EP0877950A4 - Systeme de radionavigation utilisant des pseudolites hors bande - Google Patents

Systeme de radionavigation utilisant des pseudolites hors bande

Info

Publication number
EP0877950A4
EP0877950A4 EP97905625A EP97905625A EP0877950A4 EP 0877950 A4 EP0877950 A4 EP 0877950A4 EP 97905625 A EP97905625 A EP 97905625A EP 97905625 A EP97905625 A EP 97905625A EP 0877950 A4 EP0877950 A4 EP 0877950A4
Authority
EP
European Patent Office
Prior art keywords
gps
pseudolite
navigation
signals
frequency
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP97905625A
Other languages
German (de)
English (en)
Other versions
EP0877950A1 (fr
Inventor
Thomas Holden
Peter Hanson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nokia of America Corp
Original Assignee
Stanford Telecommunications Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Stanford Telecommunications Inc filed Critical Stanford Telecommunications Inc
Publication of EP0877950A1 publication Critical patent/EP0877950A1/fr
Publication of EP0877950A4 publication Critical patent/EP0877950A4/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
    • G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G01S19/071—DGPS corrections
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type

Definitions

  • the present invention relates to a radio navigation system using out-of- band pseudolites in an environment of the Global Position System (GPS) navigation system.
  • GPS Global Position System
  • a plurality of satellite vehicles orbiting the earth broadcast direct sequence spread spectrum signals at a frequency Ll and by receiving a plurality of GPS satellite vehicles very accurate location or navigation information can be derived at almost any position on earth that is visible (in a radio sense) to the satellites.
  • Stationary ground reference stations are used to provide differential correction signals to mobile navigation receivers so that the position signals are extremely accurate and can be used for land surveys, for example. However there can be locations and times when there are insufficient GPS satellite vehicles visible.
  • the objective of the present invention is to provide a navigation system that is available at all times in a given area and to provide a navigation system wherein if no GPS satellites are visible, or an insufficient number of GPS satellites are available, a system of pseudolites, including a reference station and a master pseudolite station, are available for providing pseudolite navigation signals for extremely accurate navigation signals to the remote mobile receivers in a given area.
  • the invention overlays a system of stationary pseudolite navigation transmitters for broadcasting a GPS like signal at a frequency FI, a non-GPS carrier frequency, in the environment of GPS spread spectrum navigation signals at a radio frequency Ll.
  • a plurality of pseudolite stations broadcast a plurality of spread spectrum pseudolite navigation signals at a radio frequency FI which are at a different frequency than the frequency Ll.
  • at least one reference station is provided for receiving the GPS navigation and the pseudolite navigation signals and deriving navigation correction data (differential GPS, kinematic observations data) signals.
  • At least one of the pseudolite stations serves as a master station in association with each reference station.
  • a communication link provides differential GPS and observation data signals from each reference receiver to its master pseudolite stations which modulate the reference station observations and integrity data for broadcasting to a plurality of mobile receivers which receive the pseudolite and GPS navigation signals including the navigation correction signals from the master pseudolite stations and produce accurate navigation information therefrom in the presence or absence of useful GPS navigation signals.
  • the present invention differs with respect to in-band pseudolites in the following particulars:
  • Non-GPS FI frequencies are available to wider range of potential customers without danger of interfering with existing GPS facilities.
  • Prior art includes use of near GPS frequencies- e.g., within about 1-10
  • the present invention relaxes the range of FI to be almost arbitrary.
  • Candidate frequencies in the USA at this time appear to be 1.9 GHz and 2.4 GHz, for example.
  • Non-GPS frequencies FI observations can be combined with GPS observations to jointly form both carrier-smoothed DGPS and/or kinematic solutions as shown herein.
  • the present invention does not assume pseudolite broadcasts are synchronized, neither with one another, nor with GPS.
  • the present invention differs with respect to conventional GPS in the following particulars:
  • the present invention employs pseudolites to augment GPS range observations. (Conventional DGPS provides no additional range observations).
  • Pseudolites may employ pulsing to mitigate near/far limitations.
  • At least one pseudolite broadcasts DGPS reference information, in addition to range observations. (DGPS uses separate communication resource).
  • GPS augmentation may radically collapse time to achieve On-the-Fly (OTF) kinematic solution.
  • OTF On-the-Fly
  • Fig. 1 is a schematic illustration of a GPS-pseudolite navigation system incorporating the invention
  • Fig. 2 is a block diagram of a master pseudolite incorporated in the invention
  • Fig. 3 is a block diagram of a receiver incorporated in the invention, (the REF and MRX receivers being preferably, identical except with respect to the uses of their outputs), and
  • Fig. 4 is a block diagram of an auxiliary pseudolite reference station as used in the invention.
  • GPS-N provide basic service to most areas including the area to be served by the system of pseudolites PL- 1 , PL-2....PL-N.
  • the area to be served may have any number or plurality of mobile receivers MRX-1, MRX-2 MRX-N.
  • One or more of the reference receivers REF are provided and are capable of receiving the GPS signals al frequency L l and also llic GPS-like signals from the pseudolite stations PL- 1 , PL-2....PL-N at a frequency FI which can be chosen over a wide range and need not be near the GPS frequency Ll .
  • a communication link CL which may be land line, microwave, fiber optic, a short set of wires, etc.
  • the pseudolites transmit GPS-like spread spectrum signals at frequency FI to reference station REF and the mobile receivers MRX-1, MRX-
  • One of the pseudolite stations in this system (PL-1) has been designated a master pseudolite station.
  • the master pseudolite modulates the observation and integrity data received from the reference station REF over communication link CL, thereby broadcasting this information lo the MRX population.
  • the mobile receivers MRX are capable of receiving GPS signals at frequency Ll and the GPS-like signals from the pseudolite stations PL-1, PL- 2...PL-N at frequency FI .
  • Receiver elements best realized as exact copy of element al ihe reference station REF in order for best opportunity for implementation dependent errors to cancel out. Since these are true receivers, (i.e., they need not transmit signals), there may be any number of them in the service area.
  • the system may operate without GPS. In that case, it replaces GPS, rather than augmenting it, and the GPS time is not available. If one GPS satellite is available within the service area, e.g., at the reference receiver REF, the system can transfer GPS lime to the mobile receivers MRX as limited by observation errors and conventional limits of the Navstar GPS Standard Positioning Service. Carrier-smoothed code (pseudo-range, PR) observations aie possible with only one GPS satellite visible. The pseudolites can augment this PR, but must fully replace GPS if true kinematic solutions are to be derived. If two or more GPS satellites are available, GPS time can be transferred and GPS observations can participate in the kinematic solution.
  • PR carrier-smoothed code
  • the reference receiver is preferably adapted to handle the observations of the non-master pseudolite stations.
  • the invention contemplates reducing these PRs modulo a preset value (set at above twice the expected maximum measurement range).
  • the reference station observations may be compressed to be suitable for broadcast. For example, the most significant bits (MSB) of range and rate may be infrequently broadcast, with frequent updates supplied relative to these values, thus reducing the number of bits required.
  • MSB most significant bits
  • the non-master pseudolites need not be synchronized to GPS or any other pseudolite. This may present special problems at the receivers, since the resulting PR values are far more arbitrary than true GPS.
  • the master pseudolite may be synchronized to GPS (if any) by means of observing its own DGPS terms in the communication link CL between the reference station REF and the master pseudolite station. This is not required but may be useful if pseudolites PL can replace GPS within part of the service area and when GPS time is useful.
  • the MRX will need to handle observations of the non-master pseudolites.
  • Systems may incorporate multiple reference stations to provide the benefits of improved system reliability and to extend the service area. Reliability improves when several reference signals are available to the typical MRX. A larger area may be served while maintaining nominal accuracy by spreading reference stations to cover it evenly; i.e., so that there is a fixed upper limit to the distance from an MRX to its closest available reference station. Accuracy at each MRX is limited by the distance from that MRX to the reference station it is using.
  • This incorporation of multiple master pseudolites may be required in the following situations. In some cases it is seen that a single master pseudolite source may not illuminate the desired coverage area. These areas could include regions near blockages, such as near bridges, large buildings and docks ; regions near moving blockages such as ships; or regions with highly irregular terrain, such as canyons, mines and factories.
  • a reference frequency source such as crystal oscillator CO or other stable frequency source SFS is selected by selection switch SSw as a source for multi-synthesizer MS which generates and outputs a control signal ⁇ control ' a carrier cos wf,(t), and f codc from one of the selected input reference
  • Oscillator CO is a crystal oscillator or better.
  • the control unit CU receives f contro , and selectively uses an external interface EXT TNT for control and/or is interfaced to a reference receiver which provides advantageously both GPS reference observations and PL broadcast data and outputs a control signal to code generator CG.
  • Code generator CG generates a spread spectrum code at a rate selected by use of the frequency f code and has the ability to modulate a data pattern on the spread spectrum code.
  • the cos wf,(t) signal is binary phase shift keyed (BPSK) in modulator or mixer M.
  • BPSK binary phase shift keyed
  • a pulser P controlled by an output of control block CU can be used to provide greater effective dynamic range at the receiver and the thus formulated signal is amplified and broadcast to all of the mobile receivers MRX.
  • antenna and front end A receives the Ll and FI signals and splits the output, supplying dual GPS- like receivers Rl and R2, respectively.
  • Receiver Rl is a traditional GPS receiver for processing the Ll signal frequencies and receiver R2 has slight modifications for processing the - signal frequencies. Both receivers are locked to frequency and timing signal inputs from frequency and timing synthesizer FTS which is supplied with a base frequency from source CO. Frequency and timing synthesizer FTS generates reference and timing signals to coordinate receivers Rl and R2 and to drive control microprocessor CMP. Control microprocessor CMP provides high level control and integrates the observations and data of receivers
  • Reference interface RI outputs the reference link data to communication link CL which is connected to the master pseudolite.
  • the solution output interface SO provides the navigation information to the user via a utilization device, which may be a display, a recorder or perform a control or guidance function.
  • a utilization device which may be a display, a recorder or perform a control or guidance function.
  • FI fcode f code variant of GSV 1012
  • auxiliary pseudolite reference REF An exemplary block diagram of an auxiliary pseudolite reference REF (Fig. 1) is illustrated in Fig. 4, which parallels Fig. 2.
  • the pulser function block P' again is optional. It provides a way of pulsing or chopping the output signal for greater effective dynamic range at the receiver.
  • Oscillator OSC-2 is also of the quartz crystal oscillator family or better.
  • the auxiliary pseudolite does not require an external time base input. As indicated the pseudolite has provision for external interface EXT INT and control. The pseudolite optionally broadcasts its location if known.
  • the multi-synthesizer MS' and code generator CG are the same as described in connection with Fig.2.
  • the control element or microprocessor CMP' selects the spread spectrum code and any data to be modulated on it, and generates the pulsing element control signal and provides external interface signals. Its timing is derived from the multi-synthesizer.
  • the control element or microprocessor controls the selection of the SS code, the pulsing control and services the external interface.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention concerne un système d'émetteurs stationnaires de navigation par pseudolites permettant d'émettre, en environnement de signaux de navigation GPS large spectre utilisant une fréquence radio L1, un signal de type GPS utilisant une fréquence F1 autre qu'une fréquence de porteuse GPS. Une pluralité de stations pseudolites (PL) émet une pluralité de signaux de navigation GPS large spectre utilisant une fréquence radio F1, les fréquences de ces signaux étant différentes de la fréquence L1. L'invention comporte au moins une station de référence (REF) conçue pour recevoir les signaux de navigation GPS ainsi que les signaux de navigation pseudolites, et pour en dériver les signaux des données de correction de navigation (GPS Différentiel, données d'observations cinématiques). L'une au moins des stations pseudolites sert de station maîtresse (PL1) en association avec chacune des stations de référence. Une liaison de télécommunications assure le transfert des signaux du GPS Différentiel et des données d'observation depuis chaque récepteur de référence vers l'une au moins de ses stations pseudolites modulant les données d'observation et d'intégrité de la station de référence pour émettre, à destination d'une pluralité de récepteurs mobiles (NRX), des signaux de navigation pseudolites et GPS, y compris les signaux de correction de navigation en provenance des stations pseudolites maîtresses, et produire, à partir de ces signaux, des informations de navigation précises en présence ou en l'absence de signaux de navigation GPS utiles.
EP97905625A 1996-02-01 1997-01-31 Systeme de radionavigation utilisant des pseudolites hors bande Withdrawn EP0877950A4 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US59513796A 1996-02-01 1996-02-01
US595137 1996-02-01
PCT/US1997/001238 WO1997028455A1 (fr) 1996-02-01 1997-01-31 Systeme de radionavigation utilisant des pseudolites hors bande

Publications (2)

Publication Number Publication Date
EP0877950A1 EP0877950A1 (fr) 1998-11-18
EP0877950A4 true EP0877950A4 (fr) 2000-01-26

Family

ID=24381888

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97905625A Withdrawn EP0877950A4 (fr) 1996-02-01 1997-01-31 Systeme de radionavigation utilisant des pseudolites hors bande

Country Status (4)

Country Link
EP (1) EP0877950A4 (fr)
AU (1) AU2246497A (fr)
CA (1) CA2242193A1 (fr)
WO (1) WO1997028455A1 (fr)

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US6236365B1 (en) 1996-09-09 2001-05-22 Tracbeam, Llc Location of a mobile station using a plurality of commercial wireless infrastructures
GB9722324D0 (en) 1997-10-22 1997-12-17 Cambridge Positioning Sys Ltd Positioning system for digital telephone networks
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GB9912724D0 (en) 1999-06-01 1999-08-04 Cambridge Positioning Sys Ltd Radio positioning system
US9875492B2 (en) 2001-05-22 2018-01-23 Dennis J. Dupray Real estate transaction system
US10684350B2 (en) 2000-06-02 2020-06-16 Tracbeam Llc Services and applications for a communications network
US10641861B2 (en) 2000-06-02 2020-05-05 Dennis J. Dupray Services and applications for a communications network
US20020198001A1 (en) * 2000-12-27 2002-12-26 Sundeep Bajikar Method and apparatus for an independent positioning system and augmentation of GPS
US20050015198A1 (en) * 2001-11-06 2005-01-20 Chang-Don Kee Pseudolite-based precise positioning system with synchronised pseudolites
US7113792B2 (en) * 2002-10-01 2006-09-26 Qualcomm Incorporated Mobile station location
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EP1777159A1 (fr) * 2005-10-20 2007-04-25 Astrium GmbH Ensemble et procédé de détermination de position et d'attitude d'un véhicule volant, en particulier d'un véhicule spatial
CA2647555C (fr) 2006-03-30 2014-02-11 Walter J. Feller Systeme facilitant la determination de la position gnss dans des environnements de propagation de signal pauvres
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Also Published As

Publication number Publication date
WO1997028455A1 (fr) 1997-08-07
CA2242193A1 (fr) 1997-08-07
EP0877950A1 (fr) 1998-11-18
AU2246497A (en) 1997-08-22

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