公开(公告)号：US07639181B2

公开(公告)日：2009-12-29

申请号：US11618131

申请日：2006-12-29

申请人： Chun Wang ,  Shaowei Han

发明人： Chun Wang ,  Shaowei Han

IPC分类号： H01S1/00

CPC分类号： G01S19/24 ,  G01S19/29 ,  G01S19/37

摘要： A Global Navigation Satellite System (GNSS) receiver and associated method capable of tracking weak GNSS signals from a plurality of GNSS satellites. In a preferred embodiment, code and carrier tracking loops are initially closed around the code phase, carrier frequency, and data bit edge estimates handed over from an acquisition mode. In subsequent tracking, early, prompt, and late copies of the code replica are correlated with the incoming signal. The prompt correlations are coherently integrated over an extended updating interval for data bit edge and sign estimation as well as for carrier phase and frequency error discrimination whereas the early and late correlations are used for code error discrimination. Code delay and carrier phase and frequency errors are used to update the code and carrier tracking loop filters. Together with data bits, they form observables of a GNSS signal's time and frequency parameters for timing and position fixing.

摘要翻译： 一种能够跟踪来自多个GNSS卫星的弱GNSS信号的全球导航卫星系统（GNSS）接收机和相关方法。 在优选实施例中，代码和载波跟踪循环首先围绕从采集模式切换的码相位，载波频率和数据比特边缘估计值闭合。 在随后的跟踪中，代码副本的早期，及时和晚期副本与输入信号相关。 对于数据位边沿和符号估计以及载波相位和频率误差鉴别的延迟更新间隔，快速相关被相干地集成，而早期和晚期相关用于码错误鉴别。 代码延迟和载波相位和频率误差用于更新代码和载波跟踪环路滤波器。 与数据位一起，它们形成GNSS信号的时间和频率参数的观测值，用于定时和位置固定。

公开(公告)号：US08000378B2

公开(公告)日：2011-08-16

申请号：US11615704

申请日：2006-12-22

申请人： Jun Mo ,  Shaowei Han

发明人： Jun Mo ,  Shaowei Han

IPC分类号： H04B1/00 ,  H04L27/06

CPC分类号： H04B1/7085 ,  H04B1/709 ,  H04B2201/70715

摘要： The present invention provides systems and methods for implementing narrowly spaced correlators to mitigate multipath error, and systems and methods for adaptively changing the correlator spacing for varying multipath conditions. In an embodiment, two sets of correlators with the same code frequency but different code phases are used to implement an adjustable correlator spacing. The correlator spacing is determined by the code phase difference between the two sets of correlators, which can be adjusted, e.g., by adjusting the code phase values of Numerically Controlled Oscillators (NCOs). An advantage of embodiments of the present invention is that they can achieve much narrower correlator spacings than conventional techniques, e.g., by making the code phase difference between the two sets of correlators very small. Further, the correlator spacing can be adjusted for varying multipath conditions, whereas the correlator spacing in conventional techniques is fixed.

摘要翻译： 本发明提供了用于实现窄间隔相关器以减轻多路径误差的系统和方法，以及用于自适应地改变相关器间隔以用于变化的多径条件的系统和方法。 在一个实施例中，使用具有相同代码频率但不同代码阶段的两组相关器来实现可调整的相关器间隔。 相关器间距由两组相关器之间的码相位差确定，这可以通过例如调节数控振荡器（NCO）的码相位值来调整。 本发明的实施例的优点在于，它们可以实现比常规技术更窄的相关器间隔，例如通过使两组相关器之间的码相位差非常小。 此外，可以针对变化的多径条件来调整相关器间距，而常规技术中的相关器间隔是固定的。

公开(公告)号：US08635016B2

公开(公告)日：2014-01-21

申请号：US13564468

申请日：2012-08-01

申请人： Shaowei Han ,  Wentao Zhang

发明人： Shaowei Han ,  Wentao Zhang

IPC分类号： G01C21/00

CPC分类号： G01S19/25 ,  G01S19/05 ,  G01S19/27

摘要： Provided herein are methods and systems for efficient communication between a server and a client in an assisted navigation system. In one or more embodiments, the server transmits a set of parameters for a satellite to the client, e.g., a GPS receiver, via a wireless or wired connection. The set of parameters includes a force parameter, initial condition parameters and time correction coefficients for the satellite. The receiver uses the received parameters in a numerical integration to compute the position of the satellite at a desired time. The set of parameters needed for the integration is small. To further reduce the amount of data transmitted, reference parameters may be subtracted from the original parameters before transmission from the server. The receiver is able to reconstruct the original parameters from the received parameters and the identically computed reference parameters. The parameters may be further compressed using data compression techniques.

摘要翻译： 这里提供了用于在辅助导航系统中的服务器和客户端之间的有效通信的方法和系统。 在一个或多个实施例中，服务器经由无线或有线连接向卫星发送一组用于卫星的参数，例如GPS接收机。 该组参数包括一个力参数，初始条件参数和卫星的时间校正系数。 接收机使用数字积分中接收到的参数来计算卫星在所需时间的位置。 集成所需的一组参数很小。 为了进一步减少发送的数据量，可以在从服务器发送之前从原始参数中减去参考参数。 接收机能够从接收的参数和相同计算的参考参数重建原始参数。 可以使用数据压缩技术来进一步压缩参数。

公开(公告)号：US08086405B2

公开(公告)日：2011-12-27

申请号：US11823964

申请日：2007-06-28

申请人： Shaowei Han ,  Xiaoji Niu ,  Changlin Ma

发明人： Shaowei Han ,  Xiaoji Niu ,  Changlin Ma

IPC分类号： G01C21/00

CPC分类号： G01C21/16 ,  G01C21/265 ,  G01C21/28

摘要： Compensating for the misalignment of a navigation device with respect to a vehicle is described. In one example, the compensation is made by applying a high pass filter to a measured acceleration of the vehicle to produce a motion acceleration signal, weighting the motion acceleration signal with a measured steering rate of the vehicle, and deriving misalignment parameters for the navigation device with respect to the vehicle using the weighted motion acceleration signal.

摘要翻译： 描述了导航装置相对​​于车辆的不对准的补偿。 在一个示例中，通过对车辆的测量加速度应用高通滤波器来产生运动加速度信号，以车辆的测量转向速率对运动加速度信号加权，以及导出导航装置的未对准参数来进行补偿 相对于使用加权运动加速度信号的车辆。

公开(公告)号：US20090254279A1

公开(公告)日：2009-10-08

申请号：US11823964

申请日：2007-06-28

申请人： Shaowei Han ,  Xiaoji Niu ,  Changlin Ma

发明人： Shaowei Han ,  Xiaoji Niu ,  Changlin Ma

IPC分类号： G01C21/16 ,  G01C21/00

CPC分类号： G01C21/16 ,  G01C21/265 ,  G01C21/28

摘要： Compensating for the misalignment of a navigation device with respect to a vehicle is described. In one example, the compensation is made by applying a high pass filter to a measured acceleration of the vehicle to produce a motion acceleration signal, weighting the motion acceleration signal with a measured steering rate of the vehicle, and deriving misalignment parameters for the navigation device with respect to the vehicle using the weighted motion acceleration signal.

摘要翻译： 描述了导航装置相对​​于车辆的不对准的补偿。 在一个示例中，通过对车辆的测量加速度应用高通滤波器来产生运动加速度信号，以车辆的测量转向速率对运动加速度信号加权，以及导出导航装置的未对准参数来进行补偿 相对于使用加权运动加速度信号的车辆。

公开(公告)号：US07459984B2

公开(公告)日：2008-12-02

申请号：US11140492

申请日：2005-05-26

申请人： Chi-Shin Wang ,  Kudrethaya A. Shridhara ,  Jun Mo ,  Shaowei Han ,  Hansheng Wang

发明人： Chi-Shin Wang ,  Kudrethaya A. Shridhara ,  Jun Mo ,  Shaowei Han ,  Hansheng Wang

IPC分类号： H03L1/00 ,  G01S1/00

CPC分类号： H03L1/026 ,  G01S19/235

摘要： The invention provides a method and apparatus to optimally estimate and adaptively compensate the temperature-induced frequency drift of a crystal oscillator in a navigational signal receiver. A Read-Write memory encodes two tables, one for looking up frequency drift values versus temperature readings and another one for valid data confirmation on the first table. The initially empty look-up table is gradually populated with frequency drift values while the receiver computes the frequency drift along with its position. During initial start of the receiver or re-acquisition of satellite signals, the stored frequency drift value corresponding to the current temperature is used. If no valid frequency drift value is available, the frequency drift value is computed based on the existing frequency drift values in the table. This invention reduces the Time-To-First-Fix (TTFF) of the receiver and enables the receiver to self-calibrate, thus no additional factory calibration would be necessary.

摘要翻译： 本发明提供了一种方法和装置，用于对导航信号接收机中的晶体振荡器的温度感应频率漂移进行最佳估计和自适应补偿。 读写存储器编码两个表，一个用于查找频率漂移值与温度读数，另一个用于在第一个表上进行有效数据确认。 初始空的查找表逐渐填充频率漂移值，而接收器计算频率漂移及其位置。 在接收机初始启动或重新采集卫星信号时，使用与当前温度对应的存储频率漂移值。 如果没有有效的频率漂移值可用，则基于表中现有的频率漂移值来计算频率漂移值。 本发明减少了接收机的首次定时（TTFF），使得接收机能够自校准，因此不需要额外的工厂校准。

公开(公告)号：US20080151971A1

公开(公告)日：2008-06-26

申请号：US11615704

申请日：2006-12-22

申请人： Jun Mo ,  Shaowei Han

发明人： Jun Mo ,  Shaowei Han

IPC分类号： H04B1/707

CPC分类号： H04B1/7085 ,  H04B1/709 ,  H04B2201/70715

摘要： The present invention provides systems and methods for implementing narrowly spaced correlators to mitigate multipath error, and systems and methods for adaptively changing the correlator spacing for varying multipath conditions. In an embodiment, two sets of correlators with the same code frequency but different code phases are used to implement an adjustable correlator spacing. The correlator spacing is determined by the code phase difference between the two sets of correlators, which can be adjusted, e.g., by adjusting the code phase values of Numerically Controlled Oscillators (NCOs). An advantage of embodiments of the present invention is that they can achieve much narrower correlator spacings than conventional techniques, e.g., by making the code phase difference between the two sets of correlators very small. Further, the correlator spacing can be adjusted for varying multipath conditions, whereas the correlator spacing in conventional techniques is fixed.

摘要翻译： 本发明提供了用于实现窄间隔相关器以减轻多路径误差的系统和方法，以及用于自适应地改变相关器间隔以用于变化的多径条件的系统和方法。 在一个实施例中，使用具有相同代码频率但不同代码阶段的两组相关器来实现可调整的相关器间隔。 相关器间距由两组相关器之间的码相位差确定，这可以通过例如调节数控振荡器（NCO）的码相位值来调整。 本发明的实施例的优点在于，它们可以实现比常规技术更窄的相关器间隔，例如通过使两组相关器之间的码相位差非常小。 此外，可以针对变化的多径条件来调整相关器间距，而常规技术中的相关器间隔是固定的。

公开(公告)号：US07042390B2

公开(公告)日：2006-05-09

申请号：US10610541

申请日：2003-07-02

申请人： Shaowei Han ,  Kevin Xinhua Chin

发明人： Shaowei Han ,  Kevin Xinhua Chin

IPC分类号： G01S5/14

摘要： A method of and computer-readable medium containing instructions for high accuracy, reliable position determination. A high precision GPS-RTK system using the present novel techniques is initialized instantaneously or near instantaneously. To improve the computational efficiency and to improve the reliability of the procedure, advances in data functional and stochastic modeling, validation criteria, adaptation and system design were achieved. A position estimate using an integrated method is determined. Ambiguity resolution of the position estimate is enhanced by applying a quality control procedure using derived validation criteria. A second position estimate based on the enhanced ambiguity resolution is derived.

公开(公告)号：US07663539B2

公开(公告)日：2010-02-16

申请号：US11938217

申请日：2007-11-09

申请人： Shaowei Han ,  Liwen Dai

发明人： Shaowei Han ,  Liwen Dai

IPC分类号： G01S5/14

CPC分类号： G01S19/44

摘要： A method of and computer-readable medium containing instructions for high accuracy, reliable position determination. The ADAPT-RTK Technology (Automatic Decorrelation and Parameter Tuning Real-Time Kinematic technology) is described using an innovative decorrelation algorithm to decorrelate the correlation between L1 and L2 measurements through a functional model and a stochastic model reducing the impact on performance of distance dependent biases.

摘要翻译： 包含用于高精度，可靠位置确定的指令的方法和计算机可读介质。 使用创新的去相关算法描述ADAPT-RTK技术（自动相关和参数调谐实时运动技术），通过功能模型和随机模型去除关联L1和L2测量之间的相关性，从而降低对距离相关偏差的影响 。

公开(公告)号：US07564406B2

公开(公告)日：2009-07-21

申请号：US11558614

申请日：2006-11-10

申请人： Shaowei Han

发明人： Shaowei Han

IPC分类号： G01S1/00

CPC分类号： G01S19/27

摘要： The present invention provides methods and system for enabling a standalone navigation receiver capable of generating receiver specific predicted satellite orbits based on historical navigation data collected by and stored in the receiver. Thus, the navigation receiver is able to use the predicted satellite orbits to obtain better Time-To-First-Fix (TTFF) and position accuracy without the need of connecting to a remote server and the associated communications system. In an embodiment, a standalone navigation receiver having sufficient memory collects navigation data from navigation satellites and generates predicted satellite orbits using the collected navigation data. Under weak signal conditions when decoding of the navigation data is not possible, the receiver uses the predicted satellite orbits to predict the accurate satellite positions or the set of ephemeris and the associated pseudoranges. The predicted orbits may be accurate for several days without the reception of broadcast ephemeris.

摘要翻译： 本发明提供了能够基于由接收机收集和存储的历史导航数据产生能够产生接收机专用预测卫星轨道的独立导航接收机的方法和系统。 因此，导航接收机能够使用预测的卫星轨道来获得更好的时间优先（TTFF）和位置精度，而不需要连接到远程服务器和相关联的通信系统。 在一个实施例中，具有足够存储器的独立导航接收器从导航卫星收集导航数据并使用所收集的导航数据产生预测的卫星轨道。 在导航数据解码不可能的弱信号条件下，接收机使用预测的卫星轨道来预测精确的卫星位置或星历集和相关联的伪距。 预测的轨道可能准确几天而没有接收广播星历。