WO2003054576A1 - Procede d'amelioration de la determination de l'attitude d'un vehicule a l'aide de signaux de radionavigation par satellite - Google Patents
Procede d'amelioration de la determination de l'attitude d'un vehicule a l'aide de signaux de radionavigation par satellite Download PDFInfo
- Publication number
- WO2003054576A1 WO2003054576A1 PCT/FR2002/004397 FR0204397W WO03054576A1 WO 2003054576 A1 WO2003054576 A1 WO 2003054576A1 FR 0204397 W FR0204397 W FR 0204397W WO 03054576 A1 WO03054576 A1 WO 03054576A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- signals
- antennas
- phase
- attitude
- intercorrelation
- Prior art date
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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
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
-
- 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
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
-
- 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
- G01S19/53—Determining attitude
-
- 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
- G01S19/22—Multipath-related issues
Definitions
- the present invention relates to a method for improving the determination of the attitude of a vehicle using radio navigation signals by satellite.
- the determination of attitude using radio navigation signals consists in comparing the differences in satellite-carrier distances with respect to a known base of antennas. A very high measurement resolution is therefore necessary. To achieve this resolution, phase measurements of the GPS signal are used.
- attitude determination by multi-antenna GPS thus carried out requires improvements to achieve the high level of integrity required by “safety-of-life” applications, that is to say with vital safety requirements.
- attitude determination uses the phase measurements delivered by the loop.
- carrier tracking Phase Locked Loop, PLL
- PLL Phase Locked Loop
- the object of the invention is therefore to improve the determination of the attitude of a vehicle from a radio navigation signal, in particular a GPS signal.
- the attitude of a carrier here includes the angles of heading, pitch and roll in a local landmark.
- the GPS signal is received simultaneously by a pair (or pairs) of antennas, making it possible to establish the phase difference of the signals emitted by the GPS satellites and measured respectively by each of the two antennas of the pair considered.
- a GPS receiver tracks the GPS signal in code using a DLL (thus measuring the pseudo-distance according to the position of the code received) and in carrier using a PLL (measuring the pseudo-speed according to the phase speed received).
- a reception channel is dedicated to each tracked satellite.
- the DLL is therefore essential for the localization function in relation to the PLL. This can also be temporarily replaced by speed assistance (so-called “code only” mode).
- speed assistance so-called “code only” mode.
- phase measurements when receiving the GPS signal, known methods are rejection of interference sources by spectral or spatial processing applied to the input signal (before demodulation by the code or the carrier).
- temporary replacement of the PLL with speed assistance (“code only” mode) allows the DLL to be maintained for positioning in the event of strong interference, but the PLL is no longer operational, the phase measurements are no longer available for attitude measurement.
- Phase measurement and attitude determination are therefore not always available in the event of strong interference even if GPS positioning can be maintained.
- the known methods do not make it possible to reject all the multiple paths which may specifically degrade the determination of attitude, in particular for multiple paths with low delay not detectable by known methods at the DLL level (resolution of the DLL insufficient for the need for attitude measurement).
- Initializing attitude determination, ambiguity resolution (LA) conditions the reliability of the entire subsequent operating phase.
- LA ambiguity resolution
- the known methods of removing ambiguity proceed by maximum likelihood among a set of potential solutions preselected or not. Without a priori knowledge, these potential solutions describe a large domain corresponding to a space whose dimension corresponds to the number of satellites processed by pair of antenna, and having for half-axes the basic length counted in number of wavelengths, in all directions of the search space.
- the size of the research area determines both the duration of the ambiguity and above all the risk of error on the initial attitude.
- a known solution uses the intermodulation of two or three GPS carriers (L1 x L2, L1x L5, ...) which has the effect of increasing the apparent wavelength.
- the details sought may require the use of a base between pairs of very long antennas, even greater than the wavelength.
- an inertial unit (1RS class 2Nmi / h) can provide the initial attitude (heading and vertical),
- - accelerometers or level sensors can provide the initial pitch and / or roll (ICS class 1 mg),
- a magnetometer (or a flow valve) can provide an initial heading, ...
- the assistance methods to reduce the search area for ambiguity removal no longer apply if the course is not available, the assistance then being incomplete or partial (search for an optimized navigation system in terms of cost, without IRS-2Nmi / h, nor magnetometer).
- the integrity performance of the LA can be very insufficient: of the order of 1% when the need is 10 "7.
- current method does not allow to know the quality of the ambiguity resolution obtained, which would be essential before selecting the GNSS signals as source of attitude and heading of the carrier.
- the subject of the present invention is a method for improving the determination of the attitude of a vehicle using radio navigation signals, a method which simultaneously makes this determination with the best possible resolution, without being sensitive neither to interference nor to multi-routes.
- the method according to the invention is characterized in that it consists in producing a carrier phase loop (PLL) by summing the two signals from '' a pair of antennas distant by half a wavelength, these signals being made coherent before summation, to carry out a measurement of phase difference on the signals coming from a pair of distant antennas of several lengths d wave, passing through the frequency domain, then to perform a reduction in the area of research of the initial ambiguity removal for determining the attitude of a vehicle by interferometric GPS measurement and implementing a statistical test for the selection of ambiguity
- PLL carrier phase loop
- FIG. 1 is a diagram illustrating the path difference of a GPS signal, seen by a pair of antennas,
- FIG. 2 is a block diagram of a GPS reception channel used by the method of the invention
- FIG. 3 is a diagram explaining the step of determining attitude according to the present invention.
- FIG. 4 is a diagram illustrating the processing of robust PLL measurement in accordance with the invention
- FIG. 5 is a diagram illustrating the processing of measurement of phase difference with frequency excision, in accordance with the invention
- FIG. 6 is a diagram illustrating the processing for precise measurement of phase difference with a robust PLL, in accordance with the invention.
- FIG. 7 is a diagram illustrating the first step in defining a research area to resolve ambiguity without heading assistance, in accordance with the invention.
- the present invention is described below with reference to the determination of the attitude of an aircraft using radio navigation signals emitted by a constellation of GPS satellites, but it is understood that it is not limited to this single application, and that it can be implemented for other kinds of vehicles, and that it can have recourse to other radio navigation signals.
- the path difference of the GPS signal seen by a pair of antenna is representative of the angle ⁇ between the antenna base b and the direction (LOS) of the satellite, as shown in Figure 1. This path difference is measured by the differential phase between the GPS antennas referenced 1 (master antenna) and 2 (slave antenna).
- the GPS delivers two ambiguous phase measurements (fractional part compared at wavelength) respectively for each pair of antenna and for the satellite in view considered.
- the various successive wave planes of the signal of the satellite in question have been shown in broken lines.
- the path difference is defined geometrically by the projection, (or the scalar product) of the base antenna length on the direction of the satellite considered:
- a receiver receives and processes the GPS signal using a code tracking loop (DLL) and a carrier tracking loop (PLL) as shown in Figure 2, which relates to a reception channel 3.
- DLL code tracking loop
- PLL carrier tracking loop
- circuit 4 comprising a demodulation filter, with automatic gain control and analog-digital conversion of the received signal.
- Circuit 4 attacks two demodulators 5 and 6.
- a local digital oscillator 7 directly attacks demodulator 5, and via a 90 ° phase shifter 8 demodulator 6.
- a reference clock 9 is connected to circuits 4 and 7.
- Demodulators 5 and 6 attack correlators 11 and Q1 referenced 10 and 11, and correlators 12 and Q2 referenced 12 and 13.
- Correlators 10 and 11 supply S1_0 to a circuit corrector DLL and to a circuit 15 corrector PLL with Arctg function, while the correlators 12 and 13 supply S1_ ⁇ to circuit 14.
- Circuit 14 is connected to a local code generator 16 which is connected on the one hand via an advance-delay circuit 17 to correlators 12 and 13, on the other hand directly to correlators 10 and 11, and which provides the pseudo-distance information.
- the corrector 15 is connected to the oscillator 7 and provides the pseudo-speed information. Ambiguous phase information is available at the output of oscillator 7. In the case of two antennas, the signals received demodulated by the code and the carrier are written (neglecting the delay on the data):
- - s1 (t) and s2 (t) are the satellite signals received by each antenna respectively
- n1 (t) and n2 (t) are the noises received by each antenna respectively - f is the residual carrier frequency
- the determination of the attitude is obtained by calculation from the measurements of ambiguous phases, by adding the ambiguity previously initialized and maintained, then by reversing the projection of the baseline on the directions of the different satellites, according to the synoptic of the figure 3.
- the satellite LOS are taken from the “Position-speed-time resolved” (PVT) set resolved by GPS positioning, and from the “Satellite position-calculated speed” (PVS) set calculated by the receiver at from the navigation data received (ephemeris or almanac) and the time resolved.
- the basic vector (18) is determined according to the knowledge of the direction of the satellite (LOS) and of the ambiguous phases, after removal of ambiguity (19) operated (20) on the phases ambiguous and performed when the device was initialized, then maintained in real time, knowing the phase velocities. From the determination of the base vector, the attitude of the vehicle (20) and therefore the GPS attitude parameters of this vehicle are extracted.
- the initial LA consists in selecting for each satellite the whole number of wavelengths corresponding to the whole part of the path difference of the GPS signal.
- ⁇ carry out the carrier phase loop (PLL) by summing the two respective signals from a pair of antennas close, half a wavelength apart to reinforce interference resistance and in operation with a low signal-to-noise ratio.
- the summation is implemented using a signal processing method making it possible to make the two signals coherent before summation (by normalized intercorrelation) independently of any bias of the RF chains.
- This alignment gives the PLL a spatial rejection of multi-routes which are not in the preferred direction (moreover, and in a manner already known, this pair of close antennas can also be useful for a first direct and unambiguous initialization of attitude)
- ⁇ perform the phase difference measurement using a new signal processing technique on two signals respectively from a pair of antennas sufficiently spaced apart (several wavelengths, to achieve good angular precision for attitude measurement).
- the measurement of phase difference is obtained by passing through the frequency domain, which makes it possible to reject signals which are not coherent in frequency (multipath with doppler shifted by the preferred frequency, etc.).
- the invention consists in slaving the two respective PLLs of the pair of antennas by the same command resulting from a summation of the two detected signals. This summation increases the signal-to-noise ratio seen by the PLL. This summation is previously made consistent by canceling the delay of one signal with respect to the other. This delay is first measured by standardized complex intercorrelation.
- a corollary advantage to this consistency is the partial spatial rejection of multi-path signals whose directions seen by the two antennas are not identical to each other.
- the invention consists in: - calculating the phase difference by interferometry (normalized intercorrelation 21) between homologous signals, that is to say coming from the same satellite (S1_0 and S1 b_0), issued respectively by the two antennas (22, 23) of the same pair of antennas, these antennas being less than ⁇ / 2 apart, then filtered, demodulated and despread (24, 25),
- Restoring the coherence of the demodulated signals on the basis of the standardized intercorrelation output (representing a complex argument signal equal to the instantaneous phase difference, the noise remaining negligible) has the consequence of reducing the effect of the decorrelated noises. spatially, close to a “patch” type antenna with beam formation.
- this summing makes it possible to gain 3 dB on the signal to noise ratio in the loop (therefore on the measurement accuracy) in the case of independent Gaussian noises, and thus to operate in the presence of even higher disturbances.
- any interference signal not arriving in the direction of the signal will be attenuated, but with an efficiency dependent on the bandwidth of this interference with respect to the separation distance of the two antennas:
- the antennas are brought closer to one another better than ⁇ / 2, and in this case the attenuation of a coherent wave is carried out without any other angular ambiguity on any type of interference (narrow band and broad band), Either the antennas are separated by several wavelengths, and in this case, the directivity becomes illusory on narrow band signals, due to spatial ambiguities (unambiguous spatial directivity can only be achieved in the case of noise of very broadband, not compatible with conventional receiver bandwidth). This provision is not retained.
- the invention proposes to carry out an intercorrelation passing through the frequency domain.
- the phase difference measurement is associated with processing in the frequency domain by means of a direct fast Fourier transformation (DFT) of the two signals received on the two antennas (antennas 22 and 23A - see FIG. 5). , these two signals being from the same satellite.
- DFT direct fast Fourier transformation
- This transformation is followed by a complex product in the frequency domain, a frequency excision processing to reject the signals of abnormal frequency (non-coherent doppler multipath ...) then an inverse DFT considered at the offset of zero time (the phase difference between the two carrier signals being measured by the value of the intercorrelation for a zero time offset).
- This processing is carried out at the rate of the correlation of the code (typically of the order of 1 kHz) after Fourier transformation by FFT of the correlation “I” and “Q” outputs.
- a method for carrying it out is for example:
- the advantage of this method is to allow the calculation of phase differences in a relatively wide band compatible with significant dynamic changes (without having to integrate excessively), by benefiting from an elimination of the noises which may appear in the band.
- the invention consists in:
- noise suppression 34, 35
- spectral normalization carried out by means of a sliding window serving as a noise calculation reference
- FIG. 6, combining FIGS. 4 and 5, presents the complete processing in the receiver, for the measurement of precise phase difference with robust PLL.
- the same elements as those of Figures 4 and 5 are assigned the same reference numerals.
- the invention consists, for the preselection of the field of potential ambiguities, in:
- the search area is reduced, even in the event of partial assistance, thus optimizing the initialization time and the robustness of the attitude determination by GPS.
- Figure 7 illustrates the first step in defining the domain:
- n M [N E ( ⁇ • b A , DE (Pitch A
- ⁇ MAX E (û " • b A i D E ( Tan g a g e A i D E.Azimut SATELLITE ))
- ⁇ MIN ⁇ MIN _ dn
- MAX ⁇ MAX + n
- the present invention provides a solution to the problem of transfer of ambiguity to the long base in the presence of propagation bias.
- This process makes it possible to compensate for differences in the path of the wave between antennas with sufficient precision, to improve the signal-to-noise ratio towards the satellites, and (as natural fallout) reduce the effect of correlated sources of interference in the 'space.
- An important advantage of this method based on the use of the three cited antennas is to allow the direct resolution of ambiguities on simple phase difference measurements independently of the phase biases of the RF channels.
- the present invention provides an improvement in LA, thanks to a new statistical evaluation criterion. This new method also develops a criterion for evaluating resolved ambiguity.
- phase residues are normalized by their estimated standard deviation
- phase measurement for more robustness of the phase measurement, it is possible to use simultaneously: close antennas (or elements of a multi-antenna type CRPA) allowing better elimination of coherent noise sources spatially, and usable to initialize the removal of ambiguity, distant antennas making it possible to carry out precise measurements of phase difference, initialized from closely spaced antennas, or any other inertial attitude calculation means.
- close antennas or elements of a multi-antenna type CRPA
- the test can be applied to several recurrences of attitude measurements (which reduces the renewal rate).
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- 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
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP02805393A EP1459093A1 (fr) | 2001-12-20 | 2002-12-17 | Procede d'amelioration de la determination de l'attitude d'un vehicule a l'aide de signaux de radionavigation par satellite |
CA002470550A CA2470550A1 (fr) | 2001-12-20 | 2002-12-17 | Procede d'amelioration de la determination de l'attitude d'un vehicule a l'aide de signaux de radionavigation par satellite |
US10/499,199 US7454289B2 (en) | 2001-12-20 | 2002-12-17 | Method of improving the determination of the attitude of a vehicle with the aid of satellite radionavigation signals |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR01/16561 | 2001-12-20 | ||
FR0116561A FR2834069B1 (fr) | 2001-12-20 | 2001-12-20 | Procede d'amelioration de la determination de l'attitude d'un vehicule a l'aide de signaux de radionavigation par satellite |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2003054576A1 true WO2003054576A1 (fr) | 2003-07-03 |
Family
ID=8870758
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2002/004397 WO2003054576A1 (fr) | 2001-12-20 | 2002-12-17 | Procede d'amelioration de la determination de l'attitude d'un vehicule a l'aide de signaux de radionavigation par satellite |
Country Status (5)
Country | Link |
---|---|
US (1) | US7454289B2 (fr) |
EP (1) | EP1459093A1 (fr) |
CA (1) | CA2470550A1 (fr) |
FR (1) | FR2834069B1 (fr) |
WO (1) | WO2003054576A1 (fr) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7693211B2 (en) * | 2006-04-20 | 2010-04-06 | Sirf Technology Holdings, Inc. | Fast fourier transform based phase locked loop for navigational receivers |
EP2083282A1 (fr) * | 2008-01-28 | 2009-07-29 | Technische Universiteit Delft | Système d'émetteur-récepteur |
EP2748634B1 (fr) * | 2011-08-25 | 2018-11-21 | BAE SYSTEMS Information and Electronic Systems Integration Inc. | Détection de vecteur d'orientation gps avec un seul récepteur |
CN107248891B (zh) * | 2017-06-13 | 2023-08-04 | 施浒立 | 一种用于移动通信天线指向监测的测向测姿装置 |
JP6821091B2 (ja) * | 2018-05-07 | 2021-01-27 | 三菱電機株式会社 | 到来波数推定装置及び到来波数到来方向推定装置 |
CN109283555A (zh) * | 2018-09-28 | 2019-01-29 | 西南电子技术研究所(中国电子科技集团公司第十研究所) | 卫导波束形成抑制干扰方法 |
FR3088489B1 (fr) * | 2018-11-09 | 2020-10-23 | Office National Detudes Rech Aerospatiales | Determination de dephasages d'emission pour un radar a plusieurs voies d'emission juxtaposees |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6061631A (en) * | 1997-07-03 | 2000-05-09 | Trimble Navigation, Ltd. | Hybrid approach for antenna baseline self-survey and line bias calibration using GPS carrier phase |
US6166683A (en) * | 1998-02-19 | 2000-12-26 | Rockwell International Corporation | System and method for high-integrity detection and correction of cycle slip in a carrier phase-related system |
US6259398B1 (en) * | 2000-05-19 | 2001-07-10 | Sri International | Multi-valued variable ambiguity resolution for satellite navigation signal carrier wave path length determination |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5185610A (en) * | 1990-08-20 | 1993-02-09 | Texas Instruments Incorporated | GPS system and method for deriving pointing or attitude from a single GPS receiver |
US5659318A (en) * | 1996-05-31 | 1997-08-19 | California Institute Of Technology | Interferometric SAR processor for elevation |
US6005514A (en) * | 1997-09-15 | 1999-12-21 | United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Method for attitude determination using GPS carrier phase measurements from nonaligned antennas |
US6313789B1 (en) * | 1998-06-10 | 2001-11-06 | Topcon Positioning Systems, Inc. | Joint tracking of the carrier phases of the signals received from different satellites |
FR2783929B1 (fr) | 1998-09-25 | 2000-12-08 | Sextant Avionique | Procede et dispositif de traitement en reception d'un signal l2 de satellite gps |
US6516021B1 (en) * | 1999-09-14 | 2003-02-04 | The Aerospace Corporation | Global positioning systems and inertial measuring unit ultratight coupling method |
US7162367B2 (en) * | 1999-11-29 | 2007-01-09 | American Gnc Corporation | Self-contained/interruption-free positioning method and system thereof |
-
2001
- 2001-12-20 FR FR0116561A patent/FR2834069B1/fr not_active Expired - Fee Related
-
2002
- 2002-12-17 CA CA002470550A patent/CA2470550A1/fr not_active Abandoned
- 2002-12-17 WO PCT/FR2002/004397 patent/WO2003054576A1/fr active Application Filing
- 2002-12-17 US US10/499,199 patent/US7454289B2/en not_active Expired - Fee Related
- 2002-12-17 EP EP02805393A patent/EP1459093A1/fr not_active Withdrawn
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6061631A (en) * | 1997-07-03 | 2000-05-09 | Trimble Navigation, Ltd. | Hybrid approach for antenna baseline self-survey and line bias calibration using GPS carrier phase |
US6166683A (en) * | 1998-02-19 | 2000-12-26 | Rockwell International Corporation | System and method for high-integrity detection and correction of cycle slip in a carrier phase-related system |
US6259398B1 (en) * | 2000-05-19 | 2001-07-10 | Sri International | Multi-valued variable ambiguity resolution for satellite navigation signal carrier wave path length determination |
Also Published As
Publication number | Publication date |
---|---|
US20050043887A1 (en) | 2005-02-24 |
FR2834069B1 (fr) | 2004-02-27 |
EP1459093A1 (fr) | 2004-09-22 |
FR2834069A1 (fr) | 2003-06-27 |
US7454289B2 (en) | 2008-11-18 |
CA2470550A1 (fr) | 2003-07-03 |
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