公开(公告)号：USRE37256E1

公开(公告)日：2001-07-03

申请号：US09187194

申请日：1998-11-05

Applicant: Clark E. Cohen ,  Bradford W. Parkinson ,  John D. Powell ,  David G. Lawrence ,  Boris S. Pervan ,  Henry S. Cobb

Inventor： Clark E. Cohen ,  Bradford W. Parkinson ,  John D. Powell ,  David G. Lawrence ,  Boris S. Pervan ,  Henry S. Cobb

IPC: G01S510

CPC classification number: G01S19/15 ,  G01S5/0009 ,  G01S19/04 ,  G01S19/07 ,  G01S19/11 ,  G01S19/41 ,  G01S19/44 ,  G01S19/55

Abstract: A GPS system and method for generating precise position determinations. The GPS system includes a ground based GPS reference system which receives with a reference receiver GPS signals and makes phase measurements for the carrier components of the GPS signals. The GPS reference system then generates and broadcasts an initialization signal having a carrier component and a data link signal having a data component. The data component of the data link signal contains data representing the phase measurements made by the reference receiver. The GPS system also includes a GPS mobile system which receives with a mobile position receiver the same GPS signals as were received by the reference system. In addition, the GPS position receiver receives the data link and initialization signals broadcast by the reference system. The GPS position receiver then makes phase measurements for the carrier components of the GPS signals during and after an initialization period and makes phase measurements for the initialization signal during the initialization period. In response to the phase measurements made by both the reference receiver and the position receiver during the initialization period, the position receiver generates initialization values representing resolution of the integer ambiguities of the received signals. In response to the initialization values and the phase measurements made by both the receivers after the initialization period, the position receiver generates precise position determinations to within centimeters of the exact location.

Abstract translation: 一种用于产生精确位置确定的GPS系统和方法。 GPS系统包括基于地面的GPS参考系统，其接收参考接收机的GPS信号并对GPS信号的载波分量进行相位测量。 然后，GPS参考系统产生并广播具有载波分量的初始化信号和具有数据分量的数据链路信号。 数据链路信号的数据分量包含表示由参考接收机进行的相位测量的数据。 GPS系统还包括GPS移动系统，其与移动位置接收器一起接收与参考系统接收的相同的GPS信号。 另外，GPS位置接收器接收由参考系统广播的数据链路和初始化信号。 然后，GPS位置接收器在初始化期间和之后对GPS信号的载波分量进行相位测量，并在初始化期间对初始化信号进行相位测量。 响应于在初始化期间由参考接收机和位置接收机进行的相位测量，位置接收器产生表示接收信号的整数模糊度的分辨率的初始化值。 响应于在初始化时段之后由两个接收器进行的初始化值和相位测量，位置接收器在精确位置的厘米以内产生精确的位置确定。

公开(公告)号：US6052647A

公开(公告)日：2000-04-18

申请号：US879628

申请日：1997-06-20

Applicant: Bradford W. Parkinson ,  Michael L. O'Connor ,  Gabriel H. Elkaim ,  Thomas Bell

Inventor： Bradford W. Parkinson ,  Michael L. O'Connor ,  Gabriel H. Elkaim ,  Thomas Bell

IPC: G01S19/14 ,  G01S5/14 ,  G01S19/53 ,  G01S3/02

CPC classification number: G01S19/44 ,  G01S19/11 ,  G01S19/41 ,  G01S19/55 ,  G05D1/0278 ,  G01S19/14 ,  G05D2201/0201

Abstract: Described is an automatic control system for land (and possible marine) vehicles based on carrier phase differential GPS (CPGPS). The system relies on CPGPS to determine vehicle position and attitude very precisely (position to within 1 cm and attitude to within 0.1.degree.). A system incorporates a technique to calculate and compensate for antenna motion due to vehicle roll and pitch. One aspect of the system utilizes an intelligent vehicle controller that recognizes and adapts to changing conditions, such as vehicle speed, implements towed by the vehicle, soil conditions, and disturbance level. The system provides the capability to control the vehicle on various paths, including straight lines and arbitrary curves. Also described is a technique for initialization and vehicle control using only a single pseudolite.

Abstract translation: 描述了基于载波相位差GPS（CPGPS）的土地（和可能的海上）车辆的自动控制系统。 系统依靠CPGPS非常精确地确定车辆位置和姿态（位置在1厘米以内，姿态在0.1度以内）。 一种系统包含一种用于计算和补偿由于车辆滚动和俯仰引起的天线运动的技术。 该系统的一个方面是利用智能车辆控制器来识别和适应车辆速度，车辆牵引的工具，土壤条件和扰动水平等变化的条件。 该系统提供了在各种路径上控制车辆的能力，包括直线和任意曲线。 还描述了仅使用单个伪卫星的初始化和车辆控制的技术。

公开(公告)号：US5548293A

公开(公告)日：1996-08-20

申请号：US165394

申请日：1993-12-10

Applicant: Clark E. Cohen

Inventor： Clark E. Cohen

IPC: G08G5/02 ,  G01S5/00 ,  G01S5/14 ,  G01S19/04 ,  G01S19/05 ,  G01S19/07 ,  G01S19/11 ,  G01S19/41 ,  G01S19/44 ,  G01S19/46 ,  G01S5/02 ,  H04B7/19

CPC classification number: G01S19/15 ,  G01S19/04 ,  G01S19/07 ,  G01S19/11 ,  G01S19/41 ,  G01S19/44 ,  G01S19/55 ,  G01S5/0009

Abstract: A GPS attitude receiver for determining the attitude of a moving vehicle in conjunction with a first, a second, a third, and a fourth antenna mounted to the moving vehicle. Each of the antennas receives a plurality of GPS signals that each include a carrier component. For each of the carrier components of the received GPS signals there is an integer ambiguity associated with the first and fourth antennas, an integer ambiguity associated with second and fourth antennas, and an integer ambiguity associated with the third and fourth antennas. The GPS attitude receiver measures phase values for the carrier components of the GPS signals received from each of the antennas at a plurality of measurement epochs during an initialization period and at a measurement epoch after the initialization period. In response to the phase values measured at the measurement epochs during the initialization period, the GPS attitude receiver computes integer ambiguity resolution values representing resolution of the integer ambiguities. Then, in response to the computed integer ambiguity resolution values and the phase value measured at the measurement epoch after the initialization period, it computes values defining the attitude of the moving vehicle at the measurement epoch after the initialization period.

Abstract translation: 一种GPS姿态接收器，用于与安装在所述移动车辆上的第一，第二，第三和第四天线一起确定移动车辆的姿态。 每个天线接收各自包括载波分量的多个GPS信号。 对于接收的GPS信号的每个载波分量，存在与第一和第四天线相关联的整数模糊度，与第二和第四天线相关联的整数模糊度以及与第三和第四天线相关联的整数模糊度。 GPS姿态接收器在初始化期间和初始化期间之后的测量时刻测量在多个测量时期从每个天线接收的GPS信号的载波分量的相位值。 响应于在初始化期间在测量时期测量的相位值，GPS姿态接收器计算表示整数模糊度的分辨率的整数模糊度分辨率值。 然后，响应于计算出的整数模糊度分辨值和在初始化时段之后的测量时期测量的相位值，它计算在初始化时段之后在测量时期定义移动车辆姿态的值。

公开(公告)号：US5296861A

公开(公告)日：1994-03-22

申请号：US976174

申请日：1992-11-13

Applicant: Donald T. Knight

Inventor： Donald T. Knight

IPC: G01S5/14 ,  G01S19/53 ,  H04B7/185 ,  G01S5/02

CPC classification number: G01S19/55 ,  G01S3/46

Abstract: A method for comparing the relative phase of carrier signals received from GPS satellites to determine the roll, pitch and azimuth attitude of ships, aircraft, land vehicles, or survey instruments, accomplishes a maximum likelihood estimation (MLE) optimum solution over the full range of integers and vehicle attitudes. The problem is formulated as an MLE optimization, where vehicle attitude and integers are regarded as parameters to be adjusted to maximize probability of first-difference carrier phase measurements that are actually generated by hardware. Formulation results in weighted-fit error W as the objective criterion to minimize. A Kalman filter is introduced, having same objective criterion. Minimizing computation in Kalman filter leads to a decision tree for the integers. Two ways are shown to prune decision tree. The first is to exclude impossible combinations, such as those that produce an antenna upside down. The second is to generate a lower bound for W at each branch of the tree. A running sum is kept at each stage moving down the tree. When that sum exceeds a reasonableness bound or the current best W found elsewhere in the search, it is guaranteed that all subsequent integer combinations further down the current branch will produce a larger W and the remainder of the current branch can be cut off, speeding up the search.

Abstract translation: 一种用于比较从GPS卫星接收的载波信号的相对位置以确定船舶，飞机，陆地车辆或测量仪器的滚动，俯仰和方位姿态的方法，在全范围内实现最大似然估计（MLE）最优解 整体和车辆态度。 该问题被形成为MLE优化，其中车辆姿态和整数被认为是要调整的参数以最大化由硬件产生的第一差分载波相位测量的概率。 配方结果以加权拟合误差W为客观标准进行最小化。 引入卡尔曼滤波器，具有相同的客观标准。 在卡尔曼滤波中最小化计算导致整数的决策树。 显示两种方法来修剪决策树。 第一个是排除不可能的组合，例如产生天线倒置的组合。 第二个是在树的每个分支生成W的下限。 每个阶段都保持一个运行的总和在树上移动。 当这个总和超过搜索的其他地方的合理约束或当前最佳的W时，保证当前分支进一步向下的所有后续整数组合将产生较大的W，并且可以切断当前分支的其余部分，加速 搜索。

公开(公告)号：US5072227A

公开(公告)日：1991-12-10

申请号：US558911

申请日：1990-07-27

Applicant: Ronald R. Hatch

Inventor： Ronald R. Hatch

IPC: G01S19/48 ,  G01S5/14

CPC classification number: G01S19/55

Abstract: A technique for resolving whole-cycle ambiguity that is inherent in phase-angle measurements of signals received from multiple satellite-based transmitters in a global positioning system. The relative position of a secondary receiving antenna with respect to a reference antenna is approximately known or approximately initially determined and then measurements from a minimum number of satellites are used to determine an initial set of potential solutions to the relative position of the secondary antenna that fall within a region of uncertainty surrounding the approximate position. Redundant measurements are taken from one or more additional satellites and used to progressively reduce the number of potential solutions to close to one. Even if the number of potential solutions is not reduced to one true solution, the number can be further reduced by using additional measurements taken at different time intervals, at which different satellite geometries prevail. The disclosed technique produces rapid elimination of false solutions and permits realtime computation of angular orientation in attitude determination applications.

Abstract translation: 一种用于解决全球定位系统中从多个基于卫星的发射机接收的信号的相位角测量中固有的全周期模糊度的技术。 次级接收天线相对于参考天线的相对位置近似已知或大致最初确定，然后使用最小数量的卫星进行的测量来确定下降的次级天线的相对位置的潜在解的初始集合 在围绕近似位置的不确定区域内。 冗余测量取自一个或多个附加卫星，并用于逐渐减少接近一个的潜在解决方案的数量。 即使潜在解决方案的数量没有减少到一个真正的解决方案，通过使用以不同的卫星几何占优势的不同时间间隔进行的附加测量，可以进一步减少数量。 所公开的技术可以快速消除虚假解决方案，并允许在姿态确定应用中实时计算角度定向。

公开(公告)号：US4963889A

公开(公告)日：1990-10-16

申请号：US413411

申请日：1989-09-26

Applicant: Ronald R. Hatch

Inventor： Ronald R. Hatch

IPC: G01S19/48 ,  G01S5/14

CPC classification number: G01S19/55 ,  G01S19/44

Abstract: A technique for resolving whole-cycle ambiguity that is inherent in phase-angle measurements of signals received from multiple satellite-based transmitters in a global positioning system. The relative position of a secondary receiving antenna with respect to a reference antenna is approximately known or approximately initially determined and then measurements from a minimum number of satellites are used to determine an initial set of potential solutions to the relative position of the secondary antenna that fall within a region of uncertainty surrounding the approximate position. Redundant measurements are taken from one or more additional satellites and used to progressively reduce the number of potential solutions to close to one. Even if the number of potential solutions is not reduced to one true solution, the number can be further reduced by using additional measurements taken at different time intervals, at which different satellite geometries prevail. The disclosed technique produces rapid elimination of false solutions and permits realtime computation of relative position in kinetic positioning applications, and of angular orientation in attitude determination applications.

公开(公告)号：US11852735B2

公开(公告)日：2023-12-26

申请号：US15734726

申请日：2018-11-23

Applicant: Beijing Future Navigation Technology Co., Ltd

Inventor： Xucheng Mu

IPC: G01S19/51 ,  G01S19/07 ,  G01S19/11 ,  G01S19/25 ,  G01S19/55 ,  H04B7/185

CPC classification number: G01S19/51 ,  G01S19/073 ,  G01S19/11 ,  G01S19/256 ,  G01S19/55 ,  H04B7/18521

Abstract: The present application provides a navigation augmentation method and system, the method includes: broadcasting, by satellites of a Low Earth Orbit (LEO) constellation, navigation direct signals and navigation augmentation information; performing, by a user receiver, precise positioning, speed measurement and timing according to the navigation direct signals of navigation satellites, the navigation direct signals of the LEO satellites and the navigation augmentation information broadcasted by the LEO satellites.

公开(公告)号：US11821999B2

公开(公告)日：2023-11-21

申请号：US17269390

申请日：2019-04-04

Applicant: KING ABDULLAH UNIVERSITY OF SCIENCE AND TECHNOLOGY

Inventor： Xing Liu ,  Tarig Ballal Khidir Ahmed ,  Tareq Y. Al-Naffouri

IPC: G01S19/39 ,  G01S19/55 ,  G01S19/40 ,  G01S19/50

CPC classification number: G01S19/55 ,  G01S19/396 ,  G01S19/40 ,  G01S19/50

Abstract: A method for determining a 3-dimensional (3D) attitude of a platform includes receiving satellite relayed information regarding an ambiguous phase single-difference measurement (φ); resolving a phase ambiguity of the ambiguous phase single-difference measurement (φ) to determine an unambiguous phase single-difference estimate (ϕ); calculating coarse direction vectors xcor and ycor based on the unambiguous phase single-difference estimate (ϕ); estimating improved direction vectors x and y based on the coarse direction vectors xcor and ycor and by imposing constraints on the improved direction vectors x and y and an angle between the improved direction vectors x and y; and calculating the 3D attitude of the platform from the improved direction vectors x and y.

公开(公告)号：US11821998B2

公开(公告)日：2023-11-21

申请号：US16880768

申请日：2020-05-21

Applicant: Honeywell International Inc.

Inventor： Brian Schipper ,  Vibhor L Bageshwar ,  Blaise Morton

IPC: G01S19/55

CPC classification number: G01S19/55

Abstract: A method of determining three-dimensional attitude is provided. The method includes measuring a carrier phase of each satellite signal received at plurality of spaced antenna. A carrier phase difference between the measured carrier phase for each satellite signal from each satellite received at each antenna is determined. The integrity of the integer ambiguity resolution relating to the carrier phase difference is assured by applying a least-square-error solution using differential carrier phase measurements with applied integer ambiguities between at least two of the plurality of antennas and observing measurement residuals after the least-square-error solution is computed and applying an instantaneous test, an interval test and a solution separation function. Three-dimensional attitude is determined from the carrier phase differences upon completion of the integer ambiguity resolution and the assurance of integrity of the integer ambiguity resolution.

公开(公告)号：US11644578B2

公开(公告)日：2023-05-09

申请号：US17564906

申请日：2021-12-29

Applicant: Rockwell Collins, Inc.

Inventor： Huan T. Phan ,  Gary A. McGraw ,  Michael J. Armatys

IPC: G01S19/41 ,  G01S19/44 ,  G01S19/55 ,  G01S19/15 ,  G01S19/07 ,  G01S19/20 ,  G01S19/40

CPC classification number: G01S19/44 ,  G01S19/15 ,  G01S19/41 ,  G01S19/55 ,  G01S19/07 ,  G01S19/20 ,  G01S19/40

Abstract: A system and for determining precision navigation solutions decorrelates GPS carrier-phase ambiguities derived from multiple-source GPS information via Least-squares AMBiguity Decorrelation Adjustment (LAMBDA) algorithms. The set of decorrelated floating-point ambiguities is used to compute protection levels and the probability of almost fix (PAF), or the probability that the partial almost-fix solution corresponding to the decorrelated ambiguities is within the region of correctly-fixed or low-error almost-fixed ambiguities. While the PAF remains below threshold and the protection levels remain below alert levels, the optimal navigation solution (floating-point, partial almost-fix, or fully fixed) is generated by fixing the decorrelated ambiguities are one at a time in the LAMBDA domain and replacing the appropriate carrier-phase ambiguities with the corresponding fixed ambiguities, reverting to the last solution if PAF reaches the threshold or if protection levels reach the alert levels.