Vehicle navigation using non-GPS LEO signals and on-board sensors

• US 9,121,940 B2
• Filed: 02/24/2014
• Issued: 09/01/2015
• Est. Priority Date: 03/26/2010
• Status: Active Grant

• Current Assignee: Apple Inc.
• Original Assignee: Coherent Navigation, Inc. (Apple Inc.)
• Inventors: Psiaki, Mark Lockwood, Miller, Isaac Thomas, Ledvina, Brent Michael
• Primary Examiner(s): MARC-COLEMAN, MARTHE Y
• Application Number:
  US14/188,604
• Publication Number:
  US 20140232592A1
• Time in Patent Office: 554 Days
• Field of Search: 701/469, 701/408, 342/357.2, 342/357.28, 342/357.44, 34235747-35749, 342/357.71, 342/386, 342/358, 342/357.32, 342/357.395
• US Class Current: 1/1
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01S 19/215 issues related to spoofing
• CPC Class Codes: G01S 19/31 Acquisition or tracking of other signals for positioning
• CPC Class Codes: G01S 19/42 Determining position
• CPC Class Codes: G01S 19/45 by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement

Abstract

A navigation system includes a navigation radio and a sensor onboard a vehicle. The navigation radio receives and processes low earth orbit RF signals to derive range observables for a corresponding LEO satellite. A sensor is operable to generate at least one of vehicle speed data, acceleration data, angular rate data and rotational angle data under high vehicle dynamics. The navigation radio includes a navigation code operable to obtain a position, velocity and time solution (a “navigation solution”) based on the one or more range observables, ephemerides for the corresponding LEO satellite, a heading pseudomeasurement, a navigation radio altitude pseudomeasurement; one or more vehicle velocity pseudomeasurements orthogonal to the altitude pseudomeasurements; and the generated at least one of vehicle speed data, acceleration data, angular rate data and rotational angle data. The navigation radio uses the navigation solution to acquire a GPS signal during interference with a coarse acquisition GPS signal.

Claims

1. A navigation method comprising:

receiving, from one or more LEO satellites, RF signals at a navigation radio;

obtaining satellite parameters for the one or more LEO satellites;

deriving one or more range observables for the one or more LEO satellites from the RF signals;

establishing an altitude pseudomeasurement for the navigation radio;

receiving at the navigation radio one or more sensor data selected from a group consisting of speed data, acceleration data, angular rate data, and rotational angle data generated by one or more sensors; and

using a processor, computationally calculating a position, velocity and time solution (“

navigation solution”

) based on the one or more range observables, the satellite parameters, the altitude pseudomeasurement, one or more velocity pseudomeasurements of the navigation radio orthogonal to the altitude pseudomeasurement, and the sensor data.

2. The navigation method of claim 1, further comprising acquiring a GNSS signal based on the navigation solution.

3. The navigation method of claim 2, wherein the GNSS signal includes one or more selected from a group consisting of a GPS Y-code, a GPS M-code, an encrypted GNSS code, a GPS coarse acquisition code, a military GNSS code, and a civil code.

4. The navigation method of claim 1, wherein the one or more range observables includes one or more selected from a group consisting of a pseudorange measurement, a carrier phase measurement, a carrier Doppler shift frequency measurement, and a carrier-to-noise ratio measurement.

5. The navigation method of claim 1, wherein the altitude pseudomeasurement is based on one or more selected from a group consisting of local terrain data, an altimeter measurement, and a barometer measurement.

6. The navigation method of claim 1, further comprising establishing a heading pseudomeasurement for the navigation radio, wherein the navigation solution is further based on the heading pseudomeasurement.

7. The navigation method of claim 6, wherein the heading pseudomeasurement is based on information associated with one or more selected from a group consisting of a magnetometer, a multi-antenna array, a sun sensor, a star tracker, a digital compass, a multiple hypothesis heading filter, and a LEO carrier phase measurement.

8. The navigation method of claim 7, wherein the navigation solution is

obtained when the navigation radio is located in an environment including one or more selected from a group consisting of jamming, spoofing, signal degradation intervals, signal obstructions, and interference due to man-made structures.

9. A navigation system comprising:

a navigation radio configured to receive RF signals from one or more LEO satellites;

a processor operable to determine one or more range observables from the received RF signals for the one or more LEO satellites;

one or more sensors operable to generate one or more sensor data selected from a group consisting of speed data, acceleration data, angular rate data, and rotational angle data associated with the navigation system; and

a navigation algorithm operable on the processor to determine a position, velocity and time solution (“

navigation solution”

) based on the one or more range observables;

parameters for the one or more LEO satellites, a navigation system altitude pseudomeasurement, one or more navigation system velocity pseudomeasurements orthogonal to the altitude pseudomeasurement, and the sensor data.

10. The navigation system of claim 9, wherein the navigation solution is further based on a navigation system heading pseudomeasurement.

11. The navigation system of claim 10, wherein the navigation system heading pseudomeasurement is based on information associated with one or more selected from a group consisting of a magnetometer, a multi-antenna array, a sun sensor, a star tracker, a digital compass, a multiple hypothesis heading filter, and a LEO carrier phase measurement.

12. The navigation system of claim 9, further comprising a GNSS radio operable to acquire a GNSS signal including one or more selected from a group consisting of a GPS Y-code, a GPS M-code, an encrypted GNSS code, a GPS coarse acquisition code, a military GNSS code, and a civil code based on the navigation solution obtained by the navigation algorithm.

13. The navigation system of claim 9, wherein the altitude pseudomeasurement is based on one or more selected from a group consisting of local terrain data, an altimeter measurement, and a barometer measurement.

14. The navigation system of claim 9, wherein the navigation system is operable for use with one or more selected from a group consisting of a hand-held device, a device usable by a pedestrian, a vehicle, a wheeled vehicle, a military vehicle, a boat, and an aircraft.

15. The navigation system of claim 9, wherein the one or more navigation system velocity pseudomeasurements includes one or more velocity constraints selected from a group consisting of substantially zero side-slip, substantially zero foot movement during contact with a surface, and substantially zero side-to-side velocity.

16. The navigation system of claim 9, wherein the navigation solution is further based on additional sensor data received from one or more additional sensors selected from a group consisting of a wheel rate sensor, a traction control unit, a steering sensor, a steering control unit, an optical cross-correlation camera, a motion sensor, a speed sensor, a speedometer, an odometer, a tire pressure sensor, a pitot tube, and an anemometer.

17. The navigation system of claim 9, wherein the altitude pseudomeasurement is based on one or more selected from a group consisting of terrain map data, an altimeter measurement, and a barometer measurement.

18. The navigation system of claim 9, further comprising:

an RF antenna electrically coupled to the navigation radio and operable to receive the RF signals; and

an RF front end operable to downconvert and digitize the RF signals;

wherein the one or more range observables are derived from the downconverted RF signals.

19. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a navigation system are adapted to cause the one or more processors to perform a method comprising:

receiving RF signals from a LEO satellite using a navigation radio;

obtaining satellite parameters for the LEO satellite;

deriving one or more range observables for the LEO satellite from the received RF signals;

establishing an altitude pseudomeasurement for the navigation system;

receiving one or more sensor data selected from a group consisting of speed data, acceleration data, angular rate data, and rotational angle data generated by one or more sensors; and

determining a position, velocity and time solution (“

navigation solution”

) based on the one or more range observables, the satellite parameters, the altitude pseudomeasurement, one or more velocity pseudomeasurements of the navigation radio orthogonal to the altitude pseudomeasurement, and the sensor data.

20. The non-transitory machine-readable medium of claim 19, wherein the method further comprises acquiring a GNSS signal based on the navigation solution.