Method and apparatus for predicting the position of a satellite in a satellite based navigation system

• US 5,430,657 A
• Filed: 10/20/1992
• Issued: 07/04/1995
• Est. Priority Date: 10/20/1992
• Status: Expired due to Fees

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Kyrtsos, Christos T.
• Primary Examiner(s): ZANELLI, MICHAEL J
• Application Number:
  US07/963,677
• Time in Patent Office: 987 Days
• Field of Search: 364/459, 364/449, 364/458, 342/357, 342/450, 342/451, 342/463, 342/457, 342/358
• US Class Current: 701/226
• CPC Class Codes: G01S 19/11 wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
• CPC Class Codes: G01S 19/27 creating, predicting or correcting ephemeris or almanac data within the receiver
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Abstract

The position of a satellite in a satellite based navigation system is determined without reliance on satellite ephemeris data. Orbital parameters are computed for each satellite. The orbital parameters can then be used to predict the position of each satellite at any time. Subsequent ephemeris data may be compared to a predicted satellite position to determine whether the ephemeris data is corrupt. The orbital parameters may be determined by: computing a pseudorange and a velocity for a selected satellite for a plurality of times, computing at least three estimated positions of the satellite from the pseudoranges and velocities, and computing orbital parameters for the satellite from the three estimated positions. In another embodiment, the orbital parameters are determined by: determining the position of a receiver for at least three times using a constellation of satellites, using the three receiver positions to triangulate on an average position for the selected satellite in the constellation, repeating these steps until at least three mean satellite positions have been computed, computing the orbital parameters from the three mean positions of the selected satellite.

Claims

1. A method for determining the position of a satellite in a satellite based navigation system using a receiver having a known position, the method comprising the steps of:

(a) receiving, from the satellite, a plurality of navigation signals at the receiver;

(b) determining a plurality of mean satellite positions from said navigation signals;

(c) computing orbital parameters for the satellite from said plurality of mean satellite positions; and

(d) predicting the position of the satellite at a time t_n from said orbital parameters.

2. The method of claim 1, wherein each of said plurality of navigation signals is received at the receiver at a different time.

3. The method of claim 2, wherein said step of computing comprises performing a best fit curve approximation.

4. A method for determining the position of a vehicle using navigation signals from a satellite based navigation system and a plurality of receivers having known positions, the method comprising the steps of:

(a) receiving, at each receiver, a navigation signal from a selected satellite;

(b) computing a pseudorange from said navigation signal at each receiver;

(c) triangulating to determine the position of said selected satellite using said pseudoranges and the known position of each receiver; and

(d) repeating steps (a)-(c) to determine a plurality of positions of said selected satellite;

(e) computing orbital parameters for said selected satellite from said plurality of positions;

(f) predicting the position of the satellite at a time t_n from said orbital parameters; and

(g) using said predicted position of said selected satellite to compute the position of the vehicle without relying on ephemeris data provided by said selected satellite.

5. The method of claim 4, wherein said step of computing orbital parameters comprises performing a best fit curve approximation.

6. A method for determining the position of a satellite in a satellite based navigation system using a receiver having a known position, the method comprising the steps of:

(a) receiving, from the satellite, a first navigation signal at the receiver at a time t₁ ;

(b) computing, from said first navigation signal, a first pseudorange and a first velocity for the satellite;

(c) receiving, from the satellite, a second navigation signal at the receiver at a time t₂ ;

(d) computing, from said second navigation signal, a second pseudorange and a second velocity for the satellite;

(e) receiving, from the satellite, a third navigation signal at the receiver at a time t₃ ;

(f) computing, from said third navigation signal, a third pseudorange and a third velocity for the satellite;

(g) computing orbital parameters for the satellite from said pseudoranges and velocities; and

(h) predicting, from said orbital parameters, the position of the satellite at a time t_n.

7. The method of claim 6, further comprising the step of:

(i) determining an ephemeris indicated position of the satellite from ephemeris data contained in a navigation signal received at time t_n ; and

(ii) comparing said predicted position of the satellite at time t_n with said ephemeris indicated position.

8. A method for determining the position of a satellite in a constellation of such satellites of a satellite based navigation system, the method comprising the steps of:

(a) determining a first receiver position at a time t₁ using the constellation of satellites;

(b) determining a second receiver position at a time t₂ using the constellation of satellites;

(c) determining a third receiver position at a time t₃ using the constellation of satellites;

(d) determining a fourth receiver position at a time t₄ using the constellation of satellites;

(e) determining a fifth receiver position at a time t₅ using the constellation of satellites;

(f) selecting one of said satellites from said constellation;

(g) computing a first mean satellite position for said selected satellite using data from times t₁, t₂, and t₃ ;

(h) computing a second mean satellite position for said selected satellite using data from times t₂, t₃, and t₄ ;

(i) computing a third mean satellite position for said selected satellite using data from times t₃, t₄, and t₅ ;

(j) computing a set of orbital parameters for said selected satellite using said first, second, and third mean satellite positions; and

(k) predicting the position of said selected satellite at a time t_n using said orbital parameters.

9. The method of claim 8, further comprising the step of:

(1) comparing said predicted position of said selected satellite at time t_n with a position indicated by ephemeris data of said selected satellite at time t_n to monitor the integrity of satellite ephemeris data.

10. The method of claim 8, wherein each said step of determining a receiver position comprises the steps of:

(1) receiving a first navigation signal from a first satellite;

(2) computing a first pseudorange and a first satellite position based on said first navigation signal;

(3) receiving a second navigation signal from a second satellite;

(4) computing a second pseudorange and a second satellite position based on said second navigation signal;

(5) receiving a third navigation signal from a third satellite;

(6) computing a third pseudorange and a third satellite position based on said third navigation signal;

(7) computing an estimated receiver position based on said pseudoranges and said satellite positions using a triangulation technique;

(8) refining said estimated receiver position based on bias data from a base station to produce a first refined receiver position; and

(9) refining said first refined receiver position using data from an inertial navigation system associated with the receiver to produce a second refined receiver position.

11. The method of claim 10, wherein each said step of computing a mean satellite position comprises the steps of:

(1) computing a refined pseudorange for said selected satellite at a first time using said second refined receiver position and a position of said selected satellite indicated by ephemeris data;

(2) repeating step (1) of computing for a second time;

(3) repeating step (1) of computing for a third time; and

(4) computing a mean satellite position for said selected satellite for said first, second and third times from said refined pseudoranges and said second refined receiver positions.

12. An apparatus for use with a vehicle for determining the position of the vehicle relative to the center of the Earth using navigation signals from a Global Positioning System (GPS) which includes a plurality of satellites orbiting the Earth, the apparatus comprising:

first means, having a known position, for receiving the navigation signals from the plurality of satellites and for computing a first pseudorange and a velocity for each satellite at a plurality of discrete time intervals;

second means for receiving said first pseudoranges and velocities for said plurality of discrete time intervals for each satellite and for computing orbital parameters for each satellite therefrom, without relying on ephemeris data contained in said navigation signals; and

third means for computing a position of the vehicle based on said orbital parameters.

13. The apparatus of claim 12, wherein said first means comprises a first GPS receiver and a first GPS processor located at a base station.

14. The apparatus of claim 13, wherein said second means comprises a second GPS processor mounted on a vehicle.

15. The apparatus of claim 14, wherein said third means comprises a second GPS receiver coupled to said second GPS processor, said second GPS receiver for receiving the navigation signals from the plurality of satellites, computing a second pseudorange for each satellite, and providing said second pseudoranges to said second GPS processor, said second GPS processor for receiving said second pseudoranges and said orbital parameters and computing an estimated position of the vehicle therefrom.

16. A satellite based navigation system for determining the position of a vehicle relative to the center of the Earth using navigation signals transmitted by a plurality of Earth orbiting satellites, the system comprising:

base station means, having a known position, for receiving the navigation signals from the plurality of satellites, for computing a pseudorange and a velocity for each satellite at a plurality of discrete time intervals, and for computing orbital parameters for each satellite from said pseudoranges and velocities for said plurality of discrete time intervals, without relying on ephemeris data contained in the navigation signals;

data transmitter means, coupled to said base station means, for transmitting said orbital parameters to the vehicle;

data receiver means, coupled to the vehicle, for receiving said orbital parameters from said data transmitter means; and

GPS receiver means, coupled to said data receiver means, for receiving the navigation signals from the plurality of satellites, for computing a pseudorange to each satellite, and for computing the position of the vehicle based on said orbital parameters and said pseudorange for each satellite.

17. An apparatus for use with a vehicle for determining the position of the vehicle relative to the center of the Earth using navigation signals from a Global Positioning System (GPS) which includes a plurality of satellites orbiting the Earth, the apparatus comprising:

first means, mounted on the vehicle, for receiving the navigation signals from the plurality of satellites and for computing the position of said first means based on ephemeris data and pseudoranges computed from the navigation signals; and

second means for monitoring the integrity of said ephemeris data for each satellite and for determining if any of the ephemeris data is corrupt, said second means including

means for determining, for each satellite, a plurality of mean satellite positions from the navigation signals,

means for computing orbital parameters for each satellite from said plurality of mean satellite positions,

means for predicting a position of each satellite from said orbital parameters, and

means for comparing, for each satellite an ephemeris indicated satellite position to said predicted position.

18. The apparatus of claim 17, further comprising:

third means for using said predicted position of a satellite to compensate for any corrupt ephemeris data when computing the position of said first means.

19. The apparatus of claim 18, wherein said first means comprises a GPS receiver and a GPS processor.