JP2009053193A - 衛星測位システムにおいて時間を決定するための方法および装置 - Google Patents
衛星測位システムにおいて時間を決定するための方法および装置 Download PDFInfo
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- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0045—Transmission from base station to mobile station
- G01S5/0063—Transmission from base station to mobile station of measured values, i.e. measurement on base station and position calculation on mobile
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- 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
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- 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
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
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- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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- G—PHYSICS
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- 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
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- 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
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- G04R—RADIO-CONTROLLED TIME-PIECES
- G04R20/00—Setting the time according to the time information carried or implied by the radio signal
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- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
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Abstract
【解決手段】一つの実施態様において、基準時間は、他のナビゲーション情報を決定するのに使用される。そのようなナビゲーション情報は、例えば、衛星測位システム(SPS)の受信機のローカル/位置を含む。一つの実施態様において、SPSの受信機と1組の一つ以上の衛星との間の相対速度は、SPSの受信機により示されるような時間と基準時間との間のオフセットを決定するために使用される。本発明の他の実施態様に関して、誤り統計が、基準時間を決定するために使用される。本発明の他の実施態様に従って、衛星の少なくとも位置を各々代表する二つの記録が比較され、時間を決定する。一つの実行において、SPSの受信機は移動であり、前記方法の一つ又は組み合わせにより、基地局に関連して時間と/又は他のナビゲーション情報を決定するように動作する。
【選択図】 図1
Description
xi、yiおよびziは、i番目の衛星の座標/位置(既知)である。および
cbは、受信機のクロックと基準時間(未知)の間の時間の誤差の結果であるクロックバイアスを表す。
uxi、uyi、uziは、x,y,z座標軸(既知)に沿って投影されたときの、受信機からi番目の人工衛星に対する視線ベクトル(line−of−sight vector:LOSベクトル)の方向コサインである。
Δx,Δy,Δz,Δcbは、(未知の)基準クロックからのオフセットである可能性のある、受信機のクロックと座標/位置の初期の推定への補正である。
衛星測位システムに関連する基準時間を決定するための方法および装置が記述される。いったん決定されると、基準時間は、ある実施形態においては、他のナビゲーション情報を求めるために使用されてよい。このようなナビゲーション情報は、例えば、衛星測位システム(SPS)の受信機の場所/位置を含んでよい。1つの実施形態においては、SPSの受信機と1つまたは複数の衛星のセットの間の相対的な速度は、SPSの受信機によって示されるような時間と基準時間の間のオフセットを求めるために使用される。本発明の別の実施形態に従って、誤差の統計が基準時間を決定するために使用される。本発明のまた別の実施形態に従って、それぞれが少なくとも衛星メッセージの一部を表す2つのレコードが時間を決定するために比較される。1つのインプリメンテーションでは、SPSの受信機は移動であり、説明されている方法の1つまたは組み合わせに従って時間および/またはその他のナビゲーション情報を決定するために、基地局とともに動作する。
衛星測位システムとともに使用するための衛星データメッセージに関係する時間を測定するための多様な方法および装置が以下に説明される。本発明の説明の一部は米国の全地球測位衛星(GPS)システムに焦点を当てている。しかしながら、これらの方法が、ロシアのGlonassシステムなどの類似した衛星測位システムにも等しく適用できることが明らかでなければならない。さらに、本発明の教示は、複数のスードライト(pseudolites)または衛星と複数のスードライトの組み合わせを活用する測位システムに等しく適用可能であることが理解されるだろう。さらに、基地局および移動SPSの受信機の多様なアーキテクチャが、本発明の制限として解釈されるよりむしろ説明目的で提供されている。
図3は、図1に示されているもののような移動通信受信機および送信機と結合されている移動SPSの受信機とともに活用されるように、本発明の1つの実施形態に従った、衛星測位システム内での時間決定のための相対的な衛星速度を活用するための方法を示すフロー図である。図3に示されている方法200では、図1に図示されている移動SPSの受信機100のようなエンティティ(entity)が、その位置をステップ202の1つまたは複数の衛星のセットに従って推定する。1つの実施形態においては、SPSの受信機は、衛星から送信される信号に基づき衛星のセットに対する擬似距離のセットを決定してよい。このようにして、SPSの受信機による任意の範囲または位置の推定は、典型的には、SPSの受信機と基準時間のクロックによって提供されるように測定の時間の間のオフセットのために、実際の位置または範囲を基準にして相殺されるだろう。
uxi、uyi、uziは、x,y,z座標軸(既知)に沿って投影されたときの、受信機からi番目(i=1,2,3,4,5)の人工衛星に対する視線ベクトル(line−of−sight vector:LOSベクトル)の方向コサインである。
sv 距離 レートiは、i番目(i=1,2,3,4,5)の人工衛星と、あるエンティティ(例えば、移動SPSの受信機等)(既知)との相対速度である。
Δx,Δy,Δz,Δcbは、(未知の)受信機のクロックと座標/位置の初期の推定への補正である。
Δtは時間計測におけるオフセットであり、それは、一実施形態では、擬似距離計測が行われる該推定された時間と、基準時間(例えば、GPSシステム時間、或いはGPSシステム時間に基づく時間等)(未知)との間の差(またはオフセット)を表す。
ある実施例では、重み因子は使用されない。このことは、一般的に重み行列をアイデンティティ行列とみなすことと等価である。
nは、測定数を表す。
mは、未知数の数を表す。
Claims (67)
- 以下の装置実行ステップを具備する、衛星測位システムに関する基準時間を決定する方法、
一組の衛星に対するエンティティの位置を推定する、この推定値は第1の時間測定値に関連し、この第1の時間測定値と前記基準時間とはあるオフセットだけずれている、
前記一組の衛星の相対速度を決定する、及び
前記一組の衛星の相対速度及び前記推定した位置に基づいて、前記第1の時間測定値と前記基準時間の間の前記オフセットを決定する。 - 前記エンティティは移動衛星測位システム(SPS)の受信機である、請求項1の方法。
- さらに、下記のステップを有する請求項1の方法、
遠隔のエンティティが前記エンティティからの推定値メッセージを受信して、前記推定された位置を示し、この遠隔のエンティティは前記推定値メッセージを用いて前記オフセットを決定する。 - 前記遠隔のエンティティが前記オフセットに基づいて、ナビゲーション情報を前記エンティティに提供するステップを更に含む、請求項3の方法。
- 前記ナビゲーション情報は、前記基準時間を具備する、請求項4の方法。
- 前記ナビゲーション情報は、前記エンティティの位置を具備する、請求項4の方法。
- 前記遠隔のエンティティが前記一組の衛星の前記相対速度を決定する前記ステップを実行するステップをさらに含む、請求項3の方法。
- 前記遠隔のエンティティは前記一組の衛星の前記相対速度を決定する前記ステップを実行し、及び
前記遠隔のエンティティは前記相対速度および前記相対速度に基づくデータのうちの少なくとも一つを、衛星測位システムの受信機を具備する前記エンティティに提供し、この衛星測位システムの受信機は前記相対速度及び前記相対速度に基づくデータのうちの少なくとも一つに基づいて、ナビゲーション情報を決定するステップを更に具備する請求項1の方法。 - 前記ナビゲーション情報は前記オフセットを具備する請求項8の方法。
- 前記ナビゲーション情報は前記エンティティの位置を具備する請求項8の方法。
- 前記推定された位置は、前記一組の衛星に対する擬似距離を具備する請求項1の方法。
- 遠隔のエンティティは前記一組の衛星の相対速度を決定するステップを実行する、及び
前記遠隔のエンティティはナビゲーション情報を前記エンティティに提供し、該ナビゲーション情報は前記一組の衛星の前記相対速度に基づいている、
ステップを更に具備する請求項1の方法。 - 前記ナビゲーション情報は前記オフセットを具備する請求項12の方法。
- 前記ナビゲーション情報は前記エンティティの位置を具備する請求項12の方法。
- 前記一組の衛星の前記相対速度を擬似距離の1組の残余計算に含ませることにより、前記オフセットを計算するステップを更に具備する請求項1の方法。
- 前記相対速度は、前記エンティティと前記一組の衛星との間の相対速度を示している請求項15の方法。
- 前記相対速度は、前記エンティティと遠隔のエンティティとの間の相対速度を示している請求項15の方法。
- 前記擬似距離の残余計算を新たな1組のデータを用いて繰り返すステップを更に具備する請求項15の方法。
- 前記繰り返された擬似距離の残余計算の各1つは、前記エンティティの前記位置及び前記オフセットへの補正を提供する請求項18の方法。
- 以下の装置実行ステップを具備する、衛星測位システムに関する基準時間を決定する方法:
エンティティが、該エンティティに対する一組の衛星の位置に関する第1の値を推定する、この推定された第1の値は第1の時間測定値に関連する、ここにおいて前記値に関連する第1の時間測定値と前記衛星測位システムに関する前記基準時間は、あるオフセットだけずれている、
前記第1の値についての誤差の統計を計算する、及び
この誤差の統計に基づいて、前記第1の時間測定値と前記衛星測位システムに関する前記基準時間との間の前記オフセットを決定する。 - 前記第1の値を推定するステップを繰り返し行って複数の値及びその値に関連する複数の時間測定値を得る、
前記複数の値及び前記複数の時間測定値に関する前記誤差の統計の値を最小化する、及び
最小化された誤差の統計の値に基づいて、前記オフセットを決定するステップを具備する請求項20の方法。 - 前記第1の値は擬似距離の残余値を含み、前記誤差の統計の値は前記擬似距離の残余値の二乗の加算値を含む請求項20の方法。
- 前記擬似距離の残余値の二乗の加算値は、重み付け係数により重み付けされる、請求項22の方法。
- 前記オフセットに基づいて前記エンティティの位置を判断するステップを更に含む請求項20の方法。
- 前記オフセットを用いてGPSシステム時間を決定し、前記エンティティを前記GPSシステム時間に同期させるステップを更に含む請求項20の方法。
- 遠隔のエンティティが前記誤差の統計の値を決定するステップを実行し、そして、前記遠隔のエンティティはナビゲーション情報を衛星測位システム(SPS)の受信機を有する前記エンティティに提供するステップをさらに具備する請求項20の方法。
- 前記ナビゲーション情報は前記オフセットを含む請求項26の方法。
- 前記ナビゲーション情報は前記衛星測位システムの受信機の位置を示す情報を含んでいる請求項26の方法。
- 下記の装置実行ステップを具備する、衛星測位システムに関する時間を決定する方法、
エンティティが、該エンティティと一組の衛星との間の相対距離及び相対的位置のうちの少なくとも一つに関する複数の値を推定する、前記複数の値の各々は、各時間測定値にそれぞれ関連し、各時間測定値と前記衛星測位システムに関する時間は第1のオフセットだけずれている、
前記複数の値の中の1つに関連する時間測定値の各々を用いて、誤差の統計値の第1の組を決定する、
第2のオフセットにより各時間測定値を変更する、
前記変更された時間測定値を用いて前記誤差の統計値の第2の組を決定する、及び
前記誤差の統計値の第2の組に基づいて、前記第1のオフセットを決定する。 - 前記第1のオフセットを決定するステップは、前記第2の誤差の統計値の線形収束値を決定するステップを具備する請求項29の方法。
- 前記第2の誤差の統計値は、前記複数の値及び前記第2のオフセットに基づく単位変位を含む請求項30の方法。
- 下記を具備する、衛星測位システムに関する基準時間を決定する装置:
一組の位置の値を格納するための記憶ユニット、前記位置の値は一組の衛星の相対位置を示す、ここにおいて、前記一組の位置の値の各々は基準時間からあるオフセットだけずれている時間測定値に関連する、
前記記憶ユニットに結合され、前記1組の位置の値及び前記一組の衛星の各々の相対速度の推定値に基づいて前記オフセットを決定するための処理ユニット。 - 前記位置の値は、前記一組の衛星と衛星測位システム(SPS)の受信機との間の相対位置を示している請求項32の装置。
- 前記記憶ユニット及び前記処理ユニットは基地局に含まれる、ここにおいて、該基地局は、前記オフセットに基づいてナビゲーション情報を衛星測位システム(SPS)の受信機に提供するための通信リンクを更に具備する請求項32記載の装置。
- 前記ナビゲーション情報は、前記衛星測位システムの受信機の位置を具備する、請求項34の装置。
- 前記ナビゲーション情報は、前記一組の衛星の各々の前記相対的速度を具備する請求項34の装置。
- 前記ナビゲーション情報は、前記衛星測位システムの受信機と前記一組の衛星の各々との間の距離を具備する請求項34の装置。
- エンティティへの情報の送信を可能にするために、前記プロセッサに結合される送信機を更に有する請求項32の装置。
- 移動衛星測位システム(SPS)の受信機を更に有する請求項38の装置。
- 前記エンティティは、前記衛星測位システムの受信機からの前記情報を受信するための基地局を有する請求項39の装置。
- 前記情報は、前記一組の衛星に前記衛星測位システムの受信機からの擬似距離に関する値を有する請求項40の装置。
- 下記ステップを具備する、衛星測位システムに関連する時間を決定する方法:
少なくとも一つの衛星の速度を示す値を記憶する、
前記値に基づいて前記時間を決定する。 - 前記時間を決定するステップは、
一つのエンティティと前記少なくとも一つの衛星との間の第1の距離値を計算する、前記第1の距離値は第一の時間の誤差に関連する、及び
前記値と前記第1の距離値に基づいてオフセットを決定する、前記オフセットは前記第一の時間の誤差を示す。 - 前記第1の距離値と前記第1の時間の誤差とに基づいて、前記エンティティの位置を決定するステップを更に有する請求項43の方法。
- 前記エンティティは、移動衛星測位システム(SPS)の受信機を有する請求項44の方法。
- 前記第1の距離値と前記第1の時間の誤差とに基づいて前記エンティティの前記位置を決定するステップは、遠隔のエンティティにより実行される、請求項44の方法。
- 前記遠隔のエンティティが前記エンティティにナビゲーション情報を提供するステップを具備する、ここにおいて前記ナビゲーション情報は前記エンティティの前記位置に関する情報を具備する、請求項46の方法。
- 下記のステップを具備する、衛星測位システムに関する時間を決定する方法:
第1のエンティティにより受信される衛星メッセージの少なくとも一部分の第1記録を、前記衛星メッセージの第2記録と比較して、第一の時間値を決定する、ここにおいて前記衛星メッセージの前記第2記録は第二のエンティティで受信される、
一組の衛星の相対的速度に基づいて第2の時間値を決定する、ここにおいて前記第1の時間値と前記第2の時間値のうちの少なくとも一つは、前記衛星測位システムに関する前記時間を示す。 - 前記第1記録及び第2記録は、時間において少なくとも部分的に重複する請求項48の方法。
- 前記第2のエンティティが前記衛星メッセージの前記第2記録を前記第1のエンティティへ供給するステップを更に有する請求項48の方法。
- 前記第1のエンティティは、基地局である請求項50の方法。
- 前記第2のエンティティは、移動衛星測位システム(SPS)の受信機である請求項50の方法。
- 前記一組の衛星の前記相対速度に基づいて前記第2の時間値を決定する前記ステップは、下記のステップを具備する請求項48の方法:
前記一組の衛星の各々の距離に関する距離の値を決定する、
前記距離に関する前記距離の値と、前記一組の衛星の前記相対速度とを用いて、前記第2の時間値を決定する。 - 前記距離の値は、擬似距離の残余に対応する請求項53の方法。
- 前記第1の時間値と前記第2の時間値のうちの少なくとも一つは、前記第2のエンティティの位置を決定するために用いられる請求項48の方法。
- 前記衛星測位システムに関する前記時間を示すために、前記第1の時間値および第2の時間値のうちの一つを選択するステップを更に有する請求項55の方法。
- 前記第1の時間値は、前記第2の時間値の使用により、少なくとも部分的に決定される請求項48の方法。
- 下記ステップを具備する、衛星測位システムに関する時間を決定するための方法、
第1のエンティティにより受信される衛星メッセージの少なくとも一部の第1記録を、前記衛星メッセージの第2記録と比較する、前期衛星メッセージの第2記録は、前記第2のエンティティにおいて受信される、
誤差の統計値の組に基づいて第2の時間値を決定する、前記第1の時間値及び前記第2の時間値のうちの少なくとも一つは、前記衛星測位システムに関する前記時間を示している。 - 前記第1記録及び第2記録は、時間において少なくとも部分的に重複する請求項58の方法。
- 前記衛星のメッセージの第2の記録を前記第2のエンティティが前記第1のエンティティへ供給するステップを更に有する請求項58の方法。
- 前記第1のエンティティは、基地局である請求項60の方法。
- 前記第2のエンティティは、移動衛星測位システム(SPS)の受信機である請求項60の方法。
- 前記第1のエンティティは、移動衛星測位システム(SPS)の受信機である請求項60の方法。
- 前記第2のエンティティは、基地局である請求項60の方法。
- 前記第2の時間値を決定するステップは、下記を具備する請求項58の方法、
前記第1のエンティティと前記一組の衛星の少なくとも一つとの間の距離に関する、1組の距離値の各々の誤差の統計値の組を決定する、
前記第2の時間値を決定するために誤差の統計値の組をできるだけ利用する。 - 前記距離値の組のそれぞれは、擬似距離残余に対応するものである請求項65の方法。
- 誤差の統計値の前記組は、時間において互いに関してオフセットされている距離値の組の分散に対応する請求項65の方法。
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