Method for acquiring multiple satellites using previously explored search space
A satellite positioning receiver includes a local oscillator, a front-end circuit with having an analog mixer, a number of signal processing channel circuits, and a processing circuit. The satellite positioning receiver performs a method that includes (i) acquiring a first satellite using a first frequency search space that spans both uncertainties due to the first satellite's orbit and uncertainties due to the clock bias or a time rate of change of the bias; and (ii) using the bias or the time derivative of the bias determined during the acquisition of the first satellite, acquiring a second satellite using a second frequency search space that spans substantially only uncertainties due to the second satellite's orbit.
1. A satellite positioning system receiver receiving a signal comprising a plurality of probe signals transmitted from a plurality of satellites, wherein the satellite system receiver carries out a pseudo-range determination relative to each satellite, the satellite positioning receiver comprising:
a local oscillator having a bias in frequency that is reflected in each pseudo-range determination as a rate of change in a clock bias due to the satellite positioning system, wherein the local oscillator generates a signal of a predetermined frequency;
a front-end circuit having an analog mixer that mixes the generated signal of predetermined frequency with the received signal to provide an intermediate frequency (IF) signal;
a dispatch circuit that assigns, with respect to each probe signal, sections of the IF signal each to one of a plurality of categories;
a plurality of signal processing channel circuits each receiving the IF frequency signal, wherein each signal processing channel circuit is configurable to determine a code delay and a doppler frequency associated with one of the probe signals, wherein each signal processing channel circuit comprises a plurality of accumulators, and wherein each accumulator is selected to accumulate sections of the IF frequency signal of the same assigned category with respect to the associated probe signal; and
a processing circuit, wherein the processing circuit, using the signal processing channel circuits, carries out a method that comprises:
(i) acquiring a first satellite using a first frequency search space that spans both uncertainties due to the first satellite's motion and uncertainties due to the time rate of change of the clock bias;
(ii) determining the clock bias or the time rate of change of the clock bias based on the acquiring of the first satellite, taking any frequency uncertainty due to the first satellite as a variable separate from the clock bias; and
(iii) using the clock bias or the time rate of change of the clock bias determined, acquiring a second satellite using a second frequency search space that spans substantially only uncertainties due to the second satellite's-motion.
2. The satellite positioning system receiver of claim 1 , wherein the local oscillator comprises a temperature-compensated crystal oscillator.
3. The satellite positioning system receiver of claim 1 , wherein the acquiring the first satellite provides a measurement of a distance from the first satellite which, along with satellite ephemeris data, is used to solve system state variables that include (i) an estimate of the receiver's position and (ii) an estimate of the clock bias or the time rate of change of the clock bias.
4. The satellite positioning system receiver of claim 3 , wherein the system variables further comprise an estimate of the receiver's velocity.
5. The satellite positioning system receiver of claim 3 , wherein code delays and doppler frequencies are determined in the signal processing channel circuits for a plurality of satellites.
6. The satellite positioning system receiver of claim 5 , wherein solving the system state variables is achieved using a Kalman filter.
7. The satellite positioning system receiver of claim 6 , wherein estimates of the clock bias, and atmospheric compensation factors are input variables to the Kalman filter.
8. The satellite positioning system receiver of claim 6 , wherein the Kalman filter is based on a zero-mean Gaussian noise.
9. The satellite positioning system receiver of claim 6 , wherein the estimate of the time derivative of the clock bias is updated in the Kalman filter using a linear function of one or more of the doppler frequencies.
10. In a satellite positioning system receiver that receives a signal comprising a plurality of probe signals transmitted from a plurality of satellites wherein the satellite positioning system receiver comprises a local oscillator that provides a signal of a predetermined frequency that is used to mix with the received signal to provide an intermediate frequency (IF) signal, the signal of the predetermined frequency having a bias in frequency that is reflected in a pseudo-range determination as a time rate of change of a clock bias due to the satellite positioning system receiver a method that comprises:
(i) acquiring a first satellite using a first frequency search space that spans both uncertainties due to the first satellite's motion and uncertainties due to the time rate of change of the clock bias; wherein, during the acquiring of the first satellite, sections of the IF signal are each assigned to one of a plurality of categories, and wherein the sections assigned to each category are accumulated separately from the sections not assigned to that category;
(ii) determining the clock bias or the time rate of change of the clock bias based on the acquiring of the first satellite, taking any frequency uncertainty due to the first satellite as a variable separate from the clock bias; and
(ii) using the clock bias or the time derivative of the clock bias determined, acquiring a second satellite using a second frequency search space that spans substantially only uncertainties due to the second satellite's motion.
11. The method of claim 10 , wherein the local oscillator comprises a temperature-compensated crystal oscillator.
12. The method of claim 11 , wherein acquiring the first satellite provides a measurement of a distance from the first satellite which, along with satellite ephemeris data, is used to solve system state variables that include (i) an estimate of the receiver's position and (ii) an estimate of the clock bias or the time rate of change of the clock bias.
13. The method of claim 12 , wherein the system state variables further comprise an estimate of the receiver's velocity.
14. The method of claim 12 , wherein the code delays and doppler frequencies are determined in the signal processing channel circuits for a plurality of satellites.
15. The method of claim 14 , wherein solving the system state variables is achieved using a Kalman filter.
16. The method of claim 15 , wherein estimates of the clock bias, and atmospheric compensation factors are input variables to the Kalman filter.
17. The method of claim 15 , wherein the Kalman filter is based on a zero-mean Gaussian noise.
18. The method of claim 15 , wherein the estimate of the time derivative of the clock bias is updated in the Kalman filter using a linear function of one or more of the doppler frequencies.
19. The satellite positioning system receiver of claim 1 , wherein the dispatch circuit assigns the sections of the IF signal according to a category scheme that is based on an estimated code delay.
20. The satellite positioning system receiver of claim 19 , wherein the category scheme is further based on an estimated doppler frequency.
21. The method of claim 10 , wherein the sections of the IF signal are assigned according to a category scheme that is based on an estimated code delay.
22. The method of claim 21 , wherein the category scheme is further based on an estimated doppler frequency.