JP5780701B2 - 全視野のコヒーレントなgps信号擬似ランダム雑音(prn)コード捕捉及びナビゲーション解決定のための全地球測位システム(gps)ユーザ受信機および幾何学的表面処理 - Google Patents
全視野のコヒーレントなgps信号擬似ランダム雑音(prn)コード捕捉及びナビゲーション解決定のための全地球測位システム(gps)ユーザ受信機および幾何学的表面処理 Download PDFInfo
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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
- G01S19/252—Employing an initial estimate of location in generating assistance 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
-
- 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
-
- 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
- G01S19/393—Trajectory determination or predictive tracking, e.g. Kalman filtering
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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
- G01S19/38—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
- G01S19/51—Relative positioning
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
- Mobile Radio Communication Systems (AREA)
Description
種々の実施形態の以下の説明は、本質的に単なる例示であり、本発明、その応用、または使用を限定することを意図するものではない。ここで使用されているように、用語「モジュール」は特定用途用集積回路(ASIC)、電気回路、1以上のソフトウェアまたはファームウェアプログラムを実行するプロセッサ(共有、専用またはグループ)およびメモリ、従属相関器ネットワークのバンク、組合せのサーチ論理回路および/または説明した機能を行う他の適切なコンポーネントを指している。
Φij(to)=PRi(to)−PRj(to) (式2)
ここでPRNコード距離測定iとjは同じ衛星52iに関する2つの異なるPRNコード信号または2つの異なる衛星52i、52jから得られる2つの異なるPRNコード信号から得られる。同じ衛星52からの2つのPRNコード信号間の相対的なコード位相はほぼ同じである。PRNコード信号が同じ衛星52iからの2つの異なる周波数から得られるならば、相対的なコード位相は衛星送信機と電離層遅延に関連される周波数間バイアスを含むことができる。
ΔΦij(to)=(Φij)U−(Φij)BS (式3)
結果を簡単にするために式2を式3に代入し、式1を使用すると、次式が得られる。
P=a1・P1+a2・P2+…+aN・PN
予測される信号強度の関数として性能を強化するための組合せ加重a1と、LOSに沿った運動の不確定性に基づいて処理された各PRNコード信号の最適なコヒーレントな積分時間の選択は、性能を強化するための付加的な自由度パラメータの制御を可能にする。組合せ加重a1は、ゼロ雑音に関連される予測幾何学的表面モデルをサーチ空間グリッド領域にわたる雑音を有する未調整の合計された電力出力データへ適合するのに使用されるパラメータとしての役目も行う。
グリッド時間点の数=(1000m/75m)3=2370
搬送波位相角度の組合せ数=85=32,768
並列サーチセグメントの総数=(2370)*(32,768)=77.7M
100MHz ASICを仮定するサーチの総時間=77.7M/100MHz=0.78秒
1つのPRNコード信号に関する処理利得=5衛星(7.0dB)
図9および10に示されているように、MATLABシミュレーションの結果は1つの衛星が直接的に頭上90度の高度で選択されたN=5衛星の場合の組合された電力表面を示すために提示されている。残りの4つの衛星は45度の高度角度で選択され、+/−とおよび+/−y軸の上方の方位角で均等に隔てられた。使用されたサーチのインクリメントは1/4コードチップであった。各x−yグリッド点において、ユーザ受信機時間オフセットはまた1/4チップのインクリメントでサーチされ、各x−yグリッド点のプロッされた値はユーザ受信機クロック時間間隔サーチにおける最大の組合された電力出力に対応する。図8に示されているように、各相関器の電力出力は1に正規化された。PRNコードは搬送波位相誤差のために損失なく組み合わされることが仮定された。しかしながらコード位相誤差による損失が存在するならば、幾何学的表面にわたる最大の組合された電力出力は処理されたN=5衛星信号よりもやや小さい。組合された電力の幾何学的表面はシミュレートされた真のユーザ受信機位置、この場合では原点において最大の高さを有する山頂(例えば電力ピーク)の特性を示す。図9に示されているように、雑音は含まれず、図10とは異なって、シミュレートされた通常の雑音電力は各PRNコード相関器の出力で12dB=20 log(S/σ)のSNRに等しく(Tc=1秒ではC/N=12dB Hzに等しく)示されている。図10に示されているように、山頂と、真のユーザ受信機位置近くの最大の電力出力の方向の特性は雑音が存在していてもこのサンプルの実行(run?)で依然として認められる。
グリッド時間点の数=(1000m/100m)3=1000
搬送波位相角度の組合せ数=89=134.2M
並列サーチセグメントの総数=1000*134.2M/10,000=13.4M
100MHz ASICを仮定するサーチの総時間=13.4M/100MHz=0.13秒
1つのPRNコード信号に関する処理利得=9衛星(9.5dB)
例2によれば、仮定されるハードウェアアーキテクチャの実際上の限界は約N=9または10の独立した衛星信号である。しかしながらこの限界は図3に示されているような変更された搬送波位相予測処理を使用することにより小さい不確定領域で克服されることができる。
グリッド時間点の数=(100m/0.05m)4=1.6×1013
並行サーチセグメントの総数=1.6×1013/10,000=1.6B
100MHz ASICを仮定するサーチの総時間=1.6B/100MHz=16秒
1つのPRNコード信号に関する処理利得=(20衛星)*(5コード/衛星)=100(20dB)
例3によれば、仮定されるハードウェアアーキテクチャの実際の限界と、予測される搬送波位相角度を使用する変更された処理は約100メートルの位置−時間不確定領域にあると思われる。損失のない処理利得は単一のPRNコード信号の捕捉に関して20dBである。
Claims (1)
- 基地局位置データをユーザ受信機で受信し、
ユーザ受信機クロックを同期するための時間同期情報と、エポック時間に基地局(54)で受信された衛星距離信号の距離データとをユーザ受信機で受信し、
基地局位置データに基づいて地球基準サーチ空間領域(58)と複数のグリッド点位置を有する予め規定されたサーチ空間を画定し、
ユーザ受信機の視野内の複数の衛星(52)のそれぞれからの衛星距離信号をユーザ受信機で同時に捕捉し、
複数のグリッド点位置のそれぞれについて、同時に受信された衛星距離信号の電力出力をコヒーレントに組み合わせ、組み合わせ電力出力データを平滑化し、当該平滑化された組み合わせ電力出力データをサーチ空間領域について解析して最大電力出力位置を決定し、そこからユーザ受信機の見込位置を決定する、全地球測位システム“GPS”受信機(56)の位置を迅速に決定する方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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US11/501,556 | 2006-08-09 | ||
US11/501,556 US7688261B2 (en) | 2006-03-15 | 2006-08-09 | Global position system (GPS) user receiver and geometric surface processing for all-in-view coherent GPS signal PRN codes acquisition and navigation solution |
PCT/US2007/017613 WO2008021121A2 (en) | 2006-08-09 | 2007-08-07 | A global position system ( gps) user receiver and geometric surface processing for all-in-view coherent gps signal pseudo-random noise (prn) codes acquisition and navigation solution determination |
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JP2014056325A Division JP5957025B2 (ja) | 2006-08-09 | 2014-03-19 | ユーザ受信機の位置決定方法 |
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JP2010500562A JP2010500562A (ja) | 2010-01-07 |
JP5780701B2 true JP5780701B2 (ja) | 2015-09-16 |
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JP2009523830A Active JP5780701B2 (ja) | 2006-08-09 | 2007-08-07 | 全視野のコヒーレントなgps信号擬似ランダム雑音(prn)コード捕捉及びナビゲーション解決定のための全地球測位システム(gps)ユーザ受信機および幾何学的表面処理 |
JP2014056325A Active JP5957025B2 (ja) | 2006-08-09 | 2014-03-19 | ユーザ受信機の位置決定方法 |
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US (1) | US7688261B2 (ja) |
EP (1) | EP2049915B1 (ja) |
JP (2) | JP5780701B2 (ja) |
AT (1) | ATE463750T1 (ja) |
DE (1) | DE602007005809D1 (ja) |
WO (1) | WO2008021121A2 (ja) |
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WO2008021121A2 (en) | 2008-02-21 |
DE602007005809D1 (de) | 2010-05-20 |
EP2049915B1 (en) | 2010-04-07 |
ATE463750T1 (de) | 2010-04-15 |
US20090171583A1 (en) | 2009-07-02 |
US7688261B2 (en) | 2010-03-30 |
JP2014178321A (ja) | 2014-09-25 |
EP2049915A2 (en) | 2009-04-22 |
WO2008021121B1 (en) | 2008-06-12 |
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