Hybrid satellite positioning with prediction

• US 8,614,641 B2
• Filed: 06/14/2011
• Issued: 12/24/2013
• Est. Priority Date: 06/01/2011
• Status: Active Grant

• Current Assignee: U-Blox AG (u-blox Holding AG)
• Original Assignee: U-Blox AG (u-blox Holding AG)
• Inventors: Yule, Andrew Thomas, Simmons, Ian Michael
• Primary Examiner(s): LIU, HARRY K
• Application Number:
  US13/160,424
• Publication Number:
  US 20120306689A1
• Time in Patent Office: 924 Days
• Field of Search: 342/357.28
• US Class Current: 342/357.28
• CPC Class Codes: G01S 19/09 providing processing capability normally carried out by the receiver
• CPC Class Codes: G01S 19/235 Calibration of receiver components
• CPC Class Codes: G01S 19/27 creating, predicting or correcting ephemeris or almanac data within the receiver
• CPC Class Codes: G01S 5/0036 of measured values, i.e. measurement on mobile and position calculation on base station

Abstract

A method of calculating two position fixes, using satellite positioning. The method comprises: using an RF front-end (12), receiving satellite positioning signals; using an analogue-to-digital converter (18), sampling the received signals to generate signal samples; using a processor (20), processing a first set of the samples as they are generated, to calculate a first position fix; storing information associated with the calculation in a memory (22); storing a second set of the samples, or ranging measurements derived from the second set of samples, in the memory (22) for later processing to calculate a second position fix; and later, processing the second set of samples to calculate the second position fix, wherein the calculation of the second position fix is assisted by the information associated with the calculation of the first position fix. Also disclosed are other related methods and apparatus.

Claims

1. A satellite positioning receiver (5) comprising:

an RF front end (12), for receiving satellite positioning signals;

an analogue-to-digital converter (18), for sampling the received signals to generate signal samples;

a memory (22); and

a processor (20), for processing the signal samples to derive ranging measurements and to calculate a position fix,

the receiver (5) having a first mode in which the processor (20) is operable;

to process a first set of the samples as they are generated, to calculate a first position fix;

to store in the memory (22) information associated with this calculation;

to process a third set of the samples as they are generated, to calculate a third position fix; and

to store in the memory (22) information associated with this calculation,

the receiver (5) having a second mode in which it is operable to store a second set of the samples, or ranging measurements derived from the second set of samples, in the memory (22) for later processing to calculate a second position fix,

the receiver having a third mode in which the processor (20) is operable;

to retrieve the stored second set of samples or ranging measurements from the memory; and

to process them to calculate the second position fix,

wherein said processing is assisted by the information associated with the calculation of the first position fix and the information associated with the calculation of the third position fix.

2. The receiver of claim 1, wherein the information associated with the calculation of the first position fix that is used to assist the calculation of the second position fix comprises one or more of:

the first position;

a velocity associated with the first position;

a time at which the first set of samples was received;

a list of one or more satellites whose signals were detected in the first set of samples;

a detected carrier frequency of such a satellite;

a detected Doppler shift of such a carrier frequency;

a ranging measurement derived from the first set of samples;

a differential correction applied to such a ranging measurement;

ephemeris data used in the calculation of the first position fix;

a portion of a data message transmitted by a satellite;

satellite-health information;

satellite clock-correction data; and

an uncertainty parameter associated with any of the foregoing.

3. The receiver of claim 1, wherein the receiver (5) adapted to store in the memory (22) a time-stamp associated with the receipt of the first set of samples, the second set of samples, or both.

4. The receiver (5) of claim 1, wherein the processor is adapted to measure an elapsed time between receiving the first set of samples and receiving the second set of samples.

6. The receiver of claim 1, wherein the calculation of the second position fix is assisted by linear or non-linear prediction of the value of at least one parameter, based on values of that parameter that are associated with the first and third positions.

7. The receiver of claim 1, further adapted to enter the first mode periodically, and in that mode to process a set of samples as they are generated, to calculate a position fix;

and to store in the memory information associated with this calculation.

5. The receiver of claim wherein the calculation of the second position fix is assisted by one or both of:

predicting ephemeris data suitable for calculating the second position fix based on ephemeris data used to calculate the first position fix; and

predicting a code phase of the spreading code for one or more satellites in the second set of signal samples, based on at least one code phase that was determined in the process of calculating the first position fix.

8. A satellite positioning receiver (5) comprising:

an RF front end (12), for receiving satellite positioning signals;

an analogue-to-digital converter (18), for sampling the received signals to generate signal samples;

a memory (22); and

a processor (20), for processing the signal samples to derive ranging measurements and to calculate a position fix,

the receiver (5) having a first mode in which the processor (20) is operable;

to process a first set of the samples as they are generated, to calculate a first position fix;

to store in the memory (22) information associated with this calculation;

to process a third se of the samples as they are generated, to calculate a third position fix; and

to store in the memory information associated with this calculation,

the receiver (5) having a second mode in which it is operable to store a second set of the samples, or ranging measurements derived from the second set of samples, in the memory for later processing to calculate a second position fix,

wherein the receiver is adapted to upload the information and the second set of samples or ranging measurements stored in the memory (22) to an external device (30), by which external device (30) the second set of samples or ranging measurements can be processed to calculate the second position fix, said processing being assisted by the information associated with the calculation of the first position fix and the information associated with the calculation of the third position fix.

9. The receiver of claim 8, wherein the receiver is adapted:

to store in the memory a time-stamp associated with the receipt of the first set of samples, the second set of samples, or both; and

to upload said time-stamp or time-stamps to the external device.

10. The receiver of claim 8, wherein the processor is adapted to measure an elapsed time between receiving the first set of samples and receiving the second set of samples.

11. A method of calculating a position fix from previously stored satellite signal samples, the method comprising:

receiving (200, 210) from a satellite positioning receiver;

(200) information associated with the calculation of a first position fix calculated by the receiver from a first set of satellite signal samples;

information associated with the calculation of a third position fix calculated by the receiver from a third set of satellite signal samples; and

(210) a second set of satellite signal samples, or ranging measurements derived from a second set of satellite signal samples, and

processing (150a) the second set of samples or the ranging measurements to calculate a second position fix,

wherein said processing is assisted by the information associated with the calculation of the first position fix and the information associated with the calculation of the third position fix.

12. The method of claim 11, wherein the information associated with the calculation of the first position fix that is used to assist the calculation of the second position fix comprises knowledge of one or more of:

the first position;

a velocity associated with the first position;

a time at which the first set of samples was received;

a list of one or more satellites whose signals were detected in the first set of samples;

a detected carrier frequency of such a satellite;

a detected Doppler shift of such a carrier frequency;

a ranging measurement derived from the first set of samples;

a differential correction applied to such a ranging measurement;

ephemeris data used in the calculation of the first position fix;

a portion of a data message transmitted by a satellite;

satellite-health information; and

satellite clock correction data.

14. A computer program comprising computer program code means adapted to control a physical computing device to perform all the steps of claim 12 if said program is run on a computer.

13. A method of calculating three position fixes, using satellite positioning, the method comprising:

using an RF front-end, receiving (100) satellite positioning signals;

using an analogue-to-digital converter, sampling (110) the received signals to generate signal samples;

using a processor, processing (120) a first set of the samples as they are generated, to calculate a first position fix;

storing (130) information associated with the calculation in a memory;

using the processor, processing (120) a third set of the samples as they are generated, to calculate a third position fix;

storing (130) information associated with the calculation in a memory;

storing (140) a second set of the samples, or ranging measurements derived from the second set of samples, in the memory for later processing to calculate a second position fix; and

later, processing (150;

150a) the second set of samples to calculate the second position fix, wherein the calculation of the second position fix is assisted by the information associated with the calculation of the first position fix and the information associated with the calculation of the third position fix.

15. A computer program comprising computer program code means adapted to control a physical computing device to perform all the steps of claim 13 if said program is run on a computer.