Satellite-based positioning system receiver for weak signal operation

• US 6,642,884 B2
• Filed: 05/08/2001
• Issued: 11/04/2003
• Est. Priority Date: 05/08/2000
• Status: Expired due to Term

• Current Assignee: U-Blox AG (u-blox Holding AG)
• Original Assignee: SigNav Pty Ltd. (u-blox Holding AG)
• Inventors: Glennon, Eamonn P., Bryant, Roderick C., Dougan, Stanley L., Dempster, Andrew G.
• Primary Examiner(s): ISSING, GREGORY C
• Application Number:
  US09/851,355
• Publication Number:
  US 20020005802A1
• Time in Patent Office: 910 Days
• Field of Search: 342/357.09, 342/357.15, 342/357.1
• US Class Current: 342/357.64
• CPC Class Codes: G01S 19/24 Acquisition or tracking or demodulation of signals transmitted by the system synchronisation aspects of direct sequence spread spectrum modulation H04B1/7073
• CPC Class Codes: G01S 19/25 involving aiding data received from a cooperating element, e.g. assisted GPS
• CPC Class Codes: G01S 19/252 Employing an initial estimate of location in generating assistance data
• CPC Class Codes: G01S 19/28 Satellite selection
• CPC Class Codes: G01S 19/42 Determining position

Abstract

A method, device and system for determining a receiver location using weak signal satellite transmissions. The invention involves a sequence of exchanges between an aiding source and a receiver that serve to provide aiding information to the receiver so that the receiver'"'"'s location may be determined in the presence of weak satellite transmissions. With the aiding information, the novel receiver detects, acquires and tracks weak satellite signals and computes position solutions from calculated pseudo ranges despite the inability to extract time synchronization date from the weak satellite signals.

Claims

1. An SPS system for identifying the location of a receiver in the presence of satellite signal attenuation comprising:

a plurality of orbital satellites sending synchronized encoded signals on a carrier frequency wherein said encoded signals have repeated epochs containing synchronization data;

a receiver for detecting, acquiring, tracking a set of the encoded signals and simultaneously determining the code phases of said set with respect to said epochs; and

an aiding source to transmit an approximate location of the receiver and the position and velocity of a plurality of satellites;

wherein the receiver determines a precise location using the approximate location, the satellite positions, the code phases and carrier frequency differences.

2. The system of claim 1 wherein the precise location is determined using the offsets between the code phase of one or more reference signals and the code phase from corresponding encoded signals.

3. The system of claim 1 wherein the receiver transmits a request to the aiding source and in response the aiding source transmits an approximate location for the receiver.

4. The system of claim 1 wherein the receiver detects and acquires the set of encoded signals using a search method in which the receiver first detects and acquires stronger encoded signals, if and when available, and then detects and acquires weaker encoded signals.

5. The system of claim 1 wherein the receiver conducts concurrent searches for multiple satellites signals.

6. The system of claim 1 wherein the receiver restricts its search by estimating code phase differences for additional satellites after acquiring at least one satellite.

7. The system of claim 6 wherein the receiver broadens its restricted search if any additional satellites are not detected and acquired.

8. The system of claim 1 wherein the receiver, after acquisition of a plurality of satellites, transmits a request that includes the identities of a plurality of satellites and in response, the aiding source transmits each satellite'"'"'s location and velocity.

9. The system of claim 1 wherein the aiding source determines and transmits the position and velocity of a plurality of satellites in response to a request from the receiver.

10. The system of claim 9 wherein the aiding source determines location and velocity of the plurality of satellites using ephemerides data received from the satellites, the time of receipt of the receiver'"'"'s request and the transmission latency of the request.

11. The system of claim 1 wherein the receiver transmits to the aiding source receiver information selected from a group of receiver information including:

location;

speed;

heading;

height;

solution mode;

satellite identities used in a recent location solution; and

code phase differences.

12. The system of claim 1 further comprising a call taker for using or processing receiver location information.

13. The system of claim 12 wherein the aiding source further transmits the approximate location of the receiver to the call taker.

14. The system of claim 12 wherein the aiding source further transmits the precise location of the receiver to the call taker.

15. The system of claim 1 wherein the aiding source transmits satellite clock corrections to the receiver.

16. The system of claim 1 wherein the receiver performs a smoothing operation on the code phases of the encoded signals experiencing signal attenuation.

32. The system of claim 1 wherein the aid source transmits to the receiver corrections from among the group of satellite positions, velocities, accelerations and position derivatives.

17. A method for determining a precise location of a receiver in the presence of attenuated satellite signals carrying synchronization data comprising:

receiving and storing almanac data for regional satellites in a receiver;

requesting from an aiding source an approximate location of the receiver;

sending an approximate location of the receiver from the aiding source in response to a request from the receiver;

detecting, acquiring and tracking a set of signals from a plurality of satellites by the receiver;

determining simultaneously in the receiver the code phases from the set of signals and then determining an offset for each code phase with respect to a corresponding reference code phase;

sending a request including the identities of the plurality of satellites from the receiver to the aiding source;

returning from the aiding source to the receiver the positions and velocities of each requested satellite; and

determining in the receiver a position solution using the approximate location, almanac data, code phase differences and satellite positions.

18. The method of claim 17 further comprising sending receiver data to the aiding source.

19. The method of claim 18 wherein said receiver data is data from a group of data including:

receiver location;

receiver speed;

receiver heading;

receiver height;

receiver solution mode;

satellite identities used by the receiver in determination of a location solution; and

receiver determined code phase differences.

20. The method of claim 17 further comprising sending receiver data from the aiding source to a call taker.

21. The method of claim 20 wherein said receiver data is data from a group of data including:

receiver location;

receiver speed;

receiver heading;

receiver height;

receiver solution mode;

satellite identities used by receiver in determination of a location solution; and

receiver determined code phase differences.

22. The method of claim 17 wherein said detecting, acquiring and tracking step includes a frequency and amplitude signal search in which a search amplitude threshold value starts at a some level and is successively reduced to allow stronger signals to be acquired before more attenuated signals.

23. The method of claim 22 wherein a frequency range sweep is performed prior to each successive reduction of the search amplitude threshold value.

24. The method of claim 17 wherein the step of determining a position solution includes a determination of pseudoranges to each satellite using said code phase differences.

25. The method of claim 24 wherein said determination of pseudoranges is made using calculated approximate ranges to each tracked satellite.

26. The method of claim 25 wherein said approximate ranges are calculated using the approximate location and the satellite positions.

27. A device for use in an SPS system for determining a precise location in the presence of attenuated satellite signals comprising:

a transmission means for sending requests for its approximate location and satellite positions and velocities to an external aiding source;

a reception means for receiving the approximate location and satellite positions and velocities from the external aiding source;

an antenna to receive transmitted satellite signals;

a circuit to filter and sample the signals received at the antenna;

a plurality of signal correlators;

a control circuit, including a processor and memory, that effects signal detection in which stronger encoded signals are acquired before more attenuated signals by successively increasing a correlator output signal integration period and successively reducing an amplitude threshold value,

wherein said control circuit determines the code phase offsets for a plurality of detected, acquired and tracked satellite signals in the plurality of signal correllators and using said code phase offsets in a determination of a location solution for the device.

28. The device of claim 27 wherein the control circuit adjusts a signal correlator based upon the received approximate location and stored almanac data.

29. The device of claim 27 wherein the control circuit effects a frequency range sweep prior to each successive reduction of the search amplitude threshold value.

30. The device of claim 29 in which the control circuit computes estimated Doppler offsets of the carrier and code frequencies of the satellite signals using stored almanac data, the approximate time and the approximate location to restrict the frequency range.

31. The device of claim 27 wherein the control circuit computes pseudoranges to each acquired satellite using said code phase offsets and calculated approximate ranges derived from the received approximate location and satellite positions.