High sensitivity GPS receiver and method for compensating for doppler variation

• US 20060012515A1
• Filed: 05/27/2005
• Published: 01/19/2006
• Est. Priority Date: 07/13/2004
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Park, Chan-Woo, Choi, Sun
• Granted Patent: US 7,391,366 B2
• Time in Patent Office: Days
• US Class Current: 342/357.590
• CPC Class Codes: G01S 19/254 relating to Doppler shift of satellite signals
• CPC Class Codes: G01S 19/26 involving a sensor measurement for aiding acquisition or tracking
• CPC Class Codes: G01S 19/29 carrier including Doppler, related G01S19/246 takes precedence

Abstract

A global positioning system (GPS) receiver and method are provided for compensating for Doppler variation to accurately detect GPS signals in an environment in which intensities of the GPS signals received from GPS satellites are very low. A user acceleration measuring unit measures an acceleration vector of the terminal with respect to a center of the Earth. A user Doppler variation rate estimator estimates a user Doppler variation rate of each GPS satellite due to acceleration of the terminal by making use of the measured acceleration vector. A Doppler predictor predicts a Doppler frequency according to the estimated user Doppler variation rate. Code and carrier frequency signal generators compensate codes and carriers of GPS satellites to be correlated with signals received therefrom by making use of the predicted Doppler frequency.

Claims

1. A method for compensating for Doppler variation due to user motion in a global positioning system (GPS) receiver mounted to a user terminal, comprising:

measuring an acceleration vector of the terminal with respect to a center of the Earth;

estimating a user Doppler variation rate of each GPS satellite due to acceleration of the terminal by making use of the measured acceleration vector;

predicting a Doppler frequency according to the estimated user Doppler variation rate; and

compensating codes and carriers of GPS satellites to be correlated with signals received therefrom by making use of the predicted Doppler frequency.

2. The method according to claim 1, wherein estimating the user Doppler variation rate comprises:

computing a unit vector from the terminal to each GPS satellite by making use of Doppler information received from an adjacent assisted GPS (AGPS) server; and

estimating the user Doppler variation rate by computing a dot product of the acceleration vector and the unit vector.

3. The method according to claim 1, wherein predicting the Doppler frequency comprises:

predicting the Doppler frequency according to the estimated user Doppler variation rate and at least one estimated Doppler variation rate different therefrom.

4. The method according to claim 1, wherein predicting the Doppler frequency comprises:

estimating an Earth Doppler variation rate due to satellite motion and the Earth'"'"'s rotation by making use of Doppler information received from an adjacent assisted GPS (AGPS). server, and estimating a frequency variation rate due to instability of a local clock of the terminal; and

predicting the Doppler frequency according to a sum value obtained by summing the user Doppler variation rate, the Earth Doppler variation rate, and the frequency variation rate.

5. The method according to claim 4, wherein predicting the Doppler frequency comprises:

predicting a Doppler search range roughly indicating variation of the Doppler frequency and a Doppler center of the Doppler search range by making use of the Doppler information; and

predicting the Doppler frequency by adding a value of the predicted Doppler center to the sum value for a unit time.

6. The method according to claim 1, wherein measuring the acceleration vector comprises:

measuring an acceleration vector of the terminal with respect to a center of the terminal, and transforming the measured acceleration vector into that of an Earth Centered Earth Fixed (ECEF) frame to compute an acceleration vector due to external force to be applied to the terminal; and

measuring the acceleration vector of the terminal with respect to the center of the Earth by compensating the acceleration vector for gravity and Coriolis force.

7. The method according to claim 6, wherein measuring the acceleration vector further comprises:

measuring initial attitude values of the terminal;

measuring a rotation vector with respect to the center of the terminal;

computing a direction cosine matrix for transforming the acceleration vector based on the center of the terminal into that of the ECEF frame by making use of the initial attitude values, the rotation vector, and an angular velocity vector of the Earth'"'"'s rotation; and

applying an angular velocity vector based on the center of the terminal to the direction cosine matrix to compute the acceleration vector of the terminal with respect to the center of the Earth.

8. A global positioning system (GPS) receiver mounted to a user terminal for compensating for Doppler variation due to user motion, comprising:

a user acceleration measuring unit for measuring an acceleration vector of the terminal with respect to a center of the Earth;

a user Doppler variation rate estimator for estimating a user Doppler variation rate of each GPS satellite due to acceleration of the terminal by making use of the measured acceleration vector;

a Doppler predictor for predicting a Doppler frequency according to the estimated user Doppler variation rate; and

code and carrier frequency signal generators for compensating codes and carriers of GPS satellites to be correlated with signals received therefrom by making use of the predicted Doppler frequency.

9. The GPS receiver according to claim 8, wherein the user Doppler variation rate estimator is connected to a unit vector calculator for computing a unit vector from the terminal to each GPS satellite by making use of Doppler information received from an adjacent assisted GPS (AGPS) server, and

wherein the user Doppler variation rate estimator computes a dot product of the acceleration vector and the unit vector to estimate the user Doppler variation rate.

10. The GPS receiver according to claim 8, further comprising:

an Earth Doppler variation rate estimator for estimating an Earth Doppler variation rate due to satellite motion and the Earth'"'"'s rotation by making use of Doppler information received from an adjacent assisted GPS (AGPS) server;

a clock model estimator for estimating a frequency variation rate due to instability of a local clock of the terminal; and

adders for computing a sum value of the user Doppler variation rate, the Earth Doppler variation rate, and the frequency variation rate, and providing the sum value to the Doppler predictor.

11. The GPS receiver according to claim 10, wherein the Doppler predictor is connected to a Doppler search range predictor for predicting a Doppler search range roughly indicating variation of the Doppler frequency and a Doppler center of the Doppler search range by making use of the Doppler information, and wherein the Doppler predictor predicts the Doppler frequency by adding a value of the predicted Doppler center to the sum value for a unit time.

12. The GPS receiver according to claim 8, wherein the user acceleration measuring unit comprises:

an accelerometer for measuring an acceleration vector of the terminal with respect to a center of the terminal;

a coordinate transformer for transforming the measured acceleration vector into that of an Earth Centered Earth Fixed (ECEF) frame to compute an acceleration vector due to external force to be applied to the terminal; and

compensators for compensating the acceleration vector for gravity and Coriolis force to obtain the acceleration vector of the terminal with respect to the center of the Earth.

13. The GPS receiver according to claim 12, wherein the coordinate transformer is connected to:

a compass for measuring initial attitude values of the terminal,

a gyroscope for measuring a rotation vector with respect to the center of the terminal, and

an attitude calculator for computing a direction cosine matrix for transforming the acceleration vector based on the center of the terminal into that of the ECEF frame by making use of the initial attitude values, the rotation vector, and an angular velocity vector of the Earth'"'"'s rotation, and

wherein the coordinate transformer applies an angular velocity vector based on the center of the terminal to the direction cosine matrix to compute the acceleration vector of the terminal with respect to the center of the Earth.

14. The GPS receiver according to claim 8, further comprising:

a code generator for generating codes of the GPS satellites according to code frequency signals from the code frequency signal generator;

a mixer for mixing the signals received from the GPS satellites with carrier frequency signals;

a correlator for correlating output signals of the mixer with the codes to obtain correlated samples;

a coherent integrator for coherently integrating the correlated samples; and

a signal detector for detecting desired GPS signals from output of the coherent integrator.