Method and system for a differential global navigation satellite system aircraft landing ground station

• US 6,023,239 A
• Filed: 10/08/1997
• Issued: 02/08/2000
• Est. Priority Date: 10/08/1997
• Status: Expired due to Term

• Current Assignee: ARINC Incorporated (Raytheon Technologies Corporation d/b/a RTX)
• Original Assignee: ARINC Incorporated (Raytheon Technologies Corporation d/b/a RTX)
• Inventors: Kovach, Karl L.
• Primary Examiner(s): Blum, Theodore M.
• Application Number:
  US08/947,390
• Time in Patent Office: 853 Days
• Field of Search: 342/357, 342/357.06, 342/357.12, 701/215
• US Class Current: 342/357.44
• CPC Class Codes: G01S 19/07 providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
• CPC Class Codes: G01S 19/15 Aircraft landing systems
• CPC Class Codes: G01S 19/20 Integrity monitoring, fault detection or fault isolation of space segment
• CPC Class Codes: G01S 5/009 Transmission of differential positioning data to mobile

Abstract

A differential GNSS ground station is disclosed which generates and broadcasts highly veracious GNSS satellite differential correction data suitable for use in the landing of aircraft. In this context, "veracious` includes the qualities of both accuracy and integrity wherein the broadcast differential correction data is corrupted by a lower level of errors than is customary for the current state of the art and the broadcast differential correction data includes reliable estimates of the noise errors and bias errors corrupting the differential corrections for each GNSS satellite signal. The ground station comprises at least two independent GNSS satellite signal receivers, a processing apparatus for collecting and processing information from the at least two independent GNSS receivers, and a transmitter for broadcasting the composite DGNSS correction signals over a distance.

Claims

1. A ground station for providing DGNSS correction signals, the ground station comprising:

at least two independent GNSS satellite signal receivers each with a separate antenna that receives signals from GNSS satellites;

a first processing apparatus that collects and processes information from the at least two independent GNSS receivers, wherein the first processing apparatus fuses DGNSS correction data derived from the at least two independent GNSS receivers to generate combined DGNSS correction messages and the first processing apparatus is functional with two independent GNSS satellite signal receivers, the first processing apparatus including a means for determining GNSS satellite-specific measurement noise errors which are included in the DGNSS correction data derived from the at least two independent GNSS receivers;

a transmitter that broadcasts the combined DGNSS correction messages and other DGNSS information as a composite DGNSS correction signal to GNSS receiving equipment; and

means for generating differential corrections from the signals received by each of the at least two independent GNSS satellite signal receivers, wherein the means for generating differential corrections comprises;

means for computing an expected PR measurement for a GNSS satellite signal from a particular GNSS satellite at a given time based on the particular GNSS satellite'"'"'s demodulated NAV data, the particular GNSS satellite receiver'"'"'s antenna coordinates, and an estimate of the particular GNSS satellite receiver'"'"'s measurement clock time;

means for computing a PRc by subtracting an actual PR measurement from the expected PR measurement;

means for computing an expected PR measurement for a GNSS satellite signal from a particular GNSS satellite at a given time based on the particular GNSS satellite'"'"'s demodulated NAV data, the particular GNSS satellite'"'"'s receiver'"'"'s antenna coordinates, and an estimate of the particular GNSS satellite receiver'"'"'s measurement clock rate; and

means for computing a PRc by subtracting an actual PR measurement from the expected PR measurement.

3. The ground station according to claim 1, further comprising means for synchronizing reception of data for the at least two independent GNSS receivers.

4. The ground station according to claim 3, wherein the means for synchronizing the reception of data comprises:

means for comparing reference times for information collection and processing from the at least two independent GNSS receivers against a desired reference time for the intended-for-broadcast plurality of DGNSS corrections; and

means for mathematically adjusting the information and reference times from the at least two independent GNSS receivers to equal the desired reference time for the intended-for-broadcast plurality of DGNSS corrections.

5. The ground station according to claim 3, further comprising means for adjusting the DGNSS correction data from one or more of the at least two independent GNSS receivers to account for a relative measurement clock bias between the at least two independent GNSS receivers.

6. The ground station according to claim 5, wherein the means for adjusting the DGNSS corrections data comprises:

means for optimally estimating the relative measurement clock bias between the at least two independent GNSS receivers;

means for ensuring that the optimally estimated relative measurement clock bias has not been corrupted by faulty measurements made by the at least two independent GNSS receivers;

means for detecting any faulty measurements made by the at least two independent GNSS receivers;

means for selecting the DGNSS correction data from one of the at least two independent GNSS receivers to serve as a nominal measurement clock, the nominal measurement clock excluding any detected faulty measurements; and

means for mathematically adjusting the DGNSS correction data from the one of the at least two independent GNSS receivers not selected to serve as the nominal measurement clock to account for the optimally estimated relative measurement clock bias to bring the apparent GNSS time clock in the one of the at least two independent GNSS receivers not selected to serve as the nominal measurement clock into effective alignment with the apparent GNSS time clock in the one of the at least two independent GNSS receivers selected to serve as the nominal measurement clock.

7. The ground station according to claim 3, further comprising means for optimally fusing the DGNSS correction data for each satellite from the plurality of satellites being tracked and observed by the at least two independent GNSS receivers.

8. The ground station according to claim 7, wherein the means for optimally fusing the DGNSS correction data comprises:

means for detecting the presence of unequal high-frequency noise errors affecting the DGNSS correction data for each particular satellite from each particular GNSS receiver;

means for detecting the presence of persistent bias differences between the DGNSS correction data for each particular satellite from each particular GNSS receiver;

means for permitting the optional incorporation of a fictitious noise term to cause more pessimistic fused error estimates; and

means to accurately estimate random noise errors and non-random bias errors present in the optimally fused DGNSS correction data for each particular satellite.

9. The ground station according to claim 3, further comprising:

means for generating combined DGNSS correction messages, wherein each DGNSS correction message contains appropriately translated, scaled, and formulated fused DGNSS correction data and accurate DGNSS correction noise error and DGNSS correction bias error estimates for each satellite for the plurality of satellites being tracked and observed by the at least two independent GNSS receivers.

10. The ground station according to claim 3, further comprising a second processing apparatus that duplicates the processing of the first processing apparatus.

11. The ground station according to claim 10, further comprising:

a pre-broadcast integrity verification means, wherein the pre-broadcast integrity verification means comprises means for obtaining an intended-for-broadcast integrated message stream containing combined DGNSS correction messages and related other system messages output by the first processing apparatus and obtaining a corresponding integrated message stream containing combined DGNSS correction messages and related other system messages output by the second processing apparatus;

means for comparing the integrated message stream messages from the first processing apparatus against the corresponding integrated message stream messages from the second processing apparatus;

means for alerting an operator if the integrated message stream messages from the first processing apparatus and the corresponding integrated message stream messages from the second processing apparatus are unequal; and

means for preventing the delivery of the intended-for-broadcast integrated message stream to the transmitter if the integrated message stream messages from the first processing apparatus and the corresponding integrated message stream from the second processing apparatus are unequal.

12. The ground station according to claim 3, further comprising a data link receiver.

13. The ground station according to claim 12, further comprising a post-broadcast integrity verification means, the post-broadcast integrity verification means comprising:

means for obtaining an intended-for-broadcast integrated message stream containing combined DGNSS correction messages and related other system messages output by the processing apparatus;

means for receiving and digitally decoding a broadcast DGNSS correction signal so as to recover a broadcast integrated message stream containing combined DGNSS correction messages and related other system messages;

means for comparing the intended-for-broadcast integrated message stream messages against the corresponding recovered broadcast integrated message stream messages;

means for alerting an operator if the intended-for-broadcast messages and the corresponding broadcast messages are unequal; and

means for ceasing transmission from the transmitter if the intended-for-broadcast messages and the corresponding broadcast messages are unequal.

14. The ground station according to claim 3, wherein the plurality of GNSS satellites comprises a constellation of a mixture of one or more of GPS satellites, GLONASS satellites, and CRA satellites.

15. The ground station according to claim 3, wherein wide area differential GNSS (WADGNSS) correction data provided by a GNSS augmentation service is utilized in lieu of signal tracking observations from one or more of the at least two independent GNSS satellite signal receivers.

16. The ground station according to claim 15, further comprising:

one or more receivers for accessing and demodulating the WADGNSS correction data from one or more independent GNSS augmentation services; and

means for mathematically evaluating recovered WADGNSS correction data, including modeling tropospheric aberration, with respect to a hypothetical location near the at least two independent GNSS satellite signal receivers'"'"' antennas for a given time to derive synthetic PRc and RRc values.

2. A ground station for providing DGNSS correction signals, the ground station comprising:

at least two independent GNSS satellite signal receivers each with a separate antenna that receive signals from GNSS satellites;

a first processing apparatus that collects and processes information from the at least two independent GNSS receivers, wherein the first processing apparatus fuses DGNSS correction data derived from the at least two independent GNSS receivers to generate combined DGNSS correction messages and the first processing apparatus is functional with two independent GNSS satellite signal receivers, the first processing apparatus including a means for determining GNSS satellite-specific measurement noise errors which are included in the DGNSS correction data derived from the at least two independent GNSS receivers; and

a transmitter that broadcasts the combined DGNSS correction messages and other DGNSS information as a composite DGNSS correction signal to GNSS receiving equipment, wherein the means for determining GNSS satellite-specific measurement noise errors comprises;

means for computing a synthetic measurement, wherein the synthetic measurement occurs at a given time within a time window, the time window being measured by two end-points, and wherein the given time corresponds to a time when an actual intervening measurement occurs;

means for comparing the synthetic measurement against the actual intervening measurement at the given time; and

means for computing a noise corrupting value based on a sequence of comparisons between the synthetic measurements and the actual intervening measurements.

17. A method for providing DGNSS correction signals, comnprising:

receiving signals from GNSS satellites using at least two independent GNSS satellite signal receivers each with a separate antennae;

collecting and processing information from the at least two independent GNSS receivers including determining GNSS satellite-specific measurement noise errors, wherein a processing apparatus fuses DGNSS correction data, including the GNSS satellite-specific measurement noise errors, derived from the at least two independent GNSS receivers to generate combined DGNSS correction messages, the processing apparatus being functional with two independent GNSS satellite signal receivers;

broadcasting the combined DGNSS correction messages along with other DGNSS information as a composite DGNSS correction signal to GNSS receivino equipment; and

determining GNSS satellite-specific measurement noise errors;

generating differential corrections from the signals received by each of the at least two independent GNSS satellite sigmal receivers, wherein generating differential corrections comprises the steps of;

computing an expected PR measurement for a GNSS satellite signal from a particular GNSS satellite at a given time based on the particular GNSS satellite'"'"'s demodulated NAV data, the particular GNSS satellite receiver'"'"'s antenna coordinates, and an estimate of the particular GNSS satellite receiver'"'"'s measurement clock time;

computing a PRc by subtracting an actual PR measurement from the expected PR measurement;

computing an expected PR measurement for a GNSS satellite signal from a particular GNSS satellite at a given time based on the particular GNSS satellite'"'"'s demodulated NAV data, the particular GNSS satellite'"'"'s receiver'"'"'s antenna coordinates, and an estimate of the particular GNSS satellite receiver'"'"'s measurement clock rate; and

computing a PRc by subtracting an actual PR measurement from the expected PR measurement.

19. The method according to claim 17, further comprising the step of synchronizing reception of data for the at least two independent GNSS receivers.

20. The method according to claim 19, wherein synchronizing the reception of data comprises the steps of:

comparing reference times for information collection and processing from the at least two independent GNSS receivers against a desired reference time for the intended-for-broadcast plurality of DGNSS corrections; and

mathematically adjusting the information and reference times from the at least two independent GNSS receivers to equal the desired reference time for the intended-for-broadcast plurality of DGNSS corrections.

21. The method according to claim 17, further comprising the step of adjusting the DGNSS correction data from one or more of the at least two independent GNSS receivers to account for a relative measurement clock bias between the at least two independent GNSS receivers.

22. The method according to claim 21, wherein adjusting the DGNSS corrections data comprises the steps of:

optimally estimating the relative measurement clock bias between the at least two independent GNSS receivers;

ensuring that the optimally estimated relative measurement clock bias has not been corrupted by faulty measurements made by the at least two independent GNSS receivers;

detecting any faulty measurements made by the at least two independent GNSS receivers;

selecting the DGNSS correction data from one of the at least two independent GNSS receivers to serve as a nominal measurement clock, the nominal measurement clock excluding any detected faulty measurements; and

mathematically adjusting the DGNSS correction data from the one of the at least two independent GNSS receivers not selected to serve as the nominal measurement clock to account for the optimally estimated relative measurement clock bias to bring the apparent GNSS time clock in the one of the at least two independent GNSS receivers not selected to serve as the nominal measurement clock into effective alignment with the apparent GNSS time clock in the one of the at least two independent GNSS receivers selected to serve as the nominal measurement clock.

23. The method according to claim 22, further comprising the step of optimally fusing the DGNSS correction data for each satellite from the plurality of satellites being tracked and observed by the at least two independent GNSS receivers.

24. The method according to claim 23, wherein optimally fusing the DGNSS correction data comprises the steps of:

detecting the presence of unequal high-frequency noise errors affecting the DGNSS correction data for each particular satellite from each particular GNSS receiver;

detecting the presence of persistent bias differences between the DGNSS correction data for each particular satellite from each particular GNSS receiver;

permitting the optional incorporation of a fictitious noise term to cause more pessimistic fused error estimates; and

estimating accurate random noise errors and non-random bias errors present in the optimally fused DGNSS cor each particular satellite.

18. A method for providing DGNSS correction signals, comprising:

receiving signals from GNSS satellites using at least two independent GNSS satellite signal receivers each with a separate antennae;

collecting and processing information from the at least two independent GNSS receivers including determining GNSS satellite-specific measurement noise errors, wherein a processing apparatus fuses DGNSS correction data, including the GNSS satellite-specific measurement noise errors, derived from the at least two independent GNSS receivers to generate combined DGNSS correction messages, the processing agpparatus being functional with two independent GNSS satellite signal receivers;

determining GNSS satellite-specific measurement noise errors; and

broadcasting the combined DGNSS correction messages along with other DGNSS information as a composite DGNSS correction signal to GNSS receiving equipment, wherein determining GNSS satellite-specific measurement noise errors comprises the steps of;

computing a synthetic measurement, wherein the synthetic measurement occurs at a given time within a time window, the time window being measured by two end-points, and wherein the given time corresponds to a time when an actual intervening measurement occurs;

comparing the synthetic measurement against the actual intervening measurement at the given time; and

computing a noise corrupting value based on a sequence of comparisons between the synthetic measurements and the actual intervening measurements.