The method of claim 11, further comprising:

obtaining locally measured cellular device movement information from at least one sensor that is in a known physical relationship with the cellular device; and

providing additional smoothing to the smoothed uncorrected pseudoranges based on the locally measured cellular device movement information.

17. The method as recited by claim 11, wherein the method further comprises:

providing the smoothed pseudoranges by applying the real carrier phase information to the raw pseudoranges using a filter.

18. A system for improving position determination of a cellular device using carrier phase smoothing, the system comprising

one or more hardware processors located in the cellular device and outside of a Global Navigation Satellite System (GNSS) chipset embedded within the cellular device;

accessing logic that accesses the Global Navigation Satellite System (GNSS) chipset embedded within the cellular device, wherein the GNSS chipset is configured to derive raw pseudoranges and carrier phase information from satellite signals received by a GNSS receiver coupled to the GNSS chipset;

extracting logic that extracts the raw pseudoranges and the carrier phase information from the GNSS chipset using one or more custom commands specific to the GNSS chipset for processing by the one or more hardware processors located in the cellular device and outside of the GNSS chipset; and

processing logic that obtains smoothed pseudoranges by smoothing the raw pseudoranges based on the carrier phase information, using the one or more hardware processors located in the cellular device and outside of the GNSS chipset.

19. The system of claim 18, wherein the carrier phase information is Doppler Shift Information and wherein the system further comprises carrier phase reconstructing logic that provides reconstructed carrier phase information by reconstructing carrier phase information based on the Doppler Shift Information.

20. The system of claim 19, wherein the system further comprises raw pseudorange smoothing based on carrier phase information (CPI) logic that provides smoothed uncorrected pseudoranges by smoothing the raw pseudoranges based on the reconstructed carrier phase information.

21. The system of claim 20, wherein the system further comprises:

correction logic that provides smoothed corrected pseudoranges by applying external corrections to the smoothed uncorrected pseudoranges, wherein the external corrections are from a correction source that is external to the cellular device; and

determining position fix logic that determines a smoothed corrected position fix based on the smoothed corrected pseudoranges.

22. The system of claim 21, wherein the system further comprises:

locally measured movement information accessing logic that obtains locally measured cellular device movement information from at least one sensor that is in a known physical relationship with the cellular device; and

movement sensor position fix smoothing logic that provides additional smoothing to the smoothed corrected position fix based on the locally measured cellular device movement information.

23. The system of claim 22, wherein the movement sensor position fix smoothing logic is a filter.

24. The system of claim 20, wherein the system further comprises:

determining position fix logic that determines a smoothed uncorrected position fix based on the smoothed uncorrected pseudoranges.

25. The system of claim 18, wherein the raw observables includes real carrier phase information and wherein the system further comprising:

real carrier phase logic that provides smoothed uncorrected pseudoranges by applying the real carrier phase information to the raw pseudoranges.

26. The system of claim 25, further comprising:

correction logic that provides smoothed corrected pseudoranges by applying external corrections to the smoothed uncorrected pseudoranges, wherein the external corrections are from a correction source that is external to the cellular device.

27. The system of claim 26, wherein the system further comprises:

determining position fix logic that determines a smoothed corrected position fix based on the smoothed corrected pseudoranges.

28. The system of claim 25, further comprising:

determining position fix logic that determines a smoothed uncorrected position fix based on the smoothed uncorrected pseudoranges.

29. The system as recited by claim 25, wherein the real carrier phase logic is a filter.

30. The system as recited by claim 18, wherein the processing logic that provides provided pseudoranges that is one of smoothed uncorrected pseudoranges, smoothed corrected pseudoranges, unsmoothed corrected pseudoranges, and raw pseudoranges and wherein the system further comprises:

position determination logic that determines a position fix based on the provided pseudoranges;

at least one sensor that is in a known physical relationship with the cellular device;

locally measured movement information accessing logic that obtains locally measured cellular device movement information from the at least one sensor; and

the processing logic further comprises logic that processes the position fix based on the locally measured cellular device movement information.

31. The system of claim 18, wherein the cellular device comprises a cellular communication enabled mobile communications device.

32. A non-transitory computer readable storage medium having computer readable instructions stored thereon, the computer readable storage medium coupled to one or more hardware processors, the computer readable storage medium and the one or more hardware processors located in a cellular device and outside of a Global Navigation Satellite System (GNSS) chipset embedded within the cellular device, the computer readable instructions for causing the one or more hardware processors to perform a method of improving position determination of the cellular device using carrier phase smoothing, the method comprising:

accessing the GNSS chipset by the one or more hardware processors located in the cellular device and outside of the GNSS chipset, wherein the GNSS chipset is configured to derive raw pseudoranges and carrier phase information from satellite signals received by a GNSS receiver coupled to the GNSS chipset;

extracting the raw pseudoranges and the carrier phase information from the GNSS chipset using one or more custom commands specific to the GNSS chipset for processing by the one or more hardware processors located in the cellular device and outside of the GNSS chipset;

smoothing the raw pseudoranges to obtain smoothed pseudoranges by applying the carrier phase information to the raw pseudoranges using the one or more hardware processors located in the cellular device and outside of the GNSS chipset; and

providing the smoothed pseudoranges.

33. The non-transitory computer readable storage medium of claim 32, wherein the position fix is a locally measured movement smoothed position fix and the method further comprises:

determining smoothed pseudoranges by applying carrier phase information to the raw pseudoranges; and

determining a carrier phase smoothed position fix based on the smoothed pseudoranges.

34. The non-transitory computer readable storage medium of claim 32, wherein the method further comprises:

providing unsmoothed corrected pseudoranges by applying external corrections to the raw pseudoranges; and

determining an unsmoothed corrected position fix based on the unsmoothed corrected pseudoranges.

35. The non-transitory computer readable storage medium of claim 32, wherein the smoothed pseudoranges are smoothed uncorrected pseudoranges and wherein the method further comprises:

providing smoothed corrected pseudoranges by applying external corrections to the smoothed uncorrected pseudoranges, wherein the external corrections are from a correction source that is external to the cellular device; and

determining a smoothed corrected position fix based on the smoothed corrected pseudoranges.

36. The non-transitory computer readable storage medium of claim 32, wherein the carrier phase information is Doppler Shift Information and wherein the method further comprises:

providing reconstructed carrier phase information by reconstructing carrier phase information based on the Doppler Shift Information.

37. The non-transitory computer readable storage medium of claim 36, wherein the method further comprises:

providing smoothed uncorrected pseudoranges by smoothing the raw pseudoranges based on the reconstructed carrier phase information.

38. The non-transitory computer readable storage medium of claim 37, wherein the method further comprises:

determining a smoothed uncorrected position fix based on the smoothed uncorrected pseudoranges.

39. The non-transitory computer readable storage medium of claim 32, wherein the carrier phase information is real carrier phase information and wherein the method further comprises:

providing smoothed uncorrected pseudoranges by applying the real carrier phase information to the raw pseudoranges.

40. The non-transitory computer readable storage medium of claim 39, further comprising:

providing smoothed corrected pseudoranges by applying external corrections to the smoothed uncorrected pseudoranges.

41. The non-transitory computer readable storage medium of claim 40, wherein the method further comprises:

determining a smoothed corrected position fix based on the smoothed corrected pseudoranges.

42. The non-transitory computer readable storage medium of claim 39, further comprising:

determining a smoothed uncorrected position fix based on the smoothed uncorrected pseudoranges.

43. The non-transitory computer readable storage medium of claim 32, further comprising:

providing provided pseudoranges that is one of smoothed uncorrected pseudoranges, smoothed corrected pseudoranges, unsmoothed corrected pseudoranges, and raw pseudoranges;

determining a position fix based on the provided pseudoranges;

obtaining locally measured cellular device movement information from at least one sensor that is in a known physical relationship with the cellular device; and

processing the position fix based on the locally measured cellular device movement information.