CN1199053C - 用于定位位置的方法 - Google Patents
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- 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
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/28—Satellite selection
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- 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
- G01S19/05—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing aiding data
- G01S19/06—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing aiding data employing an initial estimate of the location of the receiver as aiding data or in generating aiding data
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- 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
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/258—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
Abstract
本发明涉及一种用于定位位置的方法。根据本发明的方法包括:在服务器接收星座中多个卫星的卫星遥测数据;在服务器获得移动装置的大致位置;在服务器从卫星遥测数据和大致位置得出伪范围模型;将伪范围模型从服务器传播到移动装置;利用该伪范围模型在该移动装置捕获多个卫星信号;和利用多个卫星信号计算移动装置的位置。
Description
技术领域
本发明涉及GPS接收机中的信号处理。特别是,本发明涉及一种用于传送卫星数据到GPS接收机以使GPS接收机能够在低信号强度环境(例如,在室内)中捕获和锁定到GPS卫星信号的方法和装置。
背景技术
传统的GPS接收机需要过量的时间来捕获和锁定卫星信号。然后,一旦锁定,GPS接收机就从该信号中提取遥测数据(年历和天文历)。从这些数据中GPS接收机可以计算可以增强其锁定卫星信号能力的信息。相对较高信号强度的卫星信号是使该系统能够实现初始锁定所必需的。一旦捕获到GPS信号,信号强度必须持续很高,同时年历和/或天文历数据可以从卫星信号中提取出来。任何信号的严重衰减都会导致失锁而且信号将需要再次捕获。因而,该系统具有一固有循环,使得GPS接收机难以或不可能在低信号强度环境中捕获信号。
为了帮助初始捕获卫星信号,许多GPS接收机存储一份年历数据,从中可以计算出卫星信号期望的多普勒频率。已经开发的一些技术在一单独的GPS接收机计算有用信息,然后将此数据传送到另一个GPS接收机。2000年5月16日授权的美国专利6,064,336收集一单独GPS接收机的年历数据,然后将该年历数据传送到移动接收机。然后该移动接收机利用该年历数据计算卫星信号期望的多普勒频率,从而帮助初始的信号捕获。
接收年历的优点在于每个GPS卫星重复地传送包含用于完整GPS星座的轨道信息的完整年历,从而跟踪任何卫星的单个GPS接收机可以收集和传播用于星座中所有卫星的年历。利用该年历的缺点在于它是卫星轨道和卫星时钟误差相当粗略的模型,因此该年历仅对降低频率不确定性有用,但无法用于通过缩小代码延迟不确定的搜索窗来增强接收机灵敏度。
如果一GPS接收机在尝试锁定这些卫星之前就具有一整套的视野中所有卫星的天文历数据,则该接收机将具有显著改进的捕获时间和增高的灵敏度。这是因为该天文历数据包含卫星位置、速率和时钟误差的精确描述;而且GPS接收机可以通过显著缩小频率不确定性和代码延迟不确定性的搜索窗来利用此数据提高灵敏度。天文历的缺点在于每个卫星仅传送它自己的天文历;因此单个GPS接收机无法收集和传播星座中所有卫星的天文历。
因此需要一种技术用于GPS接收机系统,该系统能够为星座中的所有卫星传播卫星天文历,从而增强移动接收机的捕获速率和信号灵敏度。
发明内容
为克服现有技术中存在的缺陷,本发明公开了一种定位位置的方法。根据本发明的这种定位位置的方法,包括:在服务器接收星座中多个卫星的卫星遥测数据;在服务器获得移动装置的大致位置;在服务器从卫星遥测数据和大致位置得出伪范围模型;将伪范围模型从服务器传播到移动装置;利用该伪范围模型在该移动装置捕获多个卫星信号;和利用多个卫星信号计算移动装置的位置。
本发明包括一种利用中心位置和GPS接收机的广域网之间的通信链路分配和传送全球定位系统(GPS)卫星天文历的方法和装置。该GPS接收机的广域网收集由卫星发射的天文历数据和将该数据传递到中心位置。该中心位置传送天文历到移动接收机。该移动GPS接收机利用该传送数据以两种方式增强它的灵敏度。第一,该数据允许接收机检测到该接收机通常不能检测到的非常弱的信号,第二,GPS接收机不必在能计算位置之前长时间地跟踪该卫星信号。
在本发明的一个实施例中,卫星天文历数据重传,而不必以任何方式变换该数据。然后该GPS接收机就可以精确地利用此数据就好象该接收机已经从卫星接收到该数据。在另一个实施例中,在中心位置从天文历数据中计算出卫星的伪范围模型,此伪范围模型传送到该GPS接收机。伪范围模型特征在于此模型比完整的天文历更简明。因而,该GPS接收机在使用伪范围模型时不必执行与使用完整天文历一样多的计算。
附图说明
通过结合附图考虑下文的详细描述,本发明的教义可以很容易理解,其中:
图1描述了一种根据本发明的广域基准站网的结构;
图2描述了一种GPS轨道球面;
图3描述了三个基准站的GPS轨道球面和水平面的交叉;
图4A和4B描述了四个基准站的GPS轨道球面和水平面的交叉;
图5描述了一种生成伪范围模型的方法的流程图;
图6说明移动GPS接收机的时间(伪范围)和频率(伪范围速率)不确定性,以及通过降低这两个不确定性获得的灵敏度的改进;
图7描述了一种通过时间(伪范围)和频率(伪范围速率)窗口进行搜索的方法的流程图;和
图8描述了一种利用具有高信号强度的卫星的伪范围信息来改进从具有低信号强度的卫星接收的信号的接收机灵敏度的方法。
具体实施方式
为了帮助理解,该说明书的结构如下:
概述,引入本发明的每个组件和描述它们彼此的关系。
全球跟踪网,描述跟踪站的全球网如何构造和配置成确保能够始终跟踪所有的卫星。
天文历处理,描述了本发明的一个实施例,即提供了卫星天文历的一种更紧凑和更简单的模型。
信号检测,描述重发的卫星天文历数据如何用于GPS接收机来检测其它方式检测不到的信号。
灵敏度增强,描述两个最强的卫星信号如何用于在移动接收机计算时间和相关器偏移。而此信息又用于增强移动接收机接收的较弱GPS信号的灵敏度。
概述
图1描述了全球定位系统(GPS)卫星数据分配系统100的一个实施例,包括:
a)基准站网络102包括通过通信网105彼此连接的多个跟踪站1041、1042、...104n。基准站104在广阔的地区配置并包括GPS接收机126,因此天文历可以从在卫星的全球网,例如全球定位系统(GPS)内的所有卫星106收集。天文历信息包括900比特的分组,该分组包括卫星位置和时钟信息。
b)从跟踪站104收集天文历的中心处理位置108包括天文历处理器128,该天文历处理器128去除重复出现的相同天文历,并向移动GPS接收机114和118提供最新的天文历数据用于重新分配。
c)通信链路120,从中心处理位置到移动GPS接收机114。该链路120可以是陆上通信线110或其它直接通信路径,该链路将移动GPS接收机114直接连接到中心处理位置108。或者,此链路具有几个部分,例如:到无线发射机116的陆上通信线112,和从发射机116到移动接收机118的无线链路122。
d)移动GPS接收机114或118,利用重新分配的天文历数据(或其改良型)来帮助接收机检测来自卫星星座中的卫星106的GPS信号。
e)位置处理器130,其计算GPS接收机114或118的位置。这可以是GPS接收机本身、中心处理位置108或移动GPS接收机将从卫星106获得的测量数据发送到的其它位置。
操作中,每一个卫星106连续地广播与特定卫星有关的天文历信息。为了全面和同时捕获星座中所有卫星106的天文历数据,网络105扩展到全世界。
为了获得所有的天文历数据,需要三个或更多的跟踪站104。28颗卫星的每一个都具有相对地球赤道55度倾斜的轨道。因而,没有卫星在轨道球面正负55度以外运转。因此,120度分开放置并正好处于地球赤道上的三个站将看到所有的卫星。但是,将基准站放在赤道上的精确位置或附近是不切实际的。为了将基准站放在全世界的大城市,能看到所有卫星106的实际最小数目是四个。
每个跟踪站104都包括一GPS接收机126,该GPS接收机126捕获和跟踪来自所看到所有卫星106的卫星信号。站104提取天文历信息,该天文历信息唯一地识别每个卫星的位置以及卫星时钟信息,例如具有GPS信号的900比特分组。该天文历信息例如经陆地线网络105连接到中心处理位置108。
中心处理位置108将所有或部分天文历信息发送到一个或多个移动GPS接收机114和118。如果中心处理位置知道移动GPS接收机的大致位置,则中心处理位置108只能发送目前(或将要)看到的移动GPS接收机114或118的卫星天文历信息。该天文历信息可以通过陆地线110或其他的通信路径(例如,互联网、电话、光缆等等)直接连接。或者,该天文历信息可以通过无线系统116,例如蜂窝电话、无线互联网、无线电、电视等等连接到移动GPS接收机118。天文历信息的处理和利用描述如下(参见
天文历处理和
信号检测)。
全球跟踪网
全球GPS参考网102具有这样的跟踪站104,即网络102中的跟踪站104一直都能看到所有的卫星。因而,每个卫星106的天文历可以实时地用于该网络,因此该网络可使天文历或导出的伪范围模型用于需要它们的任何移动接收机。
参考站最小的完整网络包括三个站,大致平均的放置在地球赤道上或附近。图2表示围绕地球204的GPS轨道球面202,和卫星所有轨道的表示206。图3表示3个跟踪站(表示成A、B和C)的水平面与GPS轨道球面的交集。图3中,轨道球面在一个跟踪站水平面上的任何区域涂上灰色。轨道球面在两个跟踪站水平面上的区域涂上略黑的颜色。轨道球面在没有GPS卫星的高于和低于55度的区域是白色。从图3中,显然任何GPS轨道上的任一点总在至少一个基准站A、B或C的水平面上。
但是将基准站放置在赤道附近在商业或技术上是不实际的。优选位置是具有良好通信基础结构的大城市,以使天文历能够经可靠的网络连接到控制处理位置。当基准站离开赤道时,需要三个以上的站一直覆盖所有的卫星。但是,有可能创建只有四个基准站的网络,就能一直完全覆盖所有的GPS卫星,其中这四个站位于大城市或大城市附近。例如,这些站可以放置在夏威夷檀香山(美国)、布宜诺斯艾利斯(阿根廷)、特拉维夫(以色列)和佩思(澳大利亚)。图4A和4B表示这些站的水平面与GPS轨道球面的交叉。任何GPS轨道的任一点总在至少一个基准站的水平面上。图4A和4B表示从空间上的两点看去的轨道球面,一点(图4A)大致在西班牙上的空间,另一个(图4B)在球体的相对侧,大致在新西兰上。此图以与图3类似的方式填色。灰色表示GPS轨道球面在至少一个跟踪站水平面上的区域,暗灰色区域表示两个站能达到的轨道球面的部份。
天文历处理
天文历用于计算卫星伪范围和伪范围速率的模型。从伪范围速率,移动GPS接收机可以计算用于卫星信号的多普勒频移。伪范围模型的计算可在移动接收机或中心处理位置进行。在优选实施方式中,伪范围模型在中心位置计算如下。
图5描述用于产生伪范围模型的方法500的流程图。在步骤502,所有跟踪站的天文历数据带到中心处理位置。天文历数据由所有卫星连续传送,主要是重复的数据;新的天文历通常每2小时传送一次。天文历用表示成TOE的″天文历的时间″标记。此标记表示天文历有效的时间。天文历计算在TOE 2小时内非常精确。一卫星首先提前TOE2小时传送天文历,因此任何天文历在最多四个小时内非常精确。
在步骤506,中心处理位置保持最接近时间T的TOE的所有天文历数据,在时间T移动接收机要求天文历(或伪范围模型)。时间T由移动接收机在步骤504提供。通常T是当前的实际时间,但是它也可以是用于移动接收机的将来直到4小时的时间,该移动接收机在需要天文历/伪范围模型之前就收集它们。T还可以是过去的时间,由移动接收机用于处理先前存储的数据。
在步骤508,中心处理位置计算在时间T的卫星位置。在优选实施例中,这利用GPS接口控制文件,ICD-GPS-200-B提供的方程执行。
在步骤512,中心处理位置获得移动GPS接收机的大致位置。在优选实施例中,移动GPS接收机通过无线通信链路,诸如双向寻呼网、或移动电话网、或相似的双向无线网与中心处理位置通信。这种双向无线网具有接收几英里区域信号的通信塔。该中心处理位置获得无线塔的参考ID,该参考ID用于从移动GPS接收最近的通信。然后该中心处理位置从一数据库中获得此无线塔的位置。此位置用作近似的移动GPS位置。
在一备选实施例中,移动GPS接收机的大致位置可能只是由用于实现本发明的特定通信网提供服务的区域中心。
在另一个备选实施例中,移动GPS接收机的大致位置可能是所述接收机最近获知的点,该点保持在中心处理位置的数据库。
当然上述方法的许多组合和变型都可用来近似移动GPS接收机的位置。
已经计算卫星位置和获得近似用户位置以后,该中心处理位置计算(在步骤510)哪个卫星在或不久将在移动GPS接收机的水平面上。对于只需要重新分配天文历数据的应用,在步骤514,中心处理位置输出用于水平面上或将要在水平面上的那些卫星的天文历。
在优选实施例中,计算伪范围模型,包括:时间T、和用于水平面上或将要在水平面上的每个卫星:卫星PRN号、伪范围、伪范围速率、和伪范围加速度。
为了计算伪范围模型,中心处理位置首先在步骤516计算在移动GPS接收机水平面上或将要在水平面上的所有卫星的伪范围。伪范围是介于卫星和近似GPS位置中间,加上天文历所述卫星时钟偏移的几何范围。
在步骤518,伪范围速率可以从卫星速率和时钟漂移计算。卫星速率可以通过求卫星位置方程(在ICD-GPS-200-B)对时间的微分来直接获得。在备选实施例中,卫星速率可以通过计算在两个不同时间的卫星位置,然后差分该位置来间接地计算。
在另一个备选实施例中,伪范围速率可以通过计算在两个不同时间的伪范围,然后区分这些伪范围来间接地计算。
在步骤520,伪范围加速度以类似的方式计算(通过求卫星速率和时钟漂移对时间的微分或通过差分伪范围速率)。
然后完整的伪范围模型在步骤522打包成一种结构并输出到移动GPS接收机。
移动GPS接收机可将伪范围模型用于得出它的天文历的有效期。为了在时间T之后的某一时间应用该伪范围模型,移动接收机利用包含在伪范围模型的速率和加速度数据向前传播伪范围和伪范围速率。
在备选实施例中,中心处理位置传播未变的天文历519,在移动GPS接收机推导伪范围模型和伪范围速率。
Krasner(美国专利6,064,336)已经教导通过降低频率不确定性,多普勒信息可用于帮助移动GPS接收机。美国专利6,064,336描述了一种系统和方法,用于传送从中得出多普勒的移动接收机年历信息;或传送从年历得出的等同信息;或从接近移动接收机的基站传送多普勒测量本身。在本发明的另一个备选实施例中,天文历可用来得出多普勒信息。在(
信号检测)之后的部分中,可以理解此多普勒信息将用于帮助信号捕获到伪范围速率不确定性,即要搜索的频率箱(frequency bin)降低的程度,但是多普勒信息不会降低伪范围的不确定性(即代码延迟)。
信号检测
天文历数据(或得出的伪范围模型)有多种方式可用于帮助移动GPS接收机的信号捕获和灵敏性,如下所述。
天文历或伪范围模型可预计到卫星的仰角,允许接收机集中捕获高仰角卫星信号,该信号通常较少受到阻碍。计算在水平面以下(负仰角)的卫星可以忽视。此卫星选择还可以利用卫星轨道信息的年历来进行,但提供模型或从中可以产生模型的天文历,消除移动接收机内年历非易失性存储的必要性。因此,天文历在此方面提供某种优点,但是本发明的主要优点在于改进信号捕获和接收机灵敏度,如下所述。
″重新发射″或″重新广播″天文历信息以两种方式改进移动接收机的操作。
首先,移动接收机不需要从卫星收集天文历。该天文历每30秒从卫星广播并需要18秒发射。为了在不利用本发明的情况下接收天文历,移动接收机在正在发射天文历的整个18秒的间隔内需要清楚、不受阻的卫星接收。根据环境和接收机的使用,在情况允许收集天文历之前可能有几分钟,在许多应用,例如室内使用中,移动接收机从未无阻碍地看到卫星。为了消除数据收集延迟,本发明将天文历数据直接提供到移动接收机。
第二,如上所述,天文历用于形成在移动接收机接收的卫星信号的伪范围模型。这些模型可以多种方式加速捕获过程。
该模型预计接收信号的伪范围和伪范围速率。如果近似用户位置相当精确,则这些模型将非常精确的估算伪范围和伪范围速率。利用该模型,该接收机可以集中期望信号附近的相关过程。
图6表示用于移动GPS接收机的通常频率和时间不确定性的图601。在Y轴602上,各行表示不同的伪范围速率,在X轴604上各列表示不同的伪范围。如果没有精确模型,诸如利用本发明可得到的,范围速率的可能性将相当大地变化,因为大范围的卫星运行都是可能的,而且范围可能性也将随着PN代码的许多周期而变化。利用天文历信息提供的精确模型,不确定性可以缩小为由黑网孔606描述的小范围。许多接收机将能在单个过程搜索这个小范围,该过程消除了耗时的顺序检索,并允许利用更好灵敏度的较长的时间,正如现在要描述的。
更好的灵敏度如下实现:GPS接收机的灵敏度是接收机可以积分相关器输出的时间量的函数。灵敏度和积分时间之间的关系由图608表示。如果有许多箱要搜索,则积分时间610等于总的可用搜索时间除以搜索箱的数目。如果只有单个箱要搜索,则积分时间612等于总的可用搜索时间加上如608所示的灵敏度。
应当注意在一些接收机中,可以从伪范围模型预计的伪范围和伪范围速率不会精确,因为缺乏本地时钟的同步。在这种情况下,最初仍然需要在很宽的不确定性范围内搜索,但只是对于最强的卫星。如果已知本地时钟精确到大致一秒的GPS时间内,则任何一个卫星都足以同步本地相关器偏移。此后,对于剩余的卫星可以精确地计算期望的伪范围和伪范围速率。如果不知道本地时钟在大致一秒内,则两个卫星必须用于计算两个要求的时钟参数:本地时钟和相关器偏移。需要两个卫星的事实是一个经常被误会的点。在GPS文献中,经常提到一个卫星足以求解出未知的时钟偏移,而不必实现它,这只对本地时钟已经大致与GPS时间同步的系统成立。在连续跟踪GPS信号的传统GPS接收机中,本地时钟与GPS时间同步到了比一秒精确度好得多的程度。在一些更现代的实施(例如,美国专利6,064,336)中,本地时钟与网络时间参考同步,该网络时间参考与GPS时间同步。但是,本发明具体用来操作在没有与GPS时间同步的本地时钟的实施中。人们求解这些时钟参数的方式如下详细描写。
一旦已经计算出未知的时钟参数,则参数可用于调整用于剩余的、较弱的卫星的伪范围模型,以便将不确定性范围缩小到较窄的区域;因此当需要高灵敏度,即用于检测较弱的卫星信号时,增强灵敏度精确性。
在其它接收机中,本地时钟和时钟速率可以十分精确。例如,如果时钟信号由与GPS时间同步的无线媒介(例如,双向寻呼网络)得出,则时钟参数通常很精确。在这种情况下,没有时钟影响,从开始就可以使用较窄的搜索区域。
为了量化本发明的好处,考虑到这样一种例子,即用户位置在双向寻呼塔的接收半径(2英里)内是知道的。在这种情况下,伪范围(用毫秒表示)可以预先计算到百分之一毫秒的精确度。如果没有本发明,则GPS接收机将搜索所有可能代码延迟的全部一毫秒,以锁定到卫星发射的代码。利用本发明,搜索窗缩小了一百倍,使得GPS接收机更快,更重要的是,允许利用更长的积分时间(如上所述),使接收机能够检测较弱的信号,诸如发生在室内。
在移动接收机具有天文历或得出的伪范围模型的另外的优点在于识别真实相关的过程更强壮,因为且不说如上所述增加了积分时间,如果只考虑发生在期望范围以内的相关,则识别″错误峰值″的机会将大大缩小。
通过利用天文历(或得出的伪范围模型)增强灵敏度的一个实施例进一步参照图7描述。
图7是信号搜索的方法700的流程图。该方法从步骤702开始,输入伪范围模型。如前所述,此伪范围模型由天文历计算,或者在移动接收机本身或者在中心处理位置。在步骤704,该模型应用在移动装置的当前时间并用于估算GPS卫星信号的期望的当前频率和时间,以及这些量期望的不确定性,以便为每个卫星形成频率和代码延迟搜索窗。此窗口的中心在频率和延迟的最佳估计值,但允许最佳估计值的真实偏离,该偏离是由于模型建立过程中的误差,包括大致用户位置的不精确、从无线载波传送的时间和频率误差等等。此外,频率不确定性被分成多个频率搜索箱,以覆盖频率搜索窗。如图6所示,利用伪范围模型可以急剧减少搜索箱的数目。
在步骤706,检测和测量过程设置成编程载波校正到第一搜索频率。在步骤708,启动代码相关器以在延迟窗口的延迟范围内搜索信号相关性。这种代码相关器是标准技术,但是本发明急剧减少了相关器必须搜索的可能的代码延迟数目,从而增加每个代码延迟的积分时间,和接收机的灵敏度。
在步骤710,方法700查询是否检测信号。如果没有信号检测到,则在步骤712将载波校正设置成下一个搜索频率,该搜索继续直到发现信号或频率搜索箱用完。
如果在步骤710,方法700肯定回答了查询,则在步骤714该信号用于进一步改进时钟时间延迟和时钟频率偏移的估计。在步骤716此信息用于为剩余的、未检测的卫星重新计算频率和延迟搜索窗。在步骤718,该过程继续直到检测到所有的卫星或搜索窗已经用尽。
图7的方法说明了可用于根据能够估计时间和频率的GPS信号处理引导搜索过程的各种算法的一种。另外,该算法可以变成包括各种重试机制,因为这些信号自己可能被衰减或阻隔。
灵敏度增强
为了增强接收机的灵敏度(如图6所述),本发明利用移动装置的大致位置计算期望的伪范围,这降低了伪范围不确定性。但是,在本发明的接收机可以计算期望的伪范围之前,需要以下三项:
1.移动装置的大致位置(在真实位置几英里内)
2.在移动装置的近似时间(在真实时间的大致一秒内)
3.在移动装置的相关器时钟偏移(在真实偏移的几微秒内)
这三项的每一个知道得越精确,本发明约束伪范围不确定性就越精确,因此灵敏度越大(参见图6)。在优选实施例中,移动装置的大致位置从该装置最后使用的无线塔的已知位置确定。双向寻呼机和蜂窝电话的无线塔的接收半径通常是3千米。因此移动装置的大致位置已知在3千米内,伪范围估计导致的误差不超过3千米。参照图6,注意用于无助GPS接收机的全部伪范围不确定性等于一个代码出现时间(epoch),大致是300千米。因此,甚至知道粗略到3千米的大致位置可以降低伪范围不确定性一百倍。
计时误差还会导致期望伪范围的误差。为了计算期望的伪范围,接收机必须计算空间的卫星位置。地球上任何位置的卫星范围以正负800米/秒的速率变化。因此每秒的时间误差将导致最多800米的范围误差(和伪范围误差)。
该移动装置相关器延迟偏移导致伪范围测量的直接误差,正如GPS文献中所公知的。每微秒的未知相关器延迟偏移导致范围测量的300米的误差。
因此,为了将伪范围估计保持在几千米的范围内(如图6所示),本发明的接收机需要估计上述范围的位置、时间和相关器延迟偏移。
在这样一种实施方式中,即移动装置的实际时间不知道几秒好多少,而且相关器延迟偏移不知道,则利用两个卫星测量人们对此求解如下。
伪范围误差与两个时钟误差有关的方程是:
y=c*dtc-rangeRate*dts (1)
其中:
y是″伪范围余量″,即期望的伪范围和测量的伪范围之间的差值;
c是光速;
dtc,是相关器延迟偏移;和
dts,是实际时间估计的偏移。
图8描述了用于改进时钟参数,然后改进接收机灵敏度的方法800的流程图。方法800包括:
步骤802.利用最公知的时钟参数,为所有的卫星计算期望的伪范围。
步骤804.测量具有最高信号强度的两个最强卫星的伪范围。
步骤806.利用这两个测量值,求解方程(1)的两个未知数:dtc和dts。
步骤808.利用dtc和dts改进对于剩余(较弱)卫星的期望伪范围的估计值。
步骤810.利用这些改进的期望伪范围降低伪范围不确定性,因此改进接收机的灵敏度,如图6所示。
尽管并入本发明的的各种实施例已经在这里示出和详细描述,但是本领域技术人员可以很容易地设计出仍然并入这些教义的许多其它变化的实施例。
Claims (22)
1.一种用于定位位置的方法,包括:
在服务器接收星座中多个卫星的卫星遥测数据;
在服务器获得移动装置的大致位置;
在服务器从卫星遥测数据和大致位置得出伪范围模型;
将伪范围模型从服务器传播到移动装置;
利用该伪范围模型在该移动装置捕获多个卫星信号;和
利用多个卫星信号计算移动装置的位置。
2.如权利要求1的方法,其特征在于,计算位置的步骤在移动装置内执行。
3.如权利要求1的方法,其特征在于,还包括:
将多个卫星信号中的信息传送到与移动装置无线通信的服务器;和
在服务器内计算移动装置的位置。
4.如权利要求1的方法,其特征在于,服务器将伪范围模型通过无线通信系统传播到移动装置。
5.如权利要求4的方法,其特征在于,获得大致位置的步骤包括:
接收移动装置和服务器通信期间所用的无线通信系统的无线塔的位置。
6.如权利要求3的方法,其特征在于,获得大致位置的步骤包括:
从无线通信系统服务的区域中心确定大致位置。
7.如权利要求1的方法,其特征在于,获得大致位置的步骤包括:
维护移动装置位置的数据库;和
从数据库中接收移动装置最后已知的位置。
8.如权利要求1的方法,其特征在于,卫星遥测数据包括天文历数据。
9.如权利要求1的方法,其特征在于,伪范围模型包括伪范围、伪范围速率和伪范围加速度。
10.一种用于定位位置的方法,包括:
接收来自卫星全球定位系统星座中多个卫星的卫星遥测数据;
将接收到的卫星遥测数据传递到中心处理位置;
得出伪范围模型,该模型包括伪范围、伪范围速率和伪范围加速度;
将伪范围模型传播到移动接收机;和
利用所述伪范围模型在所述移动接收机捕获至少一个卫星信号。
11.如权利要求10的方法,其特征在于,所述捕获步骤还包括从所述伪范围模型计算多普勒。
12.如权利要求10的方法,其特征在于,所述卫星遥测数据包括卫星时钟信号和卫星位置信息。
13.如权利要求10的方法,其特征在于,伪范围模型从卫星遥测数据得出,该卫星遥测数据包括移动接收机所看到每个卫星的天文历数据。
14.如权利要求13的方法,其特征在于,卫星遥测数据包括从卫星天文历数据得出的多普勒测量值。
15.如权利要求10的方法,其特征在于,所述捕获步骤进一步包括:
利用伪范围模型来使频率不确定性和代码不确定性变窄。
16.如权利要求10的方法,其特征在于,所述接收步骤利用四个卫星信号接收机实现。
17.如权利要求10的方法,其特征在于,还包括:
利用所述伪范围模型计算所述移动接收机的位置。
18.如权利要求17的方法,其特征在于,所述计算步骤在移动接收机内执行。
19.如权利要求17的方法,其特征在于,所述计算步骤在远离所述移动接收机的位置执行。
20.如权利要求10的方法,其特征在于,所述至少一个卫星信号是具有高信号强度的信号,所述捕获步骤还包括:
利用至少一个捕获的卫星信号来帮助接收具有低信号强度的其它卫星信号。
21.如权利要求10的方法,其特征在于,所述至少一个捕获的卫星信号用于生成时钟和相关器延迟偏移。
22.如权利要求10的方法,其特征在于,所述至少一个捕获的卫星信号用于改进对于具有低信号强度的卫星信号的估计伪范围计算。
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2000
- 2000-07-13 US US09/615,105 patent/US6411892B1/en not_active Expired - Lifetime
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2001
- 2001-07-11 AU AU2001276873A patent/AU2001276873A1/en not_active Abandoned
- 2001-07-11 WO PCT/US2001/021852 patent/WO2002006987A1/en active Application Filing
- 2001-07-11 EP EP01954644A patent/EP1305735A4/en not_active Withdrawn
- 2001-07-11 CN CN200510054342A patent/CN100587514C/zh not_active Expired - Fee Related
- 2001-07-11 JP JP2002512830A patent/JP2004504612A/ja not_active Abandoned
- 2001-07-11 CN CNB018146805A patent/CN1199053C/zh not_active Expired - Fee Related
- 2001-11-20 US US09/989,625 patent/US6587789B2/en not_active Expired - Lifetime
- 2001-11-20 US US09/989,558 patent/US6704651B2/en not_active Expired - Lifetime
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2002
- 2002-04-02 US US10/114,653 patent/US6703972B2/en not_active Expired - Lifetime
- 2002-07-02 US US10/188,265 patent/US20020175856A1/en not_active Abandoned
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2003
- 2003-02-05 US US10/359,468 patent/US20030176969A1/en not_active Abandoned
- 2003-03-19 US US10/392,358 patent/US6813560B2/en not_active Expired - Lifetime
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2006
- 2006-06-30 US US11/428,281 patent/US9599720B2/en not_active Expired - Fee Related
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2009
- 2009-07-08 US US12/499,198 patent/US20090267833A1/en not_active Abandoned
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- 2013-04-23 US US13/868,669 patent/US8930137B2/en not_active Expired - Fee Related
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US9599720B2 (en) | 2017-03-21 |
US20030176969A1 (en) | 2003-09-18 |
AU2001276873A1 (en) | 2002-01-30 |
US6813560B2 (en) | 2004-11-02 |
US20030236620A1 (en) | 2003-12-25 |
US6587789B2 (en) | 2003-07-01 |
CN1465015A (zh) | 2003-12-31 |
CN1680823A (zh) | 2005-10-12 |
US6704651B2 (en) | 2004-03-09 |
US20020175856A1 (en) | 2002-11-28 |
JP2004504612A (ja) | 2004-02-12 |
US20020032526A1 (en) | 2002-03-14 |
EP1305735A4 (en) | 2009-08-12 |
US8930137B2 (en) | 2015-01-06 |
CN100587514C (zh) | 2010-02-03 |
US20090267833A1 (en) | 2009-10-29 |
US6411892B1 (en) | 2002-06-25 |
EP1305735A1 (en) | 2003-05-02 |
US20020032527A1 (en) | 2002-03-14 |
US20130234888A1 (en) | 2013-09-12 |
US20020105459A1 (en) | 2002-08-08 |
WO2002006987A1 (en) | 2002-01-24 |
US20060271293A1 (en) | 2006-11-30 |
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