[go: up one dir, main page]

WO1997036187A1 - Appareil et technique de positionnement differentiel par satellites - Google Patents

Appareil et technique de positionnement differentiel par satellites Download PDF

Info

Publication number
WO1997036187A1
WO1997036187A1 PCT/AU1997/000204 AU9700204W WO9736187A1 WO 1997036187 A1 WO1997036187 A1 WO 1997036187A1 AU 9700204 W AU9700204 W AU 9700204W WO 9736187 A1 WO9736187 A1 WO 9736187A1
Authority
WO
WIPO (PCT)
Prior art keywords
error
mobile
antenna
base station
gps
Prior art date
Application number
PCT/AU1997/000204
Other languages
English (en)
Inventor
Roderick Charles Bryant
Eamonn Patrick Glennon
Original Assignee
Sigtec Navigation Pty. Ltd.
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 Sigtec Navigation Pty. Ltd. filed Critical Sigtec Navigation Pty. Ltd.
Priority to AU21444/97A priority Critical patent/AU2144497A/en
Publication of WO1997036187A1 publication Critical patent/WO1997036187A1/fr

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
    • G01S19/09—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing processing capability normally carried out by the receiver
    • 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
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled

Definitions

  • This invention relates to differential global positioning satellite systems ("DGPS").
  • GPS Global positioning satellite systems
  • a constellation of satellites emitting radio signals is used to determine the position of antennas on or above the earth's surface.
  • Such systems provide facilities to allow user equipment to measure the distance (“range") between the satellite and the antenna of the user equipment.
  • the ranges are obtained by estimating the time of flight of the radio signal between the satellite and the user equipment antenna.
  • the user equipment computes the time of flight using data describing the orbit of each satellite, together with data encoded in the signal representing the time of emission of the signal from the satellite. Using the calculated values of the precise positions of several satellites at the time of emission and the ranges to them, the user equipment is able to compute the user equipment antenna position using triangulation.
  • this form of position estimation is essentially a three dimensional (3D) technique, since the three dimensional location of the antenna is computed. However, if one coordinate of the location of the user equipment is known, then a two dimensional (2D) solution may be obtained. There are two primary benefits of using a 2D solution. First, the number of satellites required to produce the position estimate is one less for a 2D solution compared with the 3D solution. If a number of satellites are obscured from the antenna of the user equipment, a 2D solution may be the only possible calculation which can be performed in certain circumstances. Second, for a given set of satellites the Dilution of Precision (DOP) is also smaller for a 2D solution than for a 3D solution.
  • DOP Dilution of Precision
  • the DOP is the statistical ratio by which a range error is translated into a position error and hence the use of prior information in the form of one position coordinate leads to a reduction in the position error.
  • the altitude is invariably the position coordinate which is available to be used in this way and this will be the assumed form of 2D positioning in this specification, without limiting the broadest scope of the invention to such altitude-based 2D positioning.
  • DGPS DGPS
  • a system in which positions and the sets of satellites use to compute those positions are reported to a reference site by mobile user equipment within a given geographical area.
  • the position of the base site is then computed using ranges measured at the base site for the satellites whose IDs were reported by each mobile user equipment.
  • the error in this position estimate is then used to correct the corresponding position report.
  • a method of positioning one of a set of one or more mobile antennas capable of receiving signals from GPS satellites, each mobile antenna being associated with corresponding mobile user equipment and capable of communicating with a base station, wherein (i) the mobile user equipment receives and decodes, from each of a set of GPS satellites, signals encoded with a time of signal transmission and communicates to the base station data enabling knowledge of a) the identity of each of the set of GPS satellites, and b) an uncorrected mobile antenna position computable from uncorrected ranges from the mobile antenna to each of the set of GPS satellites, the uncorrected ranges being computable from the time of signal transmission, the actual time of receipt of the signal by the mobile antenna, and predetermined satellite orbit information;
  • the base station receives and decodes signals through a base station antenna from each of the set of GPS satellites used by the mobile user equipment, computes an uncorrected range from each satellite to the base station antenna, and compares the uncorrected range from each satellite to the base station antenna with an actual range based on computed satellite positions and a known base antenna position, to provide systematic range errors for each of the set of GPS satellites;
  • the base station utilises a known relationship between range error and antenna position error to deduce a correction to the mobile antenna position.
  • the mobile user equipment By transforming range error into position error for the satellite set used by the mobile user equipment, computational accuracy is improved while providing flexibility.
  • the mobile user equipment communicates the mode of operation to the base station, and if the mode is 2D then (i) the base station computes a systematic altitude error for the mobile antenna by comparing a known altitude of the mobile antenna with an uncorrected altitude deduced from the communicated data; and
  • the method includes positioning by dead reckoning during periods of satellite obscuration.
  • DR Dead Reckoning
  • the method includes using one or more reference GPS fixes, and correcting GPS-related errors in the dead reckoning position reports.
  • the known relationship between position error and range error may be modelled by a relationship of the form
  • ⁇ X P*H T *INV[H*P*H T + R]* ⁇ Y
  • P is a matrix of error covariances in the uncorrected position of the mobile antenna
  • R is a matrix of estimates of error covariances in the range errors ⁇ Y, giving a least squares estimate of position error ⁇ X
  • INV is matrix inversion or pseudo-inversion.
  • the known relationship between position error and range error may be modelled as a linear relationship of the form
  • ⁇ X INV[H] * ⁇ Y, where ⁇ X is a position error vector
  • ⁇ Y is a range error vector
  • H is a matrix of direction cosine vectors from the base station antenna towards the satellites
  • INV is matrix inversion or pseudo-inversion.
  • the altitude error may be included in the vector ⁇ Y of range errors and a corresponding row in the matrix H is a partial derivative of a modelled distance r from the uncorrected mobile antenna position to the centre of the earth with respect to cartesian coordinates x, y, z, where the z axis passes through the poles.
  • a method of positioning one of a set of one or more mobile antennas capable of receiving signals from GPS satellites, each mobile antenna being associated with corresponding mobile user equipment, including positioning by dead reckoning during periods of satellite obscuration.
  • the method includes positioning by dead reckoning using one or more reference GPS fixes, and correcting GPS-related errors in dead reckoning position reports .
  • Preferably correcting GPS-related errors in said dead reckoning position reports includes correcting an initial heading error
  • said correction of said initial heading error includes: i) computing an initial heading correction from a reference GPS fix, and ii) computing a corrected position for each dead reckoning fix by applying said heading correction to a vector connecting a reference GPS position to a dead reckoning position.
  • the method includes defining a first and second reference GPS fix, said first reference GPS fix providing an initial dead reckoning heading, and said second reference GPS fix providing an initial dead reckoning position.
  • an apparatus for positioning one of a set of one or more mobile antennas capable of receiving signals from GPS satellites, each mobile antenna being associated with corresponding mobile user equipment and capable of communicating with a base station wherein the apparatus is adapted to perform the method described above, including any of the preferred features of that method.
  • an apparatus for positioning one of a set of one or more mobile antennas capable of receiving signals from GPS satellites, each mobile antenna being associated with corresponding mobile user equipment and capable of communicating with a base station wherein said apparatus comprises a base station adapted:
  • the base station is adapted to receive a signal indicative of the mode from the mobile user equipment and the base station is adapted to
  • the base station includes a computer.
  • the base station includes a multi-channel receiver.
  • the base station includes an antenna.
  • Figure 1 shows a schematic diagram of the functional arrangement of the preferred embodiment of the invention
  • FIG. 2 illustrates a hardware configuration of the base station 4
  • FIG. 3 is a context diagram for the software which controls the GPS base station computer 21;
  • Figure 4 is a data flow diagram providing detail of the context diagram of Figure 3;
  • Figure 5 shows further details of process A shown in Figure ;
  • Figure 6 illustrates the functional breakdown of process C shown in Figure .
  • Mobile user equipment 1 has a mobile antenna 2 associated with it which is adapted to receive signals from GPS satellites orbiting the earth.
  • the mobile user equipment 1 decodes the signal from each of a set of the GPS satellites, the signals being encoded with a time of signal transmission from the corresponding GPS satellite. This time of signal transmission enables the mobile user equipment to calculate using the finite speed of transmission of electromagnetic signals an uncorrected range from the mobile antenna 2 to each of the set of GPS satellites, taking into account predetermined satellite orbit information called ephemeris data held in the mobile user equipment 1.
  • an uncorrected mobile antenna position is computable by triangulation.
  • the uncorrected mobile antenna position is computed inside the mobile user equipment 1, and the mobile user equipment is capable of operating in either 2D or 3D mode.
  • the mobile user equipment 1 communicates to a base station 4 data enabling knowledge of the identity 7 of each of the set of GPS satellites used in the computation of uncorrected ranges, the mode 8 (2D or 3D) of operation, and an uncorrected mobile antenna position 6 to the base station 4 which receives the signal via a second communication antenna 5.
  • the data enabling knowledge of the uncorrected mobile antenna position is of the form of a direct communication of the identity of each of the set of GPS satellites and the uncorrected mobile antenna position, but variations may be contemplated such as communication of uncorrected ranges which enable this knowledge to be simply computed at the base station 4.
  • a base station antenna 10 and base station suer Equipment 11 are adapted to receive and decode signals from each of the set of GPS satellites used by the mobile user equipment.
  • the base station is continuously monitoring all satellites which can be received and is computing uncorrected ranges from each such satellite to the base station antenna, in the same manner as the mobile user equipment 1 computes uncorrected ranges from the mobile antenna 2 to each GPS satellite.
  • the base station 4 is continuously updating information which will enable it to calculate a range error 13 by comparing with a known base station antenna position 12 stored at the base station 4.
  • the base station 4 may communicate with each of the set of GPS satellites only on activation by communication from the mobile user equipment 1.
  • the range error 13 is converted into a mobile antenna position error 15.
  • the mobile antenna position error 15 is then combined with the uncorrected mobile antenna position 6 to produce a corrected mobile antenna position 17.
  • this corrected mobile antenna position 17 may then be communicated back to the mobile user equipment 1 for display or use of accurate position information, or alternatively retained at that base station for accurate position logging of the mobile user equipment 1.
  • the algorithm 14 may be a linear transformation of the form commonly used in obtaining a position solution.
  • the function INV is a matrix inversion or pseudo- inversion.
  • the direction cosines are equal to the partial derivatives of the elements of range Y with respect to the elements of position X and hence H is a linear transformation matrix between small changes in X (ie ⁇ x) and small changes in Y (ie ⁇ Y) .
  • R may be established a priori by measurement and analysis.
  • R would be a diagonal matrix of equal error variances.
  • it could be estimated inside the base station receiver.
  • the range errors giving rise to the errors in the position, X may also be estimated a priori .
  • the covariances matrix, P would be a diagonal matrix of unequal error variances equal to ⁇ *diag[H ⁇ H] where ⁇ is a scalar estimate of the equal error variances in the range estimates and the function diag[] extracts a leading diagonal matrix from its arguments.
  • the altitude error may be simply treated as an error in another range estimate where the "range” concerned is the range from the centre of the earth.
  • the row in the H matrix corresponding to this "range” is the vector of partial derivatives of r with respect to x,y and z where r is the "range”
  • x,y and z are the cartesian coordinates of the reference position
  • r 2 x 2 + y 2 +z 2 *a 2 /b 2 where a and b are constants defining the eccentricity of the earth's shape.
  • the z ordinate in this case is along the axis passing through the poles.
  • the altitude error 16 there are several ways to obtain the altitude error 16. For example, it may be obtained as the difference between the altitude obtained as part of a recent corrected 3D position and the reported altitude. This assumes that the true altitude of the mobile or roving antenna has not altered since the previous 3D position fix was made. Alternatively it may be obtained by using the reported horizontal position to index a table or file of stored altitude data to obtain a close approximation to the altitude of the mobile or roving antenna and then subtracting the reported altitude. This is the preferred method and gives more accurate results when iterated by using the corrected position to look up the altitude table and perform the correction several times.
  • the method For correction of DR reports, the method computes the position correction for the GPS fix with reference to which the mobile equipment performed dead reckoning.
  • the mobile equipment therefore, reports the reference GPS fix data to the base to permit the corresponding position correction to be computed.
  • This initial position correction may then be used to correct all subsequent DR fixes reported from the same mobile until a new GPS fix is performed at that mobile.
  • the GPS-related errors in the DR fix derive from both the initial position error and the initial heading error. The latter may be corrected by:
  • step 2 Computing a corrected position for each DR fix by applying the heading correction to the vector connecting the reference GPS position to the DR position.
  • step 1 it is necessary to know the velocity of the mobile at the time of the reference GPS fix. This can be estimated by the GPS receiver and included in the position report, typically in the form of speed and heading. This is not shown in Fig. 1, which illustrates the basic scheme only.
  • the velocity consists of the true velocity plus a velocity error dominated by systematic velocity errors that may be measured independently at the base. Hence, by estimating the velocity error and subtracting it from the reported velocity it is possible to obtain a better estimate of the true velocity.
  • the heading correction may then be obtained as the difference between the arguments of the two velocity vectors.
  • the velocity error may be obtained from the systematic range rate errors using the same gain matrix as is used to obtain the position error from the pseudorange errors:
  • ⁇ Y' is the vector of range rate errors obtained as the differences between the measured range rates at the base and those predicted by calculation from the satellite motion.
  • the heading correction may thus be computed as follows :
  • X' is the uncorrected velocity vector representing the mobile velocity at the time of the reference GPS fix and the Arg function takes the argument of a vector.
  • X c X GPS - ⁇ X + [X DR - X ⁇ ps ]Z(Arg(X DR - X GPS )+ ⁇ h)
  • X c is the corrected DR position
  • X DR is the raw DR position
  • ⁇ x is the computed correction for the reference GPS fix
  • X GPS is the corrected reference GPS position.
  • FIG. 2 illustrates a hardware configuration of the base station 4.
  • the dispatch computer 20 passes position reports to the base station GPS computer 21 and receives corrected position reports from the GPS base station comruter 21 in return. The format of both reports is the same.
  • a GPS base station receiver 22 is connected to one of the serial ports of the base station GPS computer and the base station antenna 10 is connected to the RF input connector of the GPS base station receiver.
  • the base station antenna 10 must be mounted with a clear view of the sky and should be of a type designed to discriminate against multipath interference from below.
  • the multiNAV G4270 ABS base kit supplied by Sigtec Navigation comes equipped with an anti-multipath ground plate designed for this purpose. More expensive alternatives may provide even greater multi-path immunity via the incorporation of choke rings.
  • the mobile user equipment 1 may be any receiver capable of reporting position (inclusive of altitude), positioning mode (ie, 2D or 3D), time of fix (ie, time of signal transmission) and SV numbers of the satellites used to make the determination of position. It is preferable to use a receiver with a compact message format for communication to the base station incorporating all this data in order to preserve the communication bandwidth. This may be critical for computer aided or automated dispatch applications.
  • the mobile user equipment 1 should be configured to perform clean and immediate transitions between error vectors when changes in the set of satellites 7 used to perform the position determination occurs.
  • FIG. 3 is a context diagram for the software which controls the GPS base station computer 21 for the basic scheme not involving correction of DR reports.
  • the central process termed "Perform Differential Positioning" controls the GPS base station receiver 22 in order to extract pseudorange correction at one second intervals for all satellites in view.
  • the process also reads an almanac file (which may be in the "Yuma” format) in order to compute the approximate positions of the satellites in view.
  • the almanac file is updated once per day from the GPS base station receiver 22.
  • Using the calculated range error and the uncorrected mobile antenna position it then computes mobile antenna position errors for each position report received from the dispatch computer 20.
  • the base station computer 21 then applies the appropriate corrections and returns corrected mobile antenna position reports to the dispatch computer 20.
  • the "Perform Differential Positioning" process may be broken down into simpler subprocesses as indicated in Figure 4.
  • the range errors for each satellite in view are stored in a database along with the corresponding times of signal transmission and appropriate entries in that database are selected by process C which utilises those errors to convert uncorrected mobile antenna positions to corrected mobile antenna positions.
  • Process C takes account of the satellite set and the time of signal transmission.
  • Process B accepts raw position reports from the dispatch computer, and parses them into the uncorrected mobile positions, the time of signal transmission from the satellite and the satellite set used by the mobile user equipment, and any other fields.
  • process D the corrected position and other information is assembled into a corrected position report which is then returned to the dispatch computer 20.
  • Process E is activated on start up of the base station computer to convert the Almanac data for all satellites in the constellation of GPS satellites into standard Ephemeris data base format used by process C. Process E also runs once per day to convert and store Almanac data extracted from the base station receiver.
  • FIG. 5 shows further details of process A shown in figure 4.
  • Sub process A2 operates as follows:
  • Request range errors report at one second intervals from GPS base station receiver 22.
  • Process Al interprets two types of report from the GPS base station receiver 22.
  • One such report is a range corrections report which would usually conform to the specified format of message type 1 of the RTCM-SC104 standard, as set out in RTCM Recommended Standards for Differential Navstar GPS Service, [version 2.1, Radio Technical Commission for Maritime Services, 3 January
  • the RTCM message type 17 or the NMEA GPALM message [NMEA 0183, Standard For Interfacing Marine Electronic Devices, version 2.00, National Marine Electronics Association, 1 January 1992] would be used to report the Almanac data.
  • the Ephemeris data could be extracted from the GPS ba ⁇ e station receiver 22 for each satellite being tracked.
  • Figure 6 illustrates the functional breakdown of process C shown in Figure .
  • Process Cl computes satellite positions from the Keplerian elements as described in the GPS Interface Control Document [ICD-GPS-200, Navstar GPS Segment /Navigation User Interfaces (Public Release Version) revision B-PR, ARINC Research Corporation, I July 1993] .
  • Proces ⁇ C2 obtains satellite positions from process Cl and the mobile position expressed in cartesian coordinates (x, y, z) is obtained from process C5.
  • These data in earth-centred earth-fixed (ECEF) cartesian coordinates with units of meters) are used to compute a matrix of direction cosines between the GPS antenna and the satellite set used by the mobile user equipment as follows:
  • x r denotes the x coordinate of the mobile antenna
  • x 1 are denotes the range from satellite 1 from the mobile antenna and x
  • y and z are the directions of the three cartesian coordinate axes.
  • r 0 denotes the "range” from the "centre of the earth” to the mobile antenna computed as
  • a and b are well known parameters describing the eccentricity of the earth's shape.
  • the number of rows depends on the number of satellites used to obtain the mobile position to be corrected. In the example above five satellites were used in the mobile position solution and six rows are required. In the general case of correcting a 2D fix one more row than the number of satellites is required to accommodate the altitude correction. For correcting a 3D fix this last row is not required.
  • H “1 H*P*H T * INV[H*P*H T + R] , where the T denotes transpose, the function INV denotes matrix inversion, the matrix P is the estimated error covariances of the raw position vector and the matrix R is the estimated error covariance of the pseudorange vector. This is a well-known procedure used in Kalman filters.
  • R is a diagonal matrix with Xi equal to the estimated variance of the pseudorange error for the ith satellite. Typically, this is set a priori to the same value for all satellites but could be estimated dynamically using standard techniques.
  • the entry, R NN in the last row is the estimated variance of the error in the altitude and depends on the precision and accuracy of the altitude table, the steepness of the terrain and the number of iterations used to obtain the altitude (see later) .
  • Process C3 obtains the altitude correction in the first instance as zero. That is to say, the first position correction to be computed using pseudorange corrections only. This is passed to Process C4 which computes the Corrected xyz position.
  • the corrected xyz position is then used by Process C3 to obtain the corresponding altitude from the Altitude Database.
  • the raw altitude is extracted from the xyz Position and subtracted from the altitude obtained from the Altitude Database to give the Altitude Correction for the second iteration.
  • Third and subsequent iterations are the same as the second.
  • the iterative process terminates when the difference in the altitude obtained in successive iterations is less than a set threshold or when a fixed number of iterations have been processed.
  • Process C5 transforms from the latitude, longitude and height coordinates of the mobile position report to ECEF cartesian coordinates before the correction can be applied in Process C . Methods for doing this are well known.
  • the ECEF (or xyz) position is also passed to Process C2 for use in computing the Measurement Matrix, H.
  • the resulting correction vector is simply added to the position vector in Process C4 to give the corrected position vector which is then transformed back into latitude, longitude and height using standard methods in Process C6.

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

Technique et appareil de positionnement d'une antenne mobile parmi d'autres, susceptible de recevoir des signaux émanant de satellites GPS, chaque antenne mobile étant associée à un matériel mobile d'utilisateur correspondant et pouvant communiquer avec une station de base. Le matériel mobile d'utilisateur reçoit et décode des signaux provenant de chaque satellite GPS et transmet à la station de base des données qui lui permettent de connaître l'identité de chaque satellite et la position non corrigée de l'antenne mobile. La station de base décode les signaux émanant de chacun de l'ensemble de satellites GPS captés par le matériel mobile d'utilisateur en passant par une antenne de station de base, calcule la distance non corrigée de chaque satellite par rapport à l'antenne de la station de base et compare cette distance à la distance réelle fondée sur les positions calculées du satellite et sur une position connue de l'antenne de la station de base afin d'indiquer les erreurs systématiques de distance pour chacun de l'ensemble de satellites GPS. La station de base fait appel à un rapport connu entre l'erreur de distance et l'erreur de position de l'antenne pour en déduire une correction à apporter à la position de l'antenne mobile.
PCT/AU1997/000204 1996-03-27 1997-03-27 Appareil et technique de positionnement differentiel par satellites WO1997036187A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU21444/97A AU2144497A (en) 1996-03-27 1997-03-27 Apparatus and method for differential satellite positioning

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AUPN8964 1996-03-27
AUPN8964A AUPN896496A0 (en) 1996-03-27 1996-03-27 Apparatus and method for differential satellite positioning

Publications (1)

Publication Number Publication Date
WO1997036187A1 true WO1997036187A1 (fr) 1997-10-02

Family

ID=3793278

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/AU1997/000204 WO1997036187A1 (fr) 1996-03-27 1997-03-27 Appareil et technique de positionnement differentiel par satellites

Country Status (2)

Country Link
AU (1) AUPN896496A0 (fr)
WO (1) WO1997036187A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008108194A3 (fr) * 2007-02-26 2008-12-18 Toyota Motor Co Ltd Dispositif de positionnement mobile-unité
EP3001708A3 (fr) * 2014-09-23 2016-07-20 Hyundai Motor Company Procédé et appareil permettant de contrôler des antennes dans un système de communication de véhicule
CN111913203A (zh) * 2020-07-08 2020-11-10 北京航空航天大学 一种动态基线定位域监测方法
JP2022182705A (ja) * 2021-05-28 2022-12-08 株式会社デンソー 測位装置、測位方法、および測位プログラム

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0574009A2 (fr) * 1992-06-12 1993-12-15 Tokyo Cosmos Electric Co., Ltd. Procédé de positionnement DGPS, station de référence DGPS et appareil de positionnement DGPS pour un objet mouvant
WO1995018977A1 (fr) * 1994-01-03 1995-07-13 Trimble Navigation Reseau de corrections differentielles gps utilisant des signaux de phase de code
WO1995021386A1 (fr) * 1994-02-02 1995-08-10 Trimble Navigation Recepteur/ordinateur gps/dgps tenu a la main
GB2287149A (en) * 1994-03-02 1995-09-06 Cossor Electronics Ltd Differential global positioning system
US5563607A (en) * 1994-05-26 1996-10-08 Trimble Navigation Limited Time and/or location tagging of an event

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0574009A2 (fr) * 1992-06-12 1993-12-15 Tokyo Cosmos Electric Co., Ltd. Procédé de positionnement DGPS, station de référence DGPS et appareil de positionnement DGPS pour un objet mouvant
WO1995018977A1 (fr) * 1994-01-03 1995-07-13 Trimble Navigation Reseau de corrections differentielles gps utilisant des signaux de phase de code
WO1995021386A1 (fr) * 1994-02-02 1995-08-10 Trimble Navigation Recepteur/ordinateur gps/dgps tenu a la main
GB2287149A (en) * 1994-03-02 1995-09-06 Cossor Electronics Ltd Differential global positioning system
US5563607A (en) * 1994-05-26 1996-10-08 Trimble Navigation Limited Time and/or location tagging of an event

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008108194A3 (fr) * 2007-02-26 2008-12-18 Toyota Motor Co Ltd Dispositif de positionnement mobile-unité
KR101035532B1 (ko) * 2007-02-26 2011-05-23 도요타 지도샤（주） 이동-유닛 측위 디바이스
US7978127B2 (en) 2007-02-26 2011-07-12 Toyota Jidosha Kabushiki Kaisha Mobile unit positioning device
EP3001708A3 (fr) * 2014-09-23 2016-07-20 Hyundai Motor Company Procédé et appareil permettant de contrôler des antennes dans un système de communication de véhicule
CN106160887A (zh) * 2014-09-23 2016-11-23 现代自动车株式会社 用于控制车辆系统中的天线的方法和装置
US10003361B2 (en) 2014-09-23 2018-06-19 Hyundai Motor Company Method and apparatus for controlling antennas in vehicle communication system
CN106160887B (zh) * 2014-09-23 2021-06-11 现代自动车株式会社 用于控制车辆系统中的天线的方法和装置
CN111913203A (zh) * 2020-07-08 2020-11-10 北京航空航天大学 一种动态基线定位域监测方法
CN111913203B (zh) * 2020-07-08 2023-01-10 北京航空航天大学 一种动态基线定位域监测方法
JP2022182705A (ja) * 2021-05-28 2022-12-08 株式会社デンソー 測位装置、測位方法、および測位プログラム

Also Published As

Publication number Publication date
AUPN896496A0 (en) 1996-04-26

Similar Documents

Publication Publication Date Title
US5490073A (en) Differential system and method for a satellite based navigation
US5740048A (en) Method and apparatus for GPS positioning, filtering and integration
EP0776484B1 (fr) Systeme differentiel de stations terrestres gps
US5606506A (en) Method and apparatus for improving the accuracy of position estimates in a satellite based navigation system using velocity data from an inertial reference unit
US8160576B2 (en) LEO-based positioning system for indoor and stand-alone navigation
JP3361863B2 (ja) 衛星をベースとするナビゲーションシステムにおいて位置推定の精度を改善する方法及び装置
EP0776483B1 (fr) Systeme de stations terrestres a gps en mode differentiel, a securite intrinseque ou a fonctionnement en mode degrade
US5936573A (en) Real-time kinematic integrity estimator and monitor
KR100749712B1 (ko) 위성 위치측정 시스템에서 시간을 결정하는 방법 및 장치
AU2009330687B2 (en) Navigation receiver and method for combined use of a standard RTK system and a global carrier-phase differential positioning system
EP0694791A1 (fr) Méthode et système de résolution de l'ambiguité entière de la double différence de porteuse GPS à l'aide de filtres de Kalman décentralisés
EP2044457A2 (fr) Procédé d'augmentation de la fiabilité d'information de position lors du passage d'une navigation différentielle à phase de porteuse régional, longue portée ou mondial (wadgps) à un système de navigation local cinématique en temps réel (rtk)
WO2007089767A2 (fr) Procédé pour l'utilisation combinée d'un système de positionnement local, d'un système local de cinématique en temps réel (rtk) et d'un système de positionnement à phase de porteuse régional, longue portée ou mondial
CA2550600A1 (fr) Procede d'utilisation combinee d'un systeme rtk local et d'un systeme de positionnement par phase de porteuse, regional, de zone de couverture etendue ou global,
WO2008034728A1 (fr) Navigation intégrée à terminal mobile
JPH06201812A (ja) 衛星をベースとするナビゲーションシステムにおいて衛星の位置を予測する方法及び装置
JP2000512018A (ja) 衛星位置決定システムのためのスプーフィング検出システム
CA2384965A1 (fr) Procede et appareil de separation de solution pour systeme mondial de localisation au sol
US20030236621A1 (en) Determining the position of a receiver and/or the system time of a positioning system
US5890090A (en) Half-dead-reckoning capable GPS navigation receiver
KR102311606B1 (ko) 위성정보를 이용한 위치 결정장치 및 그 방법
WO1997036187A1 (fr) Appareil et technique de positionnement differentiel par satellites
JP2003500656A (ja) レシーバ位置の決定装置及び方法
US20230194731A1 (en) Calculating a position of one device relative to another
Farrell et al. Differential GPS with latency compensation for autonomous navigation

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AL AM AT AU AZ BA BB BG BR BY CA CH CN CU CZ DE DK EE ES FI GB GE GH HU IL IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MD MG MK MN MW MX NO NZ PL PT RO RU SD SE SG SI SK TJ TM TR TT UA UG US UZ VN YU AM AZ BY KG KZ MD RU TJ TM

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): GH KE LS MW SD SZ UG AT BE CH DE DK ES FI FR GB GR IE IT LU MC NL PT SE BF

DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
121 Ep: the epo has been informed by wipo that ep was designated in this application
NENP Non-entry into the national phase

Ref country code: JP

Ref document number: 97533878

Format of ref document f/p: F

REG Reference to national code

Ref country code: DE

Ref legal event code: 8642

122 Ep: pct application non-entry in european phase
NENP Non-entry into the national phase

Ref country code: CA