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1.发明授权Method for using external constraints to improve the speed and reliability of phase ambiguity resolution in real-time kinematic initialization 失效使用外部约束来提高实时运动学初始化中相位模糊度分辨率的速度和可靠性的方法
公开(公告)号：US5935194A
公开(公告)日：1999-08-10
申请号：US779475
申请日：1997-01-07
CPC分类号： G01S19/44
摘要： A method for obtaining integer ambiguity solutions based on externally provided constraints, e.g., altitude. Such constraints are useful in reducing the computational burden created by the search problem, and using constraints is particularly more effective when a more limited number of satellite vehicles are visible than is ordinarily the case. The constraints are exercised in a search algorithm. As the branches of the integer ambiguity search tree are traversed, an additional test is used to determine if the current search candidate is compatible with such external constraint. Because a three-dimensional position is associated with each search candidate, the branch clipping is straightforward. The ambiguity candidates are each only acceptable if their locations in space are within a confidence region bound set determined from the external constraint. Any sensor that can provide any combination of x, y, or z position information that is better than that obtainable from GPS code phase is a candidate source of such external constraints.
摘要翻译： 一种基于外部提供的约束（例如高度）获得整数模糊度解的方法。 这样的约束对于减少由搜索问题产生的计算负担是有用的，并且当通常情况下可见的卫星载体数量更有限时，使用约束特别有效。 约束在搜索算法中进行。 当遍历整数模糊搜索树的分支时，使用附加测试来确定当前搜索候选是否与这样的外部约束兼容。 因为三维位置与每个搜索候选者相关联，所以分支剪切是简单的。 只有当它们在空间中的位置在从外部约束确定的置信区域界限集中时，模糊度候选者才可以接受。 任何可以提供x，y或z位置信息的任何组合的传感器，其优于从GPS码相位获得的位置信息，这是这种外部约束的候选来源。
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公开(公告)号：US5748145A
公开(公告)日：1998-05-05
申请号：US759407
申请日：1996-12-04
摘要： A real-time kinematic system includes base and rover GPS units connected by a data link. The rover unit is typically moved to points of interest during a survey while the base remains over a fixed, and known location. An initialization testing program of the present invention is mounted on a personal computer platform that forces in the rover a loss of signal tracking, thus simulating losses in signal reception caused by obstructions of the satellite signals. A complete initialization is forced to occur. The test program uninitializes the RTK solution by causing a loss of integer ambiguities resolution by forcing a loss of lock on one or more satellites. The test program then monitors the subsequent initialization process, e.g., the time needed to search for phase ambiguity candidates, discovering the prevalent satellite geometry, determination of whether the correct ambiguity candidate was found, finding the ratio of the second best to best solution variances of the ambiguity candidates in the list throughout the candidate propagation process or similar statistical test, computing the RMS error of the solution at the time that initialization was declared and after initialization, and calculating the baseline vector between the rover and base at the time of initialization and after initialization. All such statistical parameters are logged and used in post and real-time analyses of the initialization algorithm.
摘要翻译： 实时运动系统包括通过数据链路连接的基站和流动站GPS单元。 流动站单元通常在测量期间移动到感兴趣点，而基座保持在固定的和已知位置上。 本发明的初始化测试程序被安装在个人计算机平台上，其迫使流动站中的信号跟踪丢失，从而模拟由卫星信号的障碍引起的信号接收中的损失。 一个完整的初始化被迫发生。 测试程序通过强制一个或多个卫星上的锁定丢失导致整数模糊度分辨率的损失来初始化RTK解决方案。 测试程序然后监视随后的初始化过程，例如搜索相位模糊候选所需的时间，发现普遍的卫星几何，确定是否找到正确的模糊性候选，找到第二最佳解与最佳解的方差的比率 在候选传播过程中的列表中的歧义候选者或类似的统计测试，在初始化时初始化之后计算解决方案的RMS误差，并且在初始化时计算流动站和基站之间的基线向量，以及 初始化后。 所有这些统计参数被记录并用于初始化算法的后期和实时分析。
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公开(公告)号：US5610614A
公开(公告)日：1997-03-11
申请号：US528506
申请日：1995-09-13
摘要： A real-time kinematic system includes base and rover GPS units connected by a data link. The rover unit is typically moved to points of interest during a survey while the base remains over a fixed, and known location. An initialization testing program of the present invention is mounted on a personal computer platform that forces in the rover a loss of signal tracking, thus simulating losses in signal reception caused by obstructions of the satellite signals. A complete initialization is forced to occur. The test program uninitializes the RTK solution by causing a loss of integer ambiguities resolution by forcing a loss of lock on one or more satellites. The test program then monitors the subsequent initialization process, e.g., the time needed to search for phase ambiguity candidates, discovering the prevalent satellite geometry, determination of whether the correct ambiguity candidate was found, finding the ratio of the second best to best solution variances of the ambiguity candidates in the list throughout the candidate propagation process or similar statistical test, computing the RMS error of the solution at the time that initialization was declared and after initialization, and calculating the baseline vector between the rover and base at the time of initialization and after initialization. All such statistical parameters are logged and used in post and real-time analyses of the initialization algorithm.
摘要翻译： 实时运动系统包括通过数据链路连接的基站和流动站GPS单元。 流动站单元通常在测量期间移动到感兴趣点，而基座保持在固定的和已知位置上。 本发明的初始化测试程序被安装在个人计算机平台上，其迫使流动站中的信号跟踪丢失，从而模拟由卫星信号的障碍引起的信号接收中的损失。 一个完整的初始化被迫发生。 测试程序通过强制一个或多个卫星上的锁定丢失导致整数模糊度分辨率的损失来初始化RTK解决方案。 测试程序然后监视随后的初始化过程，例如搜索相位模糊候选所需的时间，发现普遍的卫星几何，确定是否找到正确的模糊性候选，找到第二最佳解与最佳解的方差的比率 在候选传播过程中的列表中的歧义候选者或类似的统计测试，在初始化时初始化之后计算解决方案的RMS误差，并且在初始化时计算流动站和基站之间的基线向量，以及 初始化后。 所有这些统计参数被记录并用于初始化算法的后期和实时分析。
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公开(公告)号：US5519620A
公开(公告)日：1996-05-21
申请号：US199387
申请日：1994-02-18
摘要： A system embodiment of the present invention comprises a fixed and a roving pair of four-observable GPS receivers and a communication link between them for double differencing code and carrier measurements. Carrier phase integer ambiguities are resolved efficiently by searching the simultaneous narrow-lane intersections of both the L1 and L2 wave fronts propagated by the GPS satellites being tracked. External constraint information, such as elevation, is additionally used to speed up integer ambiguity resolution. Data between the reference station and the rover is communicated in compressed form at a regular interval, e.g., once a second at each epoch, and demi-measurements of carrier phase are obtained more frequently, e.g., ten times a second, and used to propagate solutions between epochs.
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公开(公告)号：US5359332A
公开(公告)日：1994-10-25
申请号：US999099
申请日：1992-12-31
申请人： Michael T. Allison , Phillip Deaver , Scott Dreier
发明人： Michael T. Allison , Phillip Deaver , Scott Dreier
CPC分类号： G01S19/04
摘要： A method for accurately determining the position of a roving receiver positioned on or above the Earth's surface, relative to the position of a reference receiver whose position is known with sufficient accuracy, using measurements of signal phase transmitted at one or more carrier frequencies and received from each of four or more satellites in a Satellite Positioning System (SPS). Phase double differences are formed, using the reference and roving receivers and any two satellites drawn from four or more satellites, using phase information obtained from either or both of the two carrier signal frequencies. Phase correction information, in the form of estimates of integer wavelength ambiguities, is then obtained from two sets of ambiguity estimates computed with the roving receiver antenna in each of two specified positions, with the reference receiver antenna lying between and being collinear with the two roving receiver-antenna positions. If the distance between the reference receiver antenna position and the two roving receiver antenna positions is sufficiently small, a set of estimates at only one of the roving receiver positions may suffice. If an azimuth angle measuring device is incorporated in the apparatus, a set of estimates at only one roving receiver position may again suffice. The method produces a set of simultaneous equations that can be solved for the coordinates of a roving receiver located at an arbitrary position. The reference receiver antenna is positioned at a fixed location and orientation while the roving antenna is correctly positioned at each of two specified locations and orientations. A Global Positioning System (GPS) or a Global Orbiting Navigational System (GLONASS) may serve as the SPS.
摘要翻译： 一种方法，用于使用在一个或多个载波频率上传输的信号相位的测量结果，相对于参考接收机的位置来准确地确定位于地球表面上或上方的粗纱接收机的位置，其位置具有足够的精度， 卫星定位系统（SPS）中的四颗或更多颗卫星中的每一颗。 使用从两个载波信号频率中的一个或两个获得的相位信息，使用参考和流动接收机以及从四个或更多个卫星绘制的任何两颗卫星形成相位差。 然后，以两个指定位置中的每一个中的粗纱接收机天线计算的两组模糊度估计获得整数波长模糊度的估计形式的相位校正信息，其中参考接收机天线位于两条粗纱之间并且与两条粗纱 接收天线位置。 如果参考接收机天线位置和两个粗纱接收机天线位置之间的距离足够小，则只有一个粗纱接收机位置处的一组估计就足够了。 如果将方位角测量装置并入装置中，那么只有一个粗纱接收器位置的一组估计可能再次足够了。 该方法产生一组联立方程，可以为位于任意位置的粗纱接收机的坐标求解。 参考接收机天线定位在固定的位置和方位，而粗纱天线正确定位在两个指定的位置和方向中的每一个处。 全球定位系统（GPS）或全球轨道导航系统（GLONASS）可以作为SPS。
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6.发明授权Centimeter accurate global positioning system receiver for on-the-fly real-time kinematic measurement and control 失效厘米精确的全球定位系统接收器，用于实时运动测量和控制
公开(公告)号：US5602741A
公开(公告)日：1997-02-11
申请号：US644422
申请日：1996-05-10
摘要： A system embodiment of the present invention comprises a fixed and a roving pair of four-observable GPS receivers and a communication link between them for double differencing code and carrier measurements. Carrier phase integer ambiguities are resolved efficiently by searching the simultaneous narrow-lane intersections of both the L1 and L2 wave fronts propagated by the GPS satellites being tracked. External constraint information, such as elevation, is additionally used to speed up integer ambiguity resolution. Data between the reference station and the rover is communicated in compressed form at a regular interval, e.g., once a second at each epoch, and demi-measurements of carrier phase are obtained more frequently, e.g., ten times a second, and used to propagate solutions between epochs.
摘要翻译： 本发明的系统实施例包括固定和粗纱四对可观测的GPS接收机以及它们之间的通信链路用于双差分码和载波测量。 通过搜索正被跟踪的GPS卫星传播的L1和L2波前的同时窄车道交叉，有效解决载波相位整数模糊度。 外部约束信息，如高程，另外用于加速整数模糊度分辨率。 参考站和流动站之间的数据以规则的间隔以压缩的形式进行通信，例如每个时期一次一次，并且更频繁地获得载波相位的测量，例如每秒十次，并用于传播 时代之间的解决方案
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公开(公告)号：US5148179A
公开(公告)日：1992-09-15
申请号：US722512
申请日：1991-06-27
申请人： Michael T. Allison
发明人： Michael T. Allison
CPC分类号： G01S19/44
摘要： A method for accurately determining the position of a roving signal receiver positioned on or above the Earth's surface, relative to the position of a reference receiver whose position is known with sufficient accuracy, using ranging information, transmitted at a pair of predetermined carrier signal frequencies and received from each of n satellites (n.gtoreq.4). Pseudorange double differences are formed, between each of the two receivers and each of a first satellite and the other three satellites, using pseudorange information obtained from either one of the two signal frequencies. Phase correction information, in the form of estimates of integer lane wavelength ambiguities, is then obtained from the pseudorange double differences and from certain measurable phase differences. This products n-1 simultaneous equations that can be solved for the roving receiver position cordinates. The method can be adapted to provide roving receiver position when signals carried by both of the two carrier frequencies are encrypted, where a separate non-encrypted signal is available on one of the two carrier frequencies.
摘要翻译： 一种用于使用在一对预定的载波信号频率上传输的测距信息来精确地确定位于地球表面上或上方的粗纱信号接收机的位置相对于其位置已知的位置已足够准确的位置，以及 从n个卫星中接收到n个卫星（n> 4）。 使用从两个信号频率中的任一个获得的伪距信息，在两个接收机中的每一个和第一卫星和其他三颗卫星之间形成伪距双重差异。 然后从伪距双重差异和某些可测量的相位差中获得以整数车道波长模糊度估计的形式的相位校正信息。 该产品可以解决粗纱接收器位置的n-1个联立方程。 当两个载波频率中的两个载波携带的信号被加密时，该方法可适用于提供流动接收机的位置，其中在两个载波频率之一上单独的非加密信号可用。
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