CN1210576C - 通信系统中用作gps辅助的方法和设备 - Google Patents

通信系统中用作gps辅助的方法和设备 Download PDF

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CN1210576C
CN1210576C CNB00803639XA CN00803639A CN1210576C CN 1210576 C CN1210576 C CN 1210576C CN B00803639X A CNB00803639X A CN B00803639XA CN 00803639 A CN00803639 A CN 00803639A CN 1210576 C CN1210576 C CN 1210576C
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almanac
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CN1340164A (zh
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P·A·阿加西
A·H·瓦雅诺斯
S·S·索利曼
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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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • 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
    • 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
    • G01S19/27—Acquisition or tracking or demodulation of signals transmitted by the system creating, predicting or correcting ephemeris or almanac data within 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
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/001—Transmission of position information to remote stations
    • G01S2205/008—Transmission of position information to remote stations using a mobile telephone network

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Power Engineering (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Mobile Radio Communication Systems (AREA)
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Abstract

一种对控制信道的容量影响最小、用来在控制信道上向移动通信设备有效发射定位辅助信息的方法和设备。定位服务器提供已用Almanac数据和Ephemeris数据计算的卫星位置间的差值。只发送用这两种不同的数据类型计算的位置和时钟校正间的差值，大大减少了要向移动通信设备发射的总信息量。而且，通过提供变化率信息，该方法和设备使得定位辅助信息能够在由移动通信设备接收后保持一相当长时间的有效。

Description

通信系统中用作GPS辅助的方法和设备
技术领域
本发明总的说来涉及定位系统。本发明尤其涉及用来确定移动话机在蜂窝通信系统中的物理位置的系统和方法。
背景技术
近年来，全球定位卫星(GPS)系统及陆地移动通信的发展使得人们需要把GPS功能集成到诸如移动话机的移动通信设备中，以支持各种定位功能和性能。无线链路存在于陆地移动通信系统中的移动通信设备和该通信系统中的基站之间。基站通常地是从无线移动通信设备接收无线通信信号并向无线移动通信设备发射无线通信信号的固定的通信设备。基站还和通信网通信以完成移动通信设备和诸如另一移动通信设备、普通电话机、电脑或任何其他这样的设备的端点设备间的连接。可用这种无线链路在移动通信设备和基站间发送定位信息，以改进无线通信设备中的GPS接收机的性能。特别是，为了依照GPS系统给一移动通信设备定位而必须执行的某些功能可由基站而非由通信设备执行。通过对基站“断开加载”某些功能，能减小通信设备的复杂性。而且，由于基站是静止的，基站的位置可用来帮助进行通信设备的定位。
许多业务，如CDMA分层业务(见由电信工业协会(TIA/EIA)出版的工业标准TR 45.5.2.3/98.10.XX.XX，CDMA分层业务阶段2说明(1.1版本))，要求移动话机空闲时能测定自身的位置。然后必须把位置显示给用户。在空闲状态，无线话机在基站传播的控制信道上监视来自基站的发射。例如，在一工业标准I595 CDMA系统(如工业标准I595所规定，由TIA/EIA出版)中，基站发射寻呼信道。每个能从某一基站接收信号的话机将监视在控制信道上传送的信息，以确定是否有面向该话机的输入呼叫或其他数据。
GPS接收机通常测量到至少四个GPS卫星的距离。如果测量时已知卫星位置和话机到卫星的距离，则可计算话机的位置。由于GPS卫星绕着地球循轨道运行，所以GPS卫星相对地球的位置随时间变化。GPS卫星的位置可通过对卫星轨道及计算卫星位置的时间的描述而确定。GPS卫星的轨道通常是建模成有校正项说明各种微扰的修正椭圆轨道。
在GPS系统中，可用“Almanac”或“Ephemeris”来表示卫星轨道。Ephemeris提供很精确地表示卫星轨道的数据。Almanac提供表示对Ephemeris提供的参数进行舍位降低精确度后的一组参数的数据。Almanac数据的精确性比详细的Ephemeris数据小得多。Almanac精确度是自发射以来所经过的时间的函数。表1示出信息时效(从信息发射起经历的时间)和信息精确度之间的关系。
    (自发射起的)数据时效     Almanac精度(米)
    1天     900
    1星期     1200
    2星期     3600
表1
另外，Almanac提供舍位的时钟校正参数。Almanac时间校正提供在2微秒的GPS时间内的时间。然而，因为如上面表1中所示的低精确度，用Almanac数据计算的卫星位置和时钟校正对计算话机位置是没有用的。
某些用来计算设备位置的方法要求在无线话机测量到卫星的距离，然后把这些距离发射给连接基站的服务器。基站用这些距离及进行测距时卫星的位置来计算话机的位置。该计算的位置可显示给用户或发送给需要该位置的的实体。该方法适合于有专用业务信道的话机。然而，该方法不适合于在空闲状态的话机，因为该话机缺少在空闲状态期间向基站发送信息用的专用业务信道。
在缺少用来和基站进行通信的专用业务信道时，话机可用共用接入信道向基站发送信息。然而，在共用接入信道上向基站发送测得的距离(这常用来建立对话机的呼叫和来自话机的呼叫)可对共用接入信道的容量和给话机供电的电池的寿命有很大的影响。因此，向基站发射测得的距离是不实际的。这要求话机能够计算自身的位置。为做到这一点，话机必须知道GPS卫星的位置以及GPS卫星时钟中的误差(这是因为要求有精确的GPS卫星时钟以精确确定距离测量结果)。该信息必须在控制信道上发射给话机。然而，即使向话机发射该信息也显著增加了控制信道的负担。
一般情况下，控制信道不得不承载非常大量的信息。控制信道承载消息的容量是有限的。因此，在控制信道上传送大量的GPS信息是不可能的。而且，信息必须以一种允许其在接收后能使用一相当长时间的形式发射。
本发明以下述方式解决了这些难题和缺陷。
                          发明内容
此处揭示的方法和设备有效地在控制信道上向移动通信设备发射位置辅助信息，而同时对控制信道容量的影响为最小。定位服务器提供先用Almanac数据再用Ephemeris数据计算的卫星位置之间的差值。只发送用这两种不同数据类型计算的位置和时钟校正之间的差值，将大大减少要向移动通信设备发射的信息总量。而且，通过提供变化率信息，该方法和设备使位置辅助信息能够在由移动通信设备接收后保持相当长时间的有效性。
                          附图简述
读者在结合附图阅读了本发明的详细描述以后，将能清楚地了解本发明的特征、目标和优点。图中，相同的标号所表示的意义相同。
图1是用卫星定位系统(诸如GPS系统)对移动通信设备进行定位的通信系统元件的方框图。
图2是依照所揭示的方法和设备的移动通信设备的方框图。
图3说明由揭示的方法执行的步骤。
                        具体实施方式
本文中揭示的方法和设备提供了一种减少需要在移动通信设备和基站间发射的信息量的新颖方法。具体地说，所揭示的方法和设备减少了采用用于定位的两种类型的信息所需发射的信息量。第一种类型的信息精确性较差，但更有效(诸如全球定位卫星(GPS)提供的Almanac数据)。第二种类型的信息较精确，但有效性较差(诸如GPS卫星提供的Ephemeris数据)。该方法和设备使对通信信道(诸如控制信道)容量的影响为最小，并且，依照一种实施例，使发射信息的有效时间量为最大。
图1是用卫星定位系统(诸如GPS系统)对移动通信设备进行定位的通信系统元件的方框图。该通信系统包括移动通信设备100和基站102。移动通信设备100可以是任何能够通过无线连接和基站进行通信的设备(诸如无线话机、带有无线调制解调器的电脑或带有无线调制解调器的传真机)。基站102是任何一种能够从移动通信设备100接收无线发射的设备。通常，这样的基站102使移动通信设备100与诸如公共交换电话网(PSTN)或因特网的陆基通信网界面连接起来。
依照所揭示的方法和设备的一种实施例，基站102包括定位服务器106(诸如GPS服务器)。或者，定位服务器106和基站102隔开一定的距离，并在通信链路上和基站102进行通信。基站102和服务器106之间的通信链路可采用任何一种使信息能够通过基站102从移动通信设备100传送到服务器106的形式。在所揭示的方法和设备的另一种实施例中，本文中描述的由定位服务器106执行的功能是直接由基站102执行的。因此，在这样一种实施例中，无需分立的定位服务器。
图2是移动通信设备100的高极方框图。移动通信设备100包括定位天线300、定位接收机302、定位处理器304、通信天线306、通信接收机308、通信处理机310和存储器312。
图3a到图3c说明依照所揭示的方法执行的步骤。首先，定位服务器106向移动通信设备100发射有关每个卫星104的轨道的信息，而这时，移动通信设备100有可能正从卫星104接收定位信号(步骤300)。依照一种实施例，该信息由定位服务器106传达给基站102。然后该信息从基站102在空中发射并由移动通信设备100中的通信天线306接收。由通信天线306接收的信号耦合到通信接收机308。通信接收机308执行任何必要的射频处理(诸如滤波、下变频、放大等等)。这样的射频处理为本领域技术人员所熟知。通信接收机308的输出耦合到通信处理器310。
通信处理器310从接收的信号中提取关于定位卫星轨道的信息。这种信息的提取为本领域中的普通技术人员所熟知。该信息是以众所周知的“Almanac”格式提供的。和Almanac一起，移动通信设备100接收“Almanac标识符”。Almanac标识符唯一地标识发射标识符时所使用的Almanac格式。移动通信设备100把Almanac格式和Almanac标识符存储在它的存储器312中(步骤302)。依照所揭示的方法和设备的一种实施例，Almanac标识符是一个代表Almanac有效时间段(诸如一星期)的数字。
在有关向移动通信设备100发射Almanac和Almanac标识符的任何时间(这样的发射之前、期间或之后)里，定位服务器106用发射的Almanac计算与该Almanac相关的卫星的位置(步骤304)。另外，用该Almanac计算时钟校正。在时间t0计算时钟校正。这样的时钟校正说明由卫星时钟中的误差引起的时钟误差。用来计算这样的时钟校正的方法为本领域的技术人员所熟知。
用Almanac计算的、在时间t0时某卫星104的位置表示为(xoa，yoa，zoa)。在时间t0时用Almanac计算的卫星时钟校正表示为coa。
接下来，定位服务器106用在时间t0时众所周知的“Ephemeris”数据计算卫星位置和时钟校正(步骤306)。本领域中的技术人员知道：在任一精确的GPS定位系统中，Ephemeris数据是必需的。Ephemeris数据和Almanac数据都是实时从卫星接收的。在时间t0、用Ephemeris计算的卫星104的位置表示为(xoe，yoe，zoe)。应当理解的是，为其计算(xoe，yoe，zoe)值的卫星(即：从其接收Almanac的卫星)与为其计算(xoe，yoe，zoe)值的卫星(即：从其接收Ephemeris的卫星)是一样的。在时间t0、用Ephemeris计算的卫星的时钟校正表示为Coe。
定位服务器106还计算将用于从卫星104测得的距离的差分校正(步骤08)。差分校正用于纠正因为和所揭示的方法和设备无关的历史原因而由卫星有意引入的时钟误差。该差分校正表示为do。
定位服务器106计算从Almanac和Ephemeris获得的卫星的位置x、y、z及时钟校正之间的差值(步骤310)。在时间t0的位置差值表达为：
Δxo＝xoe-xoa
Δyo＝yoe-yoa
Δzo＝zoe-zoa
Δco＝coe-coa
定位服务器106还计算Δcod＝Δco+do的值，它表示加上差分校正后的时钟校正Δco(步骤312)。然后，用经校正的时钟值ΔCod调整Δxo、Δyo和Δzo的值(步骤314)。
基站计算校正Δxo、Δyo、Δzo和Δcod的变化率(步骤316)。我们把Δxo、Δyo、Δzo和Δcod的变化率分别表示为
Figure C0080363900071
和
Figure C0080363900074
依照所揭示的方法和设备的一种实施例，变化率的值是通过取两时间点的两位置间的差值及标识每个方向x，y和z上的该两位置间的线(line)的斜率来计算的。
定位服务器106向移动通信设备发送每个卫星的t0、Δxo、Δyo和Δzo、Δcod、
Figure C0080363900075
Figure C0080363900077
和
Figure C0080363900078
(步骤318)。依照所揭示的方法和设备的一种实施例，这些值是通过诸如由电信工业协会/电子工业协会(TIA/EIA)出版的、由工业标准IS-95B规定的共用接入信道的控制信道发送的。和该信息一起，定位服务器106发送一标识符以标识服务器106在计算这些校正时使用的Almanac。
移动通信设备通过控制信道接收信息。移动通信设备比较由服务器106使用的Almanac的标识符和存储于存储器312中的Almanac的标识符(步骤320)。
如果标识符匹配(步骤322)，则移动通信设备用在时间t1的Almanac计算每个卫星104的位置和每个卫星的时钟校正(步骤324)。时间t1不必与时间t0相同。在时间t1的、由话机计算的卫星位置和时钟校正分别表示为(x1a，y1a，z1a)和c1a。
移动通信设备把通过控制信道接收的校正应用到用Almanac计算的卫星位置和卫星时钟(步骤326)。这产生经校正的卫星位置和时钟校正。这些校正的卫星位置和时钟校正可表达为：
x 1 = x 1 a + Δ x o + ( t 1 - t 0 ) Δ x · o
y 1 = y 1 a + Δ y o + ( t 1 - t 0 ) Δ y · o
z 1 = z 1 a + Δ z o + ( t 1 - t 0 ) Δ z · o
c 1 = c 1 a + Δ c od + ( t 1 - t 0 ) Δ c · od
移动通信设备用这些校正的卫星位置以及对卫星的距离测量结果来计算其自身的位置。定位信号由定位天线300接收。定位天线300耦合到定位接收机302。定位接收机302执行所有必要的前端射频处理。定位接收机302耦合到定位处理器304。定位处理机以传统方式测定到每个卫星104的距离，然后用每个卫星104的位置测定其自身的位置。
如果基站使用的Almanac的标识符与(步骤322)存储于移动通信设备的存储器312中的Almanac的标识符不匹配，则移动通信设备建立一个业务信道(步骤328)，并通过基站102从服务器106下载新的Almanac(步骤330)。
在所揭示的方法和设备的较佳实施例中，通过控制信道发送的信息包括位置和时钟校正，以及它们关于时间的一阶微分(变化率)
Figure C0080363900085
Figure C0080363900087
和
Figure C0080363900088
另一种实施例可包括关于时间的更高阶微分。另一种实施例可不包括所有的变化率项。
在较佳实施例中，电话机测得的距离的差分校正是通过把校正应用到时钟校正项Δco以获得Δcod而完成的。在其他实施例中，这些距离的差值校正能够通过把校正项应用到卫星位置校正Δxo、Δyo、Δzo而不是应用到时钟校正项Δco而获得。
尽管本发明是针对全球定位系统来描述的，但同样的原理可用于诸GLONASS的其他基于卫星的定位系统。
而且，参照IS-95 CDMA系统只作为具体的通信系统的例子而提供。然而，所揭示的方法和设备可应用于其他需要减少在移动通信设备和定位服务器之间传送的信息量的无线通信系统。
由于通过控制信道传送的信息只是用Ephemeris和Almanac计算的位置和时钟校正之间的差值，因而可以用很少几个数据位来传送该信息。其他发送诸如发送Ephemeris参数或卫星的实际位置的卫星定位信息的方法需要更多的数据位来传送该信息。这些方法就控制信道的容量而言要昂贵的多。
鉴于包括有变化率信息，因而所揭示的方法和设备中向移动通信设备发射的校正在发射时间后有一长时间窗口的有效期。因此，移动通信设备能够在不同于信息发射时间的时间里使用该信息。这意味着：移动通信设备能够在任何时间计算它本身的位置，而不受限于在信息发射时间周围的一个小时间窗口之内的定位计算。其他发送卫星信息的方法在信息发射后仅对于很短的时间窗内是有效的。
所揭示的方法和设备使得本领域中的任何技术人员都能制造或使用本发明。对所揭示的方法和设备的各种各样的变更，对本领域中的技术人员来说是非常明显的，而且此处描述的一般原理可不使用创造性的劳动而应用于其它实施例。这样，本发明不局限于此处给出的方法和设备，而应当以最宽的意义来理解权利要求书所限定的范围。

Claims (2)

1.一种用于辅助移动通信设备来计算卫星位置的方法，它包括以下步骤：
a)向移动通信设备发送Almanac数据；
b)用发送的Almanac数据计算在第一时间点时卫星的位置；
c)用发送的Almanac数据计算在第一时间点时卫星的时钟校正；
d)用Ephemeris数据计算在第一时间点时卫星的位置；
e)用Ephemeris数据计算在第一时间点时卫星的时钟校正；
f)计算用发送的Almanac数据计算的位置和卫星时钟校正与用Ephemeris数据计算的位置和时钟校正之间的差值；以及
g)向移动通信设备发送计算的差值。
2.一种用来计算辅助卫星定位的信息的服务器，它包括：
a)能够输出Almanac和卫星位置信息，包括有关根据Almanac和Ephemeris数据计算的时钟校正和位置间差值的信息的输出端口；以及
b)与输出端口耦合的处理机，包括：
i)根据Almanac计算卫星的位置的装置；
ii)根据Almanac计算卫星时钟校正的装置；
iii)根据Ephemeris计算卫星的位置的装置；
iv)根据Ephemeris计算卫星时钟校正的装置；以及
v)计算根据Almanac和Ephemeris计算的位置和卫星时钟校正间的差值的装置。
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