Networked differential GPS system

• US 5,323,322 A
• Filed: 03/05/1992
• Issued: 06/21/1994
• Est. Priority Date: 03/05/1992
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Sheynblat, Leonid, Mueller, K. Tysen, Kalafus, Rudolph M., Loomis, Peter V. W.
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): ZANELLI, MICHAEL J
• Application Number:
  US07/846,380
• Time in Patent Office: 838 Days
• Field of Search: 364/449, 364/452, 364/459, 342/357, 342/358, 342/463
• US Class Current: 701/215
• CPC Class Codes: G01S 19/071 DGPS corrections
• CPC Class Codes: G01S 19/32 Multimode operation in a single same satellite system, e.g. GPS L1/L2
• CPC Class Codes: G01S 5/0009 Transmission of position information to remote stations involving assistance data G01S5/0236

Abstract

An embodiment of the present invention relates to a worldwide network of differential GPS reference stations (NDGPS) that continually track the entire GPS satellite constellation and provide interpolations of reference station corrections tailored for particular user locations between the reference stations Each reference station takes real-time ionospheric measurements with codeless cross-correlating dual-frequency carrier GPS receivers and computes real-time orbit ephemerides independently. An absolute pseudorange correction (PRC) is defined for each satellite as a function of a particular user'"'"'s location. A map of the function is constructed, with "iso-PRC" contours. The network measures the PRCs at a few points, so-called reference stations and constructs an iso-PRC map for each satellite. Corrections are interpolated for each user'"'"'s site on a subscription basis. The data bandwidths are kept to a minimum by transmitting information that cannot be obtained directly by the user and by updating information by classes and according to how quickly each class of data goes stale given the realities of the GPS system. Sub-decimeter-level kinematic accuracy over a given area is accomplished by establishing a mini-fiducial network.

Claims

1. An ionospheric delay modeling method, the comprising the steps of:

obtaining both code and carrier measurements from a dual-frequency GPS receiver of ionospheric delays in a sparse network of reference station receivers tracking SV'"'"'s in the GPS constellation;

using a two-dimensional geomagnetic latitude and local time Taylor Series or Fourier Series to map equivalent local zenith measurements into an ionospheric delay global model; and

using a two-step iterated least-squares estimator that estimates zenith coefficients for assumed ionosphere altitude, which checks the goodness-of-fit and examines residuals, which estimates ionosphere altitude for assumed zenith coefficients and that repeats the foregoing steps when required to achieve convergence.

2. The method of claim 1, further comprising the subsequent step of:

truncating estimates to obtain a regional model from said ionospheric delay global model.

3. The method of claim 1, further comprising the subsequent step of:

local-fitting to obtain a regional model from said ionospheric delay global model.

4. A differential GPS (DGPS) system for providing GPS correction information to a plurality of users according to each user'"'"'s position, comprising:

a regional network of a plurality of reference stations for tracking a plurality of satellites (SV'"'"'s) in the GPS constellation of satellites wherein at least five reference stations track each SV with unauthorized GPS receivers;

a central processing facility (CPF) in communication with the regional network of reference stations and having means for computing satellite orbit and clock errors and self-synchronizing clock means for deriving a DGPS system clock from a plurality of said unauthorized GPS receivers; and

communication means connected to the CPF for obtaining reference station measurements and for distributing DGPS corrections to users, wherein the use of complex ionospheric and tropospheric delay models are avoided and authorized GPS receivers are unnecessary.

5. The system of claim 4, further comprising:

ionospheric delays computing means connected to the CPF for computing ionospheric delays for single-frequency users; and

ionospheric message broadcasting means connected to the CPF for broadcasting to particular users separate ionospheric messages.

6. The system of claim 5, wherein

said ionospheric messages comprise near real-time estimate of parameters tuned to particular regions of the earth.

7. The system of claim 4, wherein:

each of the plurality of reference stations have at least one GPS receiver for estimating ionospheric delays which are communicated to the CPF for determination of the ionospheric delays in a region of the earth by interpolation of a plurality of GPS signals received by all of said GPS receivers.

8. The system of claim 4, further comprising:

group processing means connected to the CPF for reducing communications costs at the reference stations having means for separation of the reference stations into groups, each group having means for independently measuring satellite positions and clocks; and

group control center connected to the CPF for inputting collective estimates for SV orbits such that a reduction in communications and data rates are realized.

9. The system of claim 8, wherein:

each group control center has an atomic clock for providing time synchronization between the groups of reference stations.

10. The system of claim 8, wherein:

each group control center comprises means for quality control and robustness improvement based on atomic clocks.

11. The system of claim 4, wherein:

the plurality of reference stations is limited in number by a predetermined minimum number of reference stations needed to keep all SV'"'"'s in said GPS constellation of satellites in view by at least one reference station at any one time wherein re-initializations of any particular SV are avoided.

12. The system of claim 4, further comprising:

broadcast communication means connected to the CPF for sending to users DGPS corrections with differing accuracy levels with an identical message.

13. The system of claim 4, wherein the CPF further comprises:

measurement collection means for obtaining both code and carrier measurements from a dual-frequency GPS receiver of ionospheric delays over a period not longer than the period an individual SV is in view from a single reference station in a sparse network of reference station receivers tracking SV'"'"'s in the GPS constellation;

measurement preprocessing means for preprocessing measurements to remove tropospheric and measured ionospheric signal delays;

ephemeris estimating means for estimating SV orbit ephemeris parameters using one of a least-squares estimator and Kalman filter; and

ephemeris broadcasting means for broadcasting SV orbit ephemeris information to a plurality of users.

14. The system of claim 13, wherein the means for broadcasting ephemeris information to users comprises:

ephemeris information transmission means for sending said ephemeris information at a rate not exceeding once every ten minutes and not less than once every two hundred minutes.

15. The system of claim 13, wherein the measurement collection means comprises one of:

a P-code GPS receiver, a cross-correlation codeless GPS receiver, or a combination P-code and cross-correlation codeless GPS receiver.

16. The system of claim 13, wherein said SV orbit ephemeris information sent by the ephemeris broadcasting means comprises:

a complete set of SV orbit parameters.

17. The system of claim 13, wherein said SV orbit ephemeris information sent by the ephemeris broadcasting means comprises corrections to an SV orbit parameter set that has been downlinked by an individual SV.

18. The system of claim 13, wherein the ephemeris estimating means comprises:

orbit position estimating means for estimating a set of all SV orbit positions in aggregate at each epoch from said preprocessed measurements using a least squares estimator, wherein one estimator is used for all SV'"'"'s; and

orbit parameter estimating means for estimating SV orbit parameters for each SV from an accumulated history of positions for each SV using at least one of a least squares estimator and a Kalman filter, wherein a single estimator is used for each SV.

19. The system of claim 18, wherein the means for estimating a set of all SV orbit positions comprises:

clock error removal means for removing SV and reference station clock errors using a linear transformation of the preprocessed measurements; and

SV position estimating means for estimating SV positions from the transformed measurements using a least squares estimator.

20. The system of claim 13, further comprising:

means for removing SV and reference site clock errors using an orthogonal transformation;

means for estimating SV orbit position errors for all SV'"'"'s at one epoch using a least-squares estimator;

means for repeating said preprocessing, removing and estimating every few minutes until sufficient measurement estimates have been obtained; and

means for propagating all position estimates for one SV to a common epoch.

21. The system of claim 13, wherein said CPF further comprises:

means for using carrier-smooth pseudoranges that have been tropospherically and ionospherically corrected as inputs to construct a measurement vector Y_k that contains all of a plurality of pseudoranges at one epoch from a plurality of reference stations.

22. A dual-frequency differential GPS network (DGPS), comprising:

a plurality of reference stations not exceeding thirty-three in number substantially equally distributed around the earth at locations on land for continuous tracking of every one of the satellites in the GPS constellation by at least one of the reference stations at any one time;

a central processing facility (CPF) in communication with all of the reference stations;

a plurality of dual-frequency non-authorized GPS receivers wherein at least one each is located at each of the reference stations and provide measurements of signals from various GPS satellites for the computation of ionospheric delays in the local area of the respective reference station; and

computing means in communication with the plurality of reference stations for estimating global ionospheric delays for a plurality of user locations and for computing satellite orbit and clock corrections without authorized precision code access.

23. The DGPS of claim 22, further comprising:

communication means connected to the computing means for supplying interpolated ionospheric delays and satellite orbit corrections to particular users in relation to the locations of said users.

24. A method of reducing data communications volume and bandwidth in a networked differential GPS system comprising a plurality of reference stations, a central processing facility (CPF) and group control centers, the method comprising the steps of:

estimating GPS satellite orbit ephemerides in four-dimensions and in real-time at a CPF or a group control center;

communicating GPS satellite clock corrections derived from the step of estimating at a first update rate from the CPF or group control centers to a plurality of users; and

communicating GPS satellite orbit corrections derived from the step of estimating at a second update rate from the CPF or group control centers to a plurality of users, said second update rate being substantially slower than said first update rate.

25. A method of producing real-time GPS satellite corrections in a networked differential GPS system, the method comprising the steps of:

receiving a plurality of GPS position signals with a plurality of codeless GPS receivers distributed amongst a plurality of reference stations;

processing said GPS position signals with a GPS navigation processor to determine orbit position and orbit ephemerides for at least one orbiting GPS satellite;

estimating GPS satellite orbit position errors and their orbit ephemerides from said GPS positions signals with a least squares estimator; and

estimating GPS satellite clock errors from said GPS position signals with a least-squares estimator.

26. A method of estimating GPS satellite orbit parameters to produce stable estimates that stay fresh for at least ten minutes, the method comprising the steps of:

receiving a plurality of GPS position signals with a GPS receiver;

processing said GPS position signals with a GPS navigation processor to determine orbit position and orbit ephemerides for at least one orbiting GPS satellite;

initializing an epoch counter;

estimating the XYZ orbit position of a plurality of GPS satellites received by said GPS receiver at one epoch;

repeating the estimating of the XYZ orbit position for at least ten minutes; and

feeding said orbit position estimates gathered over an epoch to an orbit relaxation estimator which estimates at least fifteen orbit parameter corrections each thirty to sixty minutes.

27. A rapid GPS network space vehicle (SV) orbit ephemeris parameter estimator that receives both SV position and velocity such that an immediate Kepler is available, comprising:

means for obtaining measurements from a plurality of reference stations comprising carrier-smoothed pseudoranges that have been corrected for both ionospheric and tropospheric delays and that produces an ionospheric delay measurement;

a central processing facility for computing SV positions from said reference station measurements;

carrier correction means for correcting an SV carrier for both ionospheric and tropospheric delays at each reference station thereby providing a precise measurement of corresponding SV velocity;

estimating means for generating a set of SV orbit ephemeris parameters which process all of said reference station measurements through one of a least-squares estimator or Kalman filter; and

means for broadcasting said set of SV orbit ephemeris parameters to a plurality of users such that user navigation is substantially improved thereby.

28. A differential GPS system, comprising:

a plurality of reference stations at separate locations and each having a codeless dual-frequency GPS receiver for obtaining ionospheric and tropospheric delay measurements at more than one of said reference stations from a single GPS satellite;

a central processing facility in communication with the plurality of reference stations and having means for synthesizing clock error signals from non-precision code measurements communicated from said codeless dual-frequency GPS receivers.

29. A GPS network space vehicle (SV) orbit ephemeris estimator, comprising:

means for obtaining both code and carrier measurements from a dual-frequency GPS receiver of ionospheric delays over a period not longer than the period an individual SV is in view from a single reference station in a sparse network of reference station receivers tracking SV'"'"'s in the GPS constellation, wherein each reference station comprises means for ionospheric processing with a codeless L2 receiver to use night-time measurements that represent stable initial estimates of ionosphere and for using ionospheric rates from L2 to get estimates of ionospheric delays at zenith;

means for preprocessing measurements to remove tropospheric and measured ionospheric signal delays;

means for estimating SV orbit ephemeris parameters using one of a least-squares estimator and Kalman filter; and

means for broadcasting SV orbit ephemeris information to a plurality of users.

means for estimating SV orbit ephemeris parameters using one of a least-squares estimator and Kalman filter; and

means for broadcasting SV orbit ephemeris information to a plurality of users.

30. A differential GPS (DGPS) system that provides GPS correction information to a plurality of users according to each user'"'"'s position, comprising:

a global network of a plurality of reference stations for tracking a plurality of satellites (SV'"'"'s) in the GPS constellation of satellites wherein at least five reference stations track each SV;

a central processing facility (CPF) having means for computing satellite orbit and clock errors, comprising;

means for using carrier-smoothed pseudoranges that have been tropospherically and ionospherically corrected as inputs to construct a measurement vector Y_k that contains all of a plurality of pseudoranges at one epoch from a plurality of reference stations;

means for selecting a linear transformation matrix, [D_OR ], in which the product of the matrix and a measurement matrix [B] of partials of pseudorange errors with respect to reference receiver clock errors, is zero;

[D_OR ][B]=0, said linear transformation being used to eliminate unwanted reference receiver clock errors in Y_k which leads to a corrected measurement vector y_k ; and

a least-squares estimator for computing SV position errors x_k for all SV'"'"'s at one epoch from y_k ; and

communication means connected to the CPF for obtaining reference station measurements and for distributing DGPS corrections to users.

31. A differential GPS (DGPS) system that provides GPS correction information to a plurality of users according to each user'"'"'s position, comprising:

a global network of a plurality of reference stations for tracking a plurality of satellites (SV'"'"'s) in the GPS constellation of satellites wherein at least five reference stations track each SV;

a central processing facility (CPF) having means for computing satellite orbit and clock errors; and

communication means connected to the CPF for obtaining reference station measurements and for distributing DGPS corrections to users;

wherein each of the plurality of reference stations include means for using measurements from the SV'"'"'s to estimate a zenith component of ionospheric delay at each reference station; and

the CPF comprises means to combine said zenith components to calibrate a model of ionospheric delay as a function of time and comprises means to distribute said model to a plurality of single-frequency users.

32. The system of claim 31, wherein:

said zenith component estimating means comprises a least-squares estimator.

33. A differential GPS (DGPS) system that provides GPS correction information to a plurality of users according to each user'"'"'s position, comprising:

a global network of a plurality of reference stations for tracking a plurality of satellites (SV'"'"'s) in the GPS constellation of satellites wherein at least five reference stations track each SV;

a central processing facility (CPF) having means for computing satellite orbit and clock errors; and

communication means connected to the CPF for obtaining reference station measurements and for distributing DGPS corrections to users;

wherein each reference station comprises means for the measurement of slant ranges that are mapped to reference station coordinates.

34. A differential GPS (DGPS) system that provides GPS correction information to a plurality of users according to each user'"'"'s position comprising:

a global network of a plurality of reference stations for tracking a plurality of satellites (SV'"'"'s) in the GPS constellation of satellites wherein at least five reference stations track each SV;

a central processing facility (CPF) having means for computing satellite orbit and clock errors; and

communication means connected to the CPF for obtaining reference station measurements and for distributing DGPS corrections to users;

wherein the CPF comprises means for generating quality control information by using over-specified reference station information and applying a root-sum-of-squares algorithm.

35. A differential GPS (DGPS) system that provides GPS correction information to a plurality of users according to each user'"'"'s position, comprising:

a global network of a plurality of reference stations for tracking a plurality of satellites (SV'"'"'s) in the GPS constellation of satellites wherein at least five reference stations track each SV;

a central processing facility (CPF) having means for computing satellite orbit and clock errors; and

communication means connected to the CPF for obtaining reference station measurements and for distributing DGPS corrections to users;

wherein the CPF comprises means for building SV orbits generating real-time ephemerides in a two step least-squares estimator which estimates the XYZ position of SV'"'"'s and then estimates their orbital ephemeris terms.