Global positioning system satellite selection method

• US 6,278,404 B1
• Filed: 07/07/1999
• Issued: 08/21/2001
• Est. Priority Date: 07/08/1998
• Status: Expired due to Fees

• Current Assignee: United States Government as Represented By the Administrator of the Aeronautics and Space Administration
• Original Assignee: United States Administrator of National Aeronautics and Space Administration
• Inventors: Niles, Frederick A.
• Primary Examiner(s): Issing, Gregory C.
• Application Number:
  US09/348,875
• Time in Patent Office: 776 Days
• Field of Search: 342/359, 342/357.15, 342/357.11, 342/354
• US Class Current: 342/359
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/28 Satellite selection
• CPC Class Codes: G01S 19/36 relating to the receiver frond end
• CPC Class Codes: G01S 19/37 Hardware or software details of the signal processing chain
• CPC Class Codes: G01S 19/426 by combining or switching between position solutions or signals derived from different modes of operation in a single system
• CPC Class Codes: G01S 19/53 Determining attitude

Abstract

The satellite selection method as utilized by the spaceborne Global Positioning System receiver provides navigational solutions and is designed for use in low Earth orbit. The satellite selection method is a robust algorithm that can be used a GPS receiver to select appropriate GPS satellites for use in calculating point solutions or attitude solutions. The method is takes into account the difficulty of finding a particular GPS satellite phase code, especially when the search range in greatly increased due to Doppler shifts introduced into the carrier frequency. The method starts with an update of the antenna pointing and spacecraft vectors to determine the antenna backplane direction. Next, the GPS satellites that will potentially be in view of the antenna are ranked on a list, whereby the list is generated based on the estimated attitude and position of each GPS satellite. Satellites blocked by the Earth are not entered on this list. A second list is created, whereby the GPS satellites are ranked according to their desirability for use in attitude determination. GPS satellites are ranked according to their orthogonality to the antenna backplane, and according to geometric dilution of precision considerations. After the lists are created, the channels of the spaceborne GPS receiver are assigned to various GPS satellites for acquisition and lock. Preliminary Doppler frequencies for searching are assigned to the various channels.

Claims

1. A method for selecting GPS satellites to determine a navigational solution for a spacecraft, the method including:

updating an assumed correct antenna pointing estimate of the spacecraft;

updating an assumed correct position estimate of the spacecraft;

ranking GPS satellites based upon said antenna pointing estimate and said position estimate, wherein the ranking of GPS satellites is for position determinations; and

assigning a GPS receiver channel to a GPS satellite on the basis of said GPS satellite ranking.

2. The method for selection of GPS satellites as set forth in claim 1, wherein updating the antenna pointing estimate further includes determining if spacecraft attitude solutions are available, whereby said spacecraft attitude solution is used for a spacecraft antenna pointing estimate.

3. The method for selection of GPS satellites as set forth in claim 2, wherein updating the antenna pointing estimate further includes calculating an attitude quality rating for said spacecraft attitude solutions.

4. The method for selection of GPS satellites as set forth in claim 3, wherein updating the antenna pointing estimate further includes determining whether any GPS satellites are acquired and being tracked.

5. The method for selection of GPS satellites as set forth in claim 4, wherein updating the antenna pointing estimate when GPS satellites are not currently acquired further includes:

computing a delta quaternion in an anti-nadir orientation, thereby creating a calculated antenna pointing estimate;

calculating an attitude quality factor rating for said calculated antenna pointing estimate; and

selecting either said spacecraft antenna pointing estimate or said calculated antenna pointing estimate, wherein the antenna pointing estimate with the most favorable attitude quality factor rating is selected.

6. The method for selection of GPS satellites as set forth in claim 4, wherein updating the antenna pointing estimate when GPS satellites are currently acquired and being tracked further includes:

computing a pointing vector for each GPS satellite that is currently being tracked, wherein the pointing vector represents the transformation required to point the antenna towards the tracked GPS satellite;

averaging all the computed pointing vectors to create an average pointing vector and computing a delta quaternion therefrom, thereby creating a calculated antenna pointing estimate;

calculating an attitude quality Factor rating for said calculated antenna pointing estimate; and

selecting either said spacecraft antenna pointing estimate or said calculated antenna pointing estimate, wherein the antenna pointing estimate with the most favorable attitude quality factor rating is selected.

7. The method for selection of GPS satellites as set forth in claim 4, wherein updating the antenna pointing estimate when GPS satellites are currently acquired, tracked and cross-locked further includes:

computing a delta quaternion using interferometry, thereby creating a calculated antenna pointing estimate;

calculating an attitude quality factor rating for said calculated antenna pointing estimate; and

selecting either said spacecraft antenna pointing estimate or said calculated antenna pointing estimate, wherein the antenna pointing estimate with the most favorable attitude quality factor rating is selected.

8. The method for selection of GPS satellites as set forth in claim 1, wherein updating the position estimate further includes determining if at least one spacecraft position estimate is available.

9. The method for selection of GPS satellites as set forth in claim 8, wherein updating the position estimate further includes:

assigning a position quality factor to the at least one spacecraft position estimate; and

selecting the spacecraft position estimate with the most favorable position quality factor rating.

10. The method for selection of GPS satellites as set forth in claim 9, wherein updating the position estimate further includes determining a threshold quality factor rating to eliminate GPS satellites blocked by the Earth.

11. The method for selection of GPS satellites as set forth in claim 10, wherein the step of ranking the GPS satellites further includes:

eliminating GPS satellites that are blocked from view by the Earth according to the threshold quality factor rating;

sorting the GPS satellites, wherein the GPS satellites are sorted in canonical order, starting with the GPS satellite that has the smallest angular deviation from the antenna pointing estimate, and continuing to select GPS satellites with increasing angular deviations from the antenna pointing estimate.

12. The method for selection of GPS satellites as set forth in claim 1, wherein ranking GPS satellites for attitude determination, further includes:

selecting, as the first satellite, one of the GPS satellites that has the smallest angle between the antenna pointing estimate and the selected GPS satellite;

selecting, as the second satellite, one of the GPS satellites that is most orthogonal to the first satellite selected and still in view;

selecting, as the third satellite, one of the GPS satellites that has minimal position dilution of precision with the first satellite and the second satellite;

selecting, as the fourth satellite, one of the GPS satellites that has minimal geometric dilution of precision with the first satellite, the second satellite, and the third satellite; and

selecting, as the Nth satellite, one of the GPS satellites that has minimal geometric dilution of precision with the N-1 satellites.

13. The method for selection of GPS satellites as set forth in claim 1, wherein assigning a GPS receiver channel further includes:

acquiring each of the GPS satellites that will be used for attitude determination through each antenna that will be used for attitude determination;

setting GPS receiver channels to idle that were assigned to the GPS satellites that have set behind the Earth;

if not performing an attitude determination, then setting redundant GPS receiver channels to idle that are locked on the identical GPS satellite; and

if performing an attitude determination, then idling redundant GPS receiver channels that are locked on the identical GPS satellite and are using the same antenna.

14. The method for selection of GPS satellites as set forth in claim 13, wherein assigning a GPS receiver channel further includes:

assigning a GPS receiver channel to one of the GPS satellites based upon estimated attitude and position of the GPS satellite;

determining the starting Doppler search frequency for the assigned GPS receiver channel; and

setting a predetermined search pattern for the assigned GPS receiver channel.

15. The method for selection of GPS satellites as set forth in claim 14, wherein setting a predetermined search pattern further includes setting an increasing search pattern, wherein all frequency bands are searched, beginning with the lowest possible frequency band and continuing until the highest possible frequency is reached.

16. The method for selection of GPS satellites as set forth in claim 14, wherein setting a predetermined search pattern further includes setting a decreasing search pattern, wherein all frequency bands are searched, beginning with the highest possible frequency band and continuing until the lowest possible frequency is reached.

17. The method for selection of GPS satellites as set forth in claim 14, wherein setting a predetermined search pattern further includes setting a stagnating search pattern, wherein a single frequency band is repeatedly searched.

18. The method for selection of GPS satellites as set forth in claim 14, wherein assigning a GPS receiver channel further including the calculation of a multiplicity factor for determining the number of GPS receiver channels required for a particular GPS satellite.

19. A programmed computer for selection of GPS satellites to determine a navigational solution for a spacecraft, the programmed computer including:

a memory having a least one region for storing computer executable program code; and

a processor for executing the computer executable program code stored in the memory;

wherein the computer executable program code includes;

a first portion of the executable code responsive to an external stimulus, thereby updating an assumed correct antenna pointing estimate of the spacecraft;

a second portion of the executable code responsive to the external stimulus, thereby updating an assumed correct position estimate of the spacecraft;

a third portion of the executable code responsive to the external stimulus, thereby ranking GPS satellites based upon said antenna pointing estimate and said position estimate, wherein the ranking of GPS satellites is for position determinations; and

a fourth portion of the executable code responsive to the external stimulus, thereby assigning a GPS receiver channel to a GPS satellite on the basis of said GPS satellite ranking.

20. The programmed computer for selection of GPS satellites as set forth in claim 19, wherein the first portion of executable software code for updating the antenna pointing estimate further includes code for determining if spacecraft attitude solutions are available, whereby said spacecraft attitude solution is used for a spacecraft antenna pointing estimate.

21. The programmed computer for selection of GPS satellites as set forth in claim 20, wherein said first portion of executable software code for updating the antenna pointing estimate further includes code for calculating an attitude quality rating for said spacecraft attitude solutions.

22. The programmed computer for selection of GPS satellites as set forth in claim 21, wherein said first portion of executable software code for updating the antenna pointing estimate further includes code for determining whether any GPS satellites are acquired and being tracked.

23. The programmed computer for selection of GPS satellites as set forth in claim 22, said first portion of executable software code for updating the antenna pointing estimate when no GPS satellites are being tracked further includes code for:

computing a delta quaternion in an anti-nadir orientation, thereby creating a calculated antenna pointing estimate;

calculating an attitude quality factor rating for said calculated antenna pointing estimate; and

selecting either said spacecraft antenna pointing estimate or said calculated antenna pointing estimate wherein the antenna pointing estimate with the most favorable attitude quality factor rating is selected.

24. The programmed computer for selection of GPS satellites as set forth in claim 22 said first portion of executable software code for updating the antenna pointing estimate when GPS satellites are currently acquired and being tracked further includes code for:

computing a pointing vector for each GPS satellite that is currently being tracked, wherein the pointing vector represents the transformation required to point the antenna towards the tracked GPS satellite;

averaging all the computed pointing vectors to create an average pointing vector and computing a delta quaternion therefrom, thereby creating a calculated antenna pointing estimate;

calculating an attitude quality factor rating for said calculated antenna pointing estimate; and

selecting either said spacecraft antenna pointing estimate or said calculated antenna pointing estimate, wherein the antenna pointing estimate with the most favorable attitude quality factor rating is selected.

25. The programmed computer for selection of GPS satellites as set forth in claim 22, said first portion of executable software code for updating the antenna pointing estimate when GPS satellites are currently acquired, tracked and cross-locked further includes code for:

computing a delta quaternion using interferometry, thereby creating a calculated antenna pointing estimate;

calculating an attitude quality factor rating for said calculated antenna pointing estimate; and

selecting either said spacecraft antenna pointing estimate or said calculated antenna pointing estimate, wherein the antenna pointing estimate with the most favorable attitude quality factor rating is selected.

26. The programmed computer for selection of GPS satellites as set forth in claim 19, wherein said second portion of executable software code for updating the position estimate further includes code for determining if at least one spacecraft position estimate is available.

27. The programmed computer for selection of GPS satellites as set forth in claim 26, wherein said second portion of executable software code for updating the position estimate further includes code for:

assigning a position quality factor to the at least one spacecraft position estimate; and

selecting the spacecraft position estimate with the most favorable position quality factor rating.

28. The programmed computer for selection of GPS satellites as set forth in claim 27, wherein said second portion of executable software code for updating the position estimate further includes code for determining a threshold quality factor rating to eliminate GPS satellites blocked by the Earth.

29. The programmed computer for selection of GPS satellites as set forth in claim 28, wherein said third portion of executable software code for ranking the GPS satellites further includes code for:

eliminating GPS satellites that are blocked from view by the Earth according to the threshold quality rating;

sorting the GPS satellites, wherein the GPS satellites are sorted in canonical order, starting with the GPS satellite that has the smallest angular deviation from the antenna pointing estimate, and continuing to select GPS satellites with increasing angular deviations from the antenna pointing estimate.

30. The programmed computer for selection of GPS satellites as set forth in claim 29, said third portion of executable software code for ranking the GPS satellites includes code for ranking the GPS satellites for attitude determination, the code for:

selecting, as the first satellite, one of the GPS satellites that has the smallest angle between the antenna pointing estimate and the selected GPS satellite;

selecting, as the second satellite, one of the GPS satellites that is most orthogonal to the first satellite selected and still in view;

selecting, as the third satellite, one of the GPS satellites that has minimal position dilution of precision with the first satellite and the second satellite;

selecting, as the fourth satellite, one of the GPS satellites that has minimal geometric dilution of precision with the first satellite, the second satellite, and the third satellite; and

selecting, as the Nth satellite, one of the GPS satellites that has minimal geometric dilution of precision with the N-1 satellites.

31. The programmed computer for selection of GPS satellites as set forth in claim 19, wherein said fourth portion of executable software code for assigning a GPS receiver channel further includes code for:

acquiring each of the GPS satellites that will be used for attitude determination through each antenna that will be used for attitude determination;

setting GPS receiver channels to idle that were assigned to the GPS satellites that have set behind the Earth;

setting redundant GPS receiver channels to idle that are locked on the identical GPS satellite, if not performing an attitude determination; and

idling redundant GPS receiver channels that are locked on the identical GPS satellite and are using the same antenna, if performing an attitude determination.

32. The programmed computer for selection of GPS satellites as set forth in claim 31, wherein said fourth portion of executable software code for assigning a GPS receiver channel further includes code for:

assigning a GPS receiver channel to one of the GPS satellites based upon estimated attitude and position of the GPS satellite;

determining the starting Doppler search frequency for the assigned GPS receiver channel; and

setting a predetermined search pattern for the assigned GPS receiver channel.

33. The programmed computer for selection of GPS satellites as set forth in claim 32, wherein said fourth portion of executable software code for assigning a GPS receiver channel further includes code for setting a predetermined search pattern, the code for setting an increasing search pattern, wherein all frequency rows are searched, beginning with the lowest possible frequency row and continuing until the highest possible frequency is reached.

34. The programmed computer for selection of GPS satellites as set forth in claim 32, wherein said fourth portion of executable software code for assigning a GPS receiver channel further includes code for setting a predetermined search pattern, the code for setting an decreasing search pattern, wherein all frequency rows are searched, beginning with the highest possible frequency row and continuing until the lowest possible frequency is reached.

35. The programmed computer for selection of GPS satellites as set forth in claim 32, wherein said fourth portion of executable software code for assigning a GPS receiver channel further includes code for setting a predetermined search pattern, the code for setting an alternating search pattern, wherein all frequency rows are searched, beginning with the middle frequency row and continuing outward in a one-dimensional spiral.

36. The programmed computer for selection of GPS satellites as set forth in claim 32, wherein said fourth portion of executable software code for assigning a GPS receiver channel further includes code for setting a predetermined search pattern, the code for setting a stagnating search pattern, wherein a single frequency row is repeated searched.

37. The programmed computer for selection of GPS satellites as set forth in claim 32, wherein said fourth portion of executable software code for assigning a GPS receiver channel further includes code for calculating a multiplicity factor for determining the number of GPS receiver channels required for a particular GPS satellite.

38. The programmed computer for selection of GPS satellites as set forth in claim 19, wherein said external stimulus includes a spacecraft command to update the current satellite selection.

39. The programmed computer for selection of GPS satellites as set forth in claim 19, wherein said external stimulus includes a change in orbital position.

40. The programmed computer for selection of GPS satellites as set forth in claim 19, wherein said external stimulus includes a change in orbital orientation.