Removal of signal errors for differential satellite positioning systems

• US 5,450,448 A
• Filed: 04/30/1993
• Issued: 09/12/1995
• Est. Priority Date: 04/30/1993
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Sheynblat, Len
• Primary Examiner(s): Chin, Stephen
• Assistant Examiner(s): Webster, Bryan E.
• Application Number:
  US08/055,535
• Time in Patent Office: 865 Days
• Field of Search: 375/99, 342/357, 342/358, 342/356, 364/443, 364/444, 364/449, 364/549, 455/12.1, 455/13.1, 370/104.1
• US Class Current: 375/346
• CPC Class Codes: G01S 19/071 DGPS corrections
• CPC Class Codes: G01S 19/22 Multipath-related issues
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]

Abstract

Method and apparatus for reducing the contributions of receiver noise signal error and multipath signal error from signals received in a Satellite Positioning System (SATPS) from one or more SATPS satellites by formation and appropriate filtering of differences of signals DD that are differences of SATPS signals received by the SATPS receiver/processor. A difference signal DD of code-phase-derived delta range signals and carder-phase-derived delta range signals is formed, and this difference signal is passed through a first statistical processing filter with an associated time constant τ1 in the approximate range 50-500 sec, to produce smoothed or filtered signal with the estimated receiver noise error reduced or removed. The difference signal DD is passed through second and third statistical processing filters having associated time constants τ2=5-20 sec and τ3=50-500 sec, and the difference of the output signals of the second and third statistical processing filters is formed and subtracted from DD to form a new difference signal. This new difference signal is passed through a fourth statistical processing filter with an associated time constant τ4=50-500 sec, to produce a smoothed or filtered signal with the estimated multipath signal error and estimated receiver noise error reduced or removed.

Claims

1. A method for reducing the contributions of receiver noise signal error and multipath signal error from signals received in a Satellite Positioning System (SATPS) from one or more SATPS satellites, the method comprising the steps of:

providing one or more SATPS satellites, numbered j=1, 2, . . . , each of which broadcasts SATPS signals including indicia that are specific to that satellite;

providing one or more SATPS stations, numbered i=1, 2, . . . , each SATPS station including an SATPS signal antenna and associated SATPS signal receiver/processor, whose location coordinates are accurately known, that receives from SATPS satellite number j and processes the SATPS signals as pseudorange signals PR_i,j (t) and as carrier phase signals Φ

_i,j (t) that vary with time t, for a sequence of selected signal sampling times {t_n }_n ;

for a selected time t₀ and a subsequent sampling time t_n, forming a difference signal DD_i,j (t_n ;

t₀)=PR_i,j (t_n)-PR_i,j (t₀)-[Φ

_i,j (t_n)-Φ

_i,j (t₀)];

forming a difference signal DD_i,j (t_n ;

t_n-1)=PR_i,j (t_n)-PR_i,j (t_n-1)-[Φ

_i,j (t_n)-Φ

_i,j (t_n-1)];

passing the signal DD_i,j (t_n ;

t_n-1) through a first statistical processing filter having a first selected filter time constant τ

1 that lies in the range 50-500 sec, to produce a first output signal DD1_i,j (t_n ;

t_n-1);

passing the signal DD_i,j (t_n ;

t₀) through a second statistical processing filter having a second selected filter time constant τ

2 that lies in the range 5-20 sec, to produce a second output signal DD2_i,j (t_n ;

t₀);

passing the signal DD_i,j (t_n ;

t₀) through a third statistical processing filter having a third selected filter time constant τ

3 that lies in the range 50-500 sec to produce a third output signal DD3_i,j (t_n ;

t₀);

forming a difference signal DD4_i,j (t_n ;

t₀)=DD3_i,j (t_n ;

t₀)-DD2_i,j (t_n ;

t₀) as a fourth output signal;

forming a difference signal DD5_i,j (t_n ;

t₀)=DD_i,j (t_n ;

t₀)-DD4_i,j (t_n ;

t₀) as a fifth output signal;

passing the fifth output signal DD5_i,j (t_n ;

t₀) through a fourth statistical processing filter having a fourth selected filter time constant τ

4 that lies in the range 50-500 sec, to produce a sixth output signal DD6_i,j (t_n ;

t₀);

identifying the output signal DD1_i,j (t_n ;

t₀) with an SATPS signal with SATPS receiver noise error reduced or removed; and

identifying the output signal DD6_i,j (t_n ;

t₀) with an SATPS signal with SATPS multipath signal error and receiver noise error reduced or removed.

2. The method of claim 1, further comprising the step of choosing at least one of said first, second, third and fourth statistical processing filters from the group consisting of Morrison filters, Hatch filters and Kalman filters.

3. The method of claim 1, further comprising the step of choosing at least one of said first, second, third and fourth statistical processing filters to be a positive, monotonic, finite width filter.

4. The method of claim 1, further comprising the step of forming a signal (DD_i,j (t_n ;

t_n-1))² and passing this signal through a fifth statistical processing filter having a fifth selected filter time constant τ

5 that lies in the range 50-500 sec, to produce a seventh output signal DD7_i,j (t_n ;

t_n-1).

5. The method of claim 4, further comprising the steps of:

forming a signal (DD5_i,j (t_n ;

t₀))² ; and

forming a combined signal [DD7_i,j (t<sub>n;

tn-1</sub>)+(DD5_i,j (t_n ;

t₀))² ]^1/2 and identifying this combined signal with a User Differential Range Error signal.

6. The method of claim 4, further comprising the step of choosing said fifth statistical processing filter from the group consisting of Morrison filters, Hatch filters and Kalman filters.

7. The method of claim 4, further comprising the step of choosing said fifth statistical processing filter to be a positive, monotonic, finite width filter.

8. The method of claim 1, further comprising the step of forming a signal (DD5_i,j (t_n ;

t₀))² and passing this signal through a fifth statistical processing filter having a fifth selected filter time constant τ

7 that lies in the range 50-500 sec, to produce an seventh output signal DD9_i,j (t_n ;

t₀);

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

forming a signal (DD5_i,j (t_n ;

t₀))² ; and

forming a combined signal [DD9_i,j (t_n ;

t₀)+(DD5_i,j (t_n ;

t₀))² ]^1/2 and identifying this combined signal with a User Differential Range Error signal.

10. The method of claim 8, further comprising the step of choosing said fifth statistical processing filter from the group consisting of Morrison filters, Hatch filters and Kalman filters.

11. The method of claim 8, further comprising the step of choosing said fifth statistical processing filter to be a positive, monotonic, finite width filter.

12. The method of claim 1, further comprising the steps of:

forming a signal (DD4_i,j (t_n ;

t₀))² and passing this signal through a fifth statistical processing filter having a fifth selected filter time constant τ

6 that lies in the range 50-500 sec, to produce an output signal DD8_i,j (t_n ;

t₀); and

identifying the output signal DD8_i,j (t_n ;

t₀) with a User Differential Range Error signal.

13. The method of claim 12, further comprising the step of choosing said fifth statistical processing filter from the group consisting of Morrison filters, Hatch filters and Kalman filters.

14. The method of claim 12, further comprising the step of choosing said fifth statistical processing filter to be a positive, monotonic, finite width filter

15. The method of claim 1, further comprising the step of choosing said time constant τ

1 to be approximately equal to 100 sec.

16. The method of claim 1, further comprising the step of choosing said time constant τ

2 to be approximately equal to 6 sec.

17. The method of claim 1, further comprising the step of choosing said time constant τ

3 to be approximately equal to 300 sec.

18. A method for reducing the contributions of receiver noise signal error and multipath signal error from signals received in a Satellite Positioning System (SATPS) from one or more SATPS satellites, the method comprising the steps of:

providing one or more SATPS satellites, numbered j=1, 2, . . . , each of which broadcasts SATPS signals including indicia that are specific to that satellite;

providing one or more SATPS stations, numbered i=1, 2, . . . , each SATPS station including an SATPS signal antenna and associated SATPS signal receiver/processor, whose location coordinates are accurately known, that receives from SATPS satellite number j and processes the SATPS signals as pseudorange signals PR_i,j (t) and as carrier phase signals Φ

_i,j (t) that vary with time t, for a sequence of selected signal sampling times {t_n }_n ;

for a selected time t₀ and a subsequent sampling time t_n, forming a difference signal DD_i,j (t_n ;

t₀)=PR_i,j (t_n)-PR_i,j (t₀)-[Φ

_i,j (t_n)-Φ

_i,j (t₀)];

forming a difference signal DD_i,j (t_n ;

t_n-1)=PR_i,j (t_n)-PR_i,j (t_n-1)-[Φ

_i,j (t_n)-Φ

_i,j (t_n-1)];

passing the signal DD_i,j (t_n ;

t_n-1) through a first statistical processing filter having a first selected filter time constant τ

1 that lies in the range 50-500 sec, to produce a first output signal DD1_i,j (t_n ;

t_n-1);

passing the signal DD_i,j (t_n ;

t₀) through a second statistical processing filter having a second selected filter time constant τ

2 that lies in the range 5-20 sec, to produce a second output signal DD2_i,j (t_n ;

t₀);

forming a difference signal DD5_i,j (t_n ;

t₀)=DD_i,j (t_n ;

t₀)-DD2_i,j (t_n ;

t₀) as a fifth output signal;

passing the output signal DD5_i,j (t_n ;

t₀) through a third statistical processing filter having a third selected filter time constant τ

4 that lies in the range 50-500 sec, to produce an output signal DD6_i,j (t_n ;

t₀);

identifying the output signal DD1_i,j (t_n ;

t₀) with an SATPS signal with SATPS receiver noise error reduced or removed; and

identifying the output signal DD6_i,j (t_n ;

t₀) with an SATPS signal with SATPS multipath signal error and receiver noise error reduced or removed.

19. A method for reducing the contributions of receiver noise signal error and multipath signal error from signals received in a Satellite Positioning System (SATPS) from one or more SATPS satellites, the method comprising the steps of:

providing one or more SATPS satellites, numbered j=1, 2, . . . , each of which broadcasts SATPS signals including indicia that are specific to that satellite;

providing one or more SATPS stations, numbered i=1, 2, . . . , each SATPS station including an SATPS signal antenna and associated SATPS signal receiver/processor, whose location coordinates are accurately known, that receives from SATPS satellite number j and processes the SATPS signals as pseudorange signals PR_i,j (t) and as carrier phase signals Φ

_i,j (t) that vary with time t, for a sequence of selected signal sampling times {t_n }_n ;

for a selected time t₀ and a subsequent sampling time t_n, forming a difference signal DD_i,j (t_n ;

t₀)=PR_i,j (t_n)-PR_i,j (t₀)-[Φ

_i,j (t_n)-Φ

_i,j (t₀)];

forming a difference signal DD_i,j (t_n ;

t_n-1)=PR_i,j (t_n)-PR_i,j (t_n-1)-[Φ

_i,j (t_n)-Φ

_i,j (t_n-1)];

passing the signal DD_i,j (t_n ;

t_n-1) through a first statistical processing filter having a first selected filter time constant τ

1 that lies in the range 50-500 sec, to produce a first output signal DD1_i,j (t_n ;

t_n-1);

passing the signal DD_i,j (t_n ;

t₀) through a notch filter having a selected filter time constant f_C =1/τ

_C that lies in the range 0.002-0.02 Hz to produce a third output signal DD3_i,j (t_n ;

t₀);

forming a difference signal DD5_i,j (t_n ;

t₀)=DD_i,j (t_n ;

t₀)-DD3_i,j (t_n ;

t₀) as an output signal;

passing the fifth output signal DD5_i,j (t_n ;

t₀) through a fourth statistical processing filter having a fourth selected filter time constant τ

4 that lies in the range 50-500 sec, to produce an output signal DD6_i,j (t_n ;

t₀);

identifying the output signal DD1_i,j (t_n ;

t₀) with an SATPS signal with SATPS receiver noise error reduced or removed; and

identifying the output signal DD6_i,j (t_n ;

t₀) with an SATPS signal with SATPS multipath signal error and receiver noise error reduced or removed.