Local-area augmentation system for satellite navigation precision-approach system

• US 5,786,773 A
• Filed: 10/02/1996
• Issued: 07/28/1998
• Est. Priority Date: 10/02/1996
• Status: Expired due to Term

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Murphy, Timothy Allen
• Primary Examiner(s): Mullen, Thomas
• Assistant Examiner(s): TONG, NINA C
• Application Number:
  US08/720,715
• Time in Patent Office: 664 Days
• Field of Search: 340/947, 340/948, 340/951, 340/979, 342/357, 342/352, 342/353, 342/358, 342/356, 342/386, 342/33, 342/450, 342/455, 342/456, 342/453, 364/424.06, 364/428, 364/429, 364/449.7, 364/439, 364/460, 364/461, 364/462
• US Class Current: 340/947
• CPC Class Codes: G01S 19/071 DGPS corrections
• CPC Class Codes: G01S 19/11 wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
• CPC Class Codes: G01S 19/15 Aircraft landing systems
• CPC Class Codes: G08G 5/0013 with a ground station
• CPC Class Codes: G08G 5/025 Navigation or guidance aids radar or analogous systems specially adapted for landing purposes G01S13/913

Abstract

An aircraft local-area augmentation system that employs a differential global positioning system (GPS) to assist aircraft (102) landing is disclosed. One or more GPS ground stations (120), each including at least two GPS receivers (122) and a datalink transmitter (126), calculate and transmit GPS correction data to an aircraft (102). An aircraft (102) employs a GPS receiver (106) for receiving ranging signals (112) from GPS satellites (108), and a datalink receiver (116) for receiving GPS correction data and other information from a GPS ground station (120). The aircraft (102) further includes a data processor (110) for determining a global position of the aircraft (102) as a function of the aircraft GPS pseudorange data and the GPS correction data. The system minimizes the introduction of non-common errors by the use of double-differencing calculations using multiple combinations of satellite (108) and GPS ground station receiver (122). The system further comprises a method of transmitting a digital signature (626) from a GPS ground station (120) to an aircraft (102), in order to authenticate transmitted messages, thereby detecting spoofing. Messages transmitted from a GPS ground station (120) on a datalink (128) include an almanac message (930), providing data useful for locating other GPS ground stations (120), and a NOTAM message (940), providing satellite (108) status information. The airborne datalink receiver (116) includes an autonomous scanning mode that scans available datalink frequencies and time slots, searching for datalink signals (128). One or more optional pseudolite stations (130) employing a spread spectrum code sequence improve the accuracy and reliability of the system. The inclusion of an ILS glideslope frequency (952) in the datalink allows an airborne receiver to operate in a hybrid mode, combining a differential GPS determination of horizontal position with an ILS determination of altitude.

Claims

1. A landing assistance system to provide navigation information to an aircraft, said landing assistance system including:

(a) a plurality of satellites transmitting satellite signals containing satellite data sufficient to determine an approximate range between said aircraft and each satellite; and

(b) at least one GPS ground station positioned at a fixed location on the ground, said GPS ground station including;

(i) a plurality of receivers operative for receiving said satellite signals and determining pseudoranges to said satellites, said plurality of receivers determining at least four pseudoranges, each pseudorange representing an approximate distance between one receiver and one satellite and having a corresponding error representing a deviation between said pseudorange corresponding to one receiver and one satellite and an actual distance between said one receiver and said one satellite associated with said pseudorange;

(ii) at least one data processor operative for determining differential correction information, said differential correction information determined by determining said error corresponding to each said pseudorange, each said error consisting of common mode errors and non-common mode errors, differentiating said common mode errors from said non-common mode errors, and filtering out pseudorange measurements having corresponding non-common mode errors that exceeds a threshold, said differentiation of said common mode errors from said non-common mode errors performed based on a comparison of said each error associated with said four pseudoranges; and

(iii) a datalink transmitter operative for transmitting a datalink signal containing said differential correction information.

2. The landing assistance system of claim 1, wherein said differentiation of said common mode errors from said non-common mode errors associated with said four pseudoranges includes determining a first difference by subtracting a first error from a second error, determining a second difference by subtracting a third error from a fourth error, and determining a double difference by subtracting said first difference from said second difference.

3. The landing assistance system of claim 2, wherein one of said errors represents an error associated with a first receiver and a first satellite, another one of said errors represents an error associated with said first receiver and a second satellite, another one of said errors represents an error associated with a second receiver and said first satellite, and another one of said errors represents an error associated with said second receiver and said second satellite.

4. The landing assistance system of claim 3, wherein said filtering out pseudorange measurements includes determining a plurality of double differences and combining said plurality of double differences in a manner such that the non-common mode error associated with a particular combination of satellite and receiver is unevenly weighted in comparison with the non-common mode errors associated with different combinations.

5. The landing assistance system of claim 1, wherein said GPS ground station'"'"'s data processor produces a digital signature to authenticate said GPS ground station'"'"'s datalink signal containing said differential correction information, and said GPS ground station'"'"'s datalink signal includes said digital signature.

6. The landing assistance system of claim 5, wherein said GPS ground station'"'"'s data processor creates the digital signature by encrypting data.

7. The landing assistance system of claim 6, wherein said GPS ground station'"'"'s data processor encrypts said data in accordance with a public-key cryptosystem, said GPS ground station'"'"'s data processor using a private key to encrypt said data.

8. The landing assistance system of claim 7, wherein said encrypted data includes a digest of data, said digest of data formed from a transformation of data including GPS correction information.

9. The landing assistance system of claim 7, further comprising an aircraft data processor located on said aircraft, wherein said aircraft data processor utilizes a public key to decrypt said data and authenticate said digital signature.

10. The landing assistance system of claim 7, wherein said GPS ground station further comprises a secure database, wherein said secure database comprises:

(a) read-only memory containing data pertaining to said GPS ground station comprising said secure database; and

(b) an application-specific integrated circuit containing said private key.

11. The landing assistance system of claim 1, further comprising a first GPS ground station and a second GPS ground station, wherein said first GPS ground station transmits a datalink signal containing data representative of said second GPS ground station.

12. The landing assistance system of claim 11, wherein said first GPS ground station transmits a datalink signal containing data representative of a datalink signal frequency of said second GPS ground station.

13. The landing assistance system of claim 1, wherein said GPS ground station transmits a datalink signal containing status information representative of a status of at least one satellite.

14. The landing assistance system of claim 13, wherein said status information includes information representative of a time of shutdown of said at least one satellite.

15. The landing assistance system of claim 1, further comprising at least one pseudolite, said pseudolite positioned at a fixed location on the ground and having a transmitter for transmitting ranging signals.

16. The landing assistance system of claim 15, further comprising a first pseudolite and a second pseudolite, said first and second pseudolites positioned at respective fixed locations on the ground, said first pseudolite transmitting signals during a first time slot, said second pseudolite transmitting signals during a second time slot, wherein said first time slot occurs during a different time interval from said second time slot.

17. The landing assistance system of claim 16, including a plurality of pseudolites, said plurality of pseudolites synchronized so that each pseudolite transmits signals during a corresponding time slot, said each pseudolite having a unique corresponding time slot.

18. The landing assistance system of claim 15, wherein said pseudolite transmits signals using a spread spectrum code sequence transmitted with a code rate considerably above the standard GPS code rate.

19. The landing assistance system of claim 15, wherein said pseudolite transmits signals using a spread spectrum code sequence transmitted with a code rate of at least approximately 10.23 MHz.

20. The landing assistance system of claim 1, further comprising an aircraft receiver operative for receiving datalink signals transmitted from the GPS ground station, said aircraft receiver located on said aircraft, wherein said aircraft receiver scans a plurality of frequencies in order to locate a datalink signal transmitted from the GPS ground station.

21. The landing assistance system of claim 20, wherein said aircraft receiver scans a plurality of time slots in order to locate a datalink signal from the GPS ground station.

22. The landing assistance system of claim 1, wherein said GPS ground station transmits a datalink signal containing the frequency of an instrument landing system glideslope.

23. In a differential global positioning system comprising a plurality of satellites transmitting ranging signals, at least one GPS ground station having multiple receivers for receiving said ranging signals, at least one transmitter operative for transmitting datalink signals, and a data processor operative for determining differential correction information, said differential correction information determined by determining an error corresponding to each pseudorange, each said error consisting of common mode errors and non-common mode errors, an aircraft having a receiver operative for receiving said datalink signals, an improvement comprising filtering out pseudorange measurements having corresponding non-common mode errors that exceeds a threshold, differentiating the common mode errors from the non-common mode errors is based on a comparison of said each error associated with four pseudoranges, said comparison including determining a first difference by subtracting a first error from a second error, determining a second difference by subtracting a third error from a fourth error, and determining a double difference by subtracting said first difference from said second difference.

24. The system of claim 23, wherein said filtering out pseudorange measurements includes determining a plurality of double differences and combining said plurality of double differences in a manner such that the non-common mode error associated with a particular combination of satellite and receiver is unevenly weighted in comparison with the non-common mode errors associated with different combinations.

25. The system of claim 23, wherein said GPS ground station'"'"'s data processor creates a digital signature by encrypting data in accordance with a public-key cryptosystem, said GPS ground station'"'"'s data processor using a private key to encrypt said data.

26. The improvement of claim 25, wherein said GPS ground station further comprises a secure database, and wherein said secure database comprises:

(a) read-only memory containing data pertaining to said GPS ground station comprising said secure database; and

(b) an application-specific integrated circuit containing said private key.

27. A method of automatically providing navigational assistance data including differential correction data, for use in a differential global positioning system employing multiple GPS satellites and at least one GPS ground station having multiple receivers, to an aircraft, the method comprising:

(a) receiving ranging signals from at least two GPS satellites, including a first GPS satellite and a second GPS satellite, said ranging signals received at a plurality of receivers, including a first receiver and a second receiver;

(b) determining, in accordance with said ranging signals, at least four unique pseudoranges between said GPS satellites and said receivers;

(c) determining, in accordance with said at least four pseudoranges and a known location of said receivers, an error corresponding to each of said pseudoranges, said error consisting of common mode errors and non-common mode errors;

(d) determining a first difference by subtracting a first error from a second error, determining a second difference by subtracting a third error from a fourth error, and determining a double difference by subtracting said first difference from said second difference, said double difference substantially consisting of non-common mode errors;

(e) combining a plurality of double differences in a manner such that the non-common mode errors associated with a particular combination of satellite and receiver are unevenly weighted in comparison with the non-common mode errors associated with different combinations of satellite and receiver;

(f) filtering out pseudoranges comprising non-common mode errors that vary from an expected value by a predetermined acceptable variation from said expected value;

(g) determining differential correction data based on pseudoranges that remain after said filtering out pseudoranges comprising said non-common mode errors that vary from said expected value by the predetermined acceptable variation from said expected value; and

(h) transmitting a datalink signal containing said differential correction data.

28. The method of claim 27, wherein one of said errors represents an error associated with a pseudorange between said first receiver and said first satellite, another one of said errors represents an error associated with a pseudorange between said first receiver and said second satellite, another one of said errors represents an error associated with a pseudorange between said second receiver and said first satellite, and another one of said errors represents an error associated with a pseudorange between said second receiver and said second satellite.

29. The method of claim 28, further comprising producing a digital signature to authenticate said datalink signal containing differential correction information, and wherein said datalink signal contains said digital signature.

30. The method of claim 29, further comprising producing the digital signature by encrypting data in accordance with a public key cryptosystem, wherein said digital signature is produced by using a private key to encrypt said data.

31. The method of claim 30, further comprising:

producing a digest of data formed from a transformation of data including GPS correction information; and

encrypting said digest of data using said private key to form said digital signature.

32. The method of claim 30, wherein said GPS ground station includes an application-specific integrated circuit containing said private key, and said method further includes encrypting data within said application-specific integrated circuit.

33. The method of claim 27, further comprising transmitting a datalink signal containing data representative of a datalink signal corresponding to a second GPS ground station.

34. The method of claim 27, further comprising transmitting a datalink signal containing data representative of a time of shutdown of at least one of said GPS satellites.

35. The method of claim 27, wherein said at least two satellites includes a third satellite, said multiple receivers comprises at least three receivers, and said at least four pseudoranges comprises at least nine pseudoranges.

36. The method of claim 27, further comprising transmitting a datalink signal containing data representative of a signal frequency of an instrument landing system glideslope.

37. The method of claim 36, wherein the aircraft employs an instrument landing system to determine the aircraft'"'"'s altitude.