Satellite navigation receiver for relative positioning with bias estimation
A tracking module processes the determined correlations to track a carrier of the received composite signal for estimation of a change in phase over a time period between a receiver antenna and one or more satellite transmitters that transmit the received signal as the receiver changes position with respect to an initial position during the time period. A relative position estimator estimates the relative position of the navigation receiver with respect to an initial position over the time period time by time-differencing of the phase measurements of the one or more tracked carrier signals. Bias estimators can estimate or compensate for errors in initial position and temporal changes in receiver clock and tropospheric delay.
1. A mobile satellite navigation receiver comprising:
a receiver antenna;
a receiver module coupled to an electronic data processing system, the receiver module for receiving a set of carrier signals from satellite transmitters;
a measurement module to determine correlations of each carrier signal in the set to a local reference carrier signal, the measurement module for observing carrier phase measurements of the carrier signals;
a tracking module of the measurement module to process the determined correlations to track the carrier signals for estimation of respective changes in the phase measurements over time between the receiver antenna, of the satellite navigation receiver, and the satellite transmitters that transmit the carrier signals as the satellite navigation receiver changes position with respect to an initial position of the satellite navigation receiver;
a relative position estimator configured to estimate a relative position, a receiver clock bias of the satellite navigation receiver with respect to a reference time, and an atmospheric propagation delay bias of the satellite navigation receiver with respect to the initial position by time-differencing of the phase measurements of the tracked carrier signals for each satellite from an initial time t 0 an observation time and by determining a product of a change in the relative position from the initial time t 0 the observation time and a transpose of the receiver to satellite line-of-site vector for each satellite, where the relative position is estimated independently of convergence of any precise position estimate;
a cycle slip detector for detecting a cycle slip in the tracking of the received carrier signals, where the cycle slip detector is configured to eliminate or remove respective phase measurements associated with the cycle slip or to eliminate or remove the respective phase measurements of a particular satellite associated with the cycle slip;
the relative position estimator configured to model or to estimate an initial position bias in the initial position of the satellite navigation receiver, the receiver clock bias with respect to the reference time, and the atmospheric propagation delay bias between the satellite navigation receiver and a respective satellite, the relative position estimator comprising a relative position continuity module to support a relative position estimation framework that allows relative navigation over a time interval exceeding multiple epochs or an arbitrarily long time interval by establishing a series of chained relative position vectors from a next initial position that is established or coextensive with a last known relative position of the relative position estimator prior to detection of the cycle slip or an appearance of a new satellite;
the relative position estimator adapted to compensate for the biases to provide a compensated relative position of the satellite navigation receiver with respect to the initial position.
2. The receiver according to claim 1 wherein the carrier phase measurements of each satellite are adjusted by a chaining correction factor based on an estimated position change vector that is dot-product multiplied by the transpose of the receiver to a respective satellite line-of-sight vector for a corresponding satellite.
3. The receiver according to claim 1 wherein:
the relative position estimator or the relative position continuity module comprises a software instructions configured to update the reference initial position x ref,t0 to a new reference initial position x ref,t0′ at time t 0 ′>t 0 such that
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′
=
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x
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where time t 0 ′ is a transition time associated with the last known relative position for the series of a chained relative position vectors, where x ref,t0 is the reference initial position at time t 0 , and where Δx t0′ to, is the position change from time t 0 to time t 0 ′;
the relative position estimator adjusts an observation equation of the carrier phase measurements of each satellite to account for changes in the reference initial position at time t 0 by subtracting an updated vector dot product of the change in an estimated relative position from time t 0 to time t 0 ′ and a transpose of the receiver to satellite line-of-site vector, which is represented as −e t i Δ{circumflex over (x)} t0′t0 , inclusive of said subtraction, from the carrier phase measurements such that the initial position bias at t 0 , x bias,t0 , retains its original meaning in subsequent relative position vectors after the initial relative position vector associated with the reference initial position; and
the relative position estimator can subsequently recover the estimated relative position as {circumflex over (x)} t = x ref,t0′ +Δ{circumflex over (x)} t,t0′ , where {circumflex over (x)} t is the estimated relative position at time t, where x ref,t0 , is the measured initial position at time t 0 ′, where Δ{circumflex over (x)} t,t0 , is the estimated position change or relative position vector from time t 0 ′ to time t, where e t iT is a transpose of the receiver to satellite line-of-sight vector.
4. A mobile satellite navigation receiver comprising: a receiver antenna;
a receiver module coupled to an electronic data processing system, the receiver module for receiving a set of carrier signals from satellite transmitters;
a measurement module to determine correlations of each carrier signal in the set to a local reference carrier signal, the measurement module for observing carrier phase measurements of the carrier signals;
a tracking module of the measurement module to process the determined correlations to track the carrier signals for estimation of respective changes in the phase measurements over time between the receiver antenna, of the satellite navigation receiver, and the satellite transmitters that transmit the carrier signals as the satellite navigation receiver changes position with respect to an initial position of the satellite navigation receiver;
a relative position estimator configured to estimate a relative position, a receiver clock bias of the satellite navigation receiver with respect to a reference time, and an atmospheric propagation delay bias of the satellite navigation receiver with respect to the initial position by time-differencing of the phase measurements of the tracked carrier signals for each satellite from an initial time t 0 an observation time and by determining a product of a change in the relative position from the initial time t 0 the observation time and a transpose of the receiver to satellite line-of-site vector for each satellite, where the relative position is estimated independently of convergence of any precise position estimate;
the relative position estimator configured to model or to estimate an initial position bias in the initial position of the satellite navigation receiver, the receiver clock bias with respect to the reference time, and the atmospheric propagation delay bias between the satellite navigation receiver and a respective satellite;
the relative position estimator adapted to compensate for the biases to provide a compensated relative position of the satellite navigation receiver with respect to the initial position; and
a precise position estimator configured to provide predefined or a priori estimates of one or more of the following: an absolute position (x ref,t ) of the satellite navigation receiver, an atmospheric propagation delay bias or tropospheric delay bias (T ref,t ), the receiver clock bias (dτ ref,t ) to aid in accurately determining a relative position estimate or compensated relative position estimate of the relative position estimator.
5. The receiver according to claim 4 comprising:
the precise position estimator configured to utilize constraints or constraint measurements that tie the relative position estimator to the precision position estimator over time so that with a given error variance: x bias,t0 +Δ{circumflex over (x)} t,t0 ≈0, where:
Δ{circumflex over (x)} t,t0 is the change in reference trajectory position offset from the initial time, t 0 , to the observation time, t, and
x bias,t0 is the initial position bias at the initial time, t 0 .
6. The receiver according to claim 4 comprising:
the precise position estimator configured to utilize constraint measurements that tie the relative position estimate of tropospheric delay to that of the precise position estimator so that with a given error variance: T t −T ref,t ≈0, where:
T t is zenith tropospheric delay, and
T ref,t is bias-related data on the atmospheric delay.
7. A mobile satellite navigation receiver comprising:
a receiver antenna;
a receiver module coupled to an electronic data processing system, the receiver module configured for receiving a set of carrier signals from satellite transmitters;
a measurement module to determine correlations of each carrier signal in the set to a local reference carrier signal, the measurement module for observing carrier phase measurements of the carrier signals;
a tracking module of the measurement module to process the determined correlations to track the carrier signals for estimation of respective changes in the phase measurements over time between the receiver antenna, of the satellite navigation receiver, and the satellite transmitters that transmit the carrier signals as the satellite navigation receiver changes position with respect to an initial position of the satellite navigation receiver;
a relative position estimator configured to estimate a relative position, a receiver clock bias of the satellite navigation receiver with respect to a reference time, and an atmospheric propagation delay bias of the satellite navigation receiver with respect to the initial position by time-differencing of the phase measurements of the tracked carrier signals for each satellite from an initial time t 0 an observation time and by determining a product of a change in the relative position from the initial time t 0 the observation time and a transpose of the receiver to satellite line-of-site vector for each satellite, where the relative position is estimated independently of convergence of any precise position estimate;
the relative position estimator configured to model or to estimate an initial position bias in the initial position of the satellite navigation receiver, the receiver clock bias with respect to the reference time, and the atmospheric propagation delay bias between the satellite navigation receiver and a respective satellite;
the relative position estimator adapted to compensate for the biases to provide a compensated relative position of the satellite navigation receiver with respect to the initial position; and
a precise position estimator for determining a precise position estimate based on carrier phase measurements of the received carrier signal §, the precise position estimator running simultaneously with the relative position estimator, the precise position estimator determining a reference trajectory of the receiver, the reference trajectory representing a defined target path or reference position vector of the receiver or a heading/yaw that is consistent with a time series of reference points indicative of the past and current positions of the receiver;
the relative position estimator adapted to determine a correction or offsets to position estimates provided by the precise position estimator in accordance with the following equations, where the position estimates comprise relative position estimates or absolute position estimates:
{circumflex over (x)} t =x ref,t0 +Δx ref,t,t0 +Δ{circumflex over (x)} t,t0 or x t ={circumflex over (x)} t +x bias,t0 ;
and
Δ{circumflex over (φ)} t,t0 i =−e t i T Δ{circumflex over (x)} t,t0 −Δe t,t0 i T x bias,t0 +Δ t,t0 +M t i T t −M t0 i T t0 +Δε {circumflex over (φ)},t,t0 i ; where:
{circumflex over (x)} t is the estimated relative position vector from time 0 to t;
x t is the estimated absolute position at time t;
x ref,t0 is the measured initial position at time t 0 ;
Δx ref,t,t0 is the estimated change in reference position from time t 0 to time t;
Δx t,t0 , is the absolute position change from time t 0 to time t;
Δ{circumflex over (x)} t,t0 is the change in reference trajectory position offset from the initial time, t 0 , to the observation time, t;
Δ{circumflex over (x)} t,t0 is a correction to the relative position with respect to the reference trajectory of the precise position estimator, Δx t,t0 =Δx ref,t,t0 +Δ{circumflex over (x)} t,t0 ;
Δ{circumflex over (φ)} t,t0 i is a time-difference of carrier phase measurements or observations between the mobile receiver and the satellite transmitter of satellite i at times t and to (t>t 0 ) along the reference trajectory;
e t i is the receiver to satellite line-of-sight vector;
e t iT is the transpose of the receiver to satellite line-of-sight vector;
Δe t,t0 i T is the transpose in the change in the receiver to satellite line-of-site vector between time t and t 0 ;
T is a residual zenith tropospheric delay constant or time-varying function;
Δ t,t0 is the difference in receiver clock error at times t and t 0 ;
Mį is the elevation mapping function at time t that maps zenith tropospheric delay to a line-of-sight delay between the mobile receiver and the satellite i;
T t is the residual zenith tropospheric delay at time t;
M t0 i is the mapping function at time t 0 ;
T t0 is the residual zenith tropospheric delay at t 0 ; and
Δε {circumflex over (φ)},t,t0 i is the difference in carrier-phase observation noise and other unmodeled errors between times t and t 0 along the reference trajectory.
8. The receiver according to claim 1 in which the relative position estimator comprises a predictive filter for modeling or estimating the initial position bias in the initial position of the satellite navigation receiver, the receiver clock bias with respect to the reference time, and the atmospheric propagation delay bias between the satellite navigation receiver and each respective satellite.
9. The receiver according to claim 4 in which the relative position estimator comprises a predictive filter for modeling or estimating the initial position bias in the initial position of the satellite navigation receiver, the receiver clock bias with respect to the reference time, and the atmospheric propagation delay bias between the satellite navigation receiver and each respective satellite.
10. The receiver according to claim 7 in which the relative position estimator comprises a predictive filter for modeling or estimating the initial position bias in the initial position of the satellite navigation receiver, the receiver clock bias with respect to the reference time, and the atmospheric propagation delay bias between the satellite navigation receiver and each respective satellite.
11. The receiver according to claim 1 wherein the cycle slip detector is coupled to the carrier tracking module.
12. The receiver according to claim 4 wherein the precise position estimator comprises a precise point position (PPP) estimator, including a wide area differential global navigation satellite system (GNSS) position estimator, where the precise position estimator is capable of receiving correction data from a correction wireless device.
13. The receiver according to claim 1 wherein the receiver comprises a data storage device for storing the modules and wherein an electronic data processor is configured to execute software instructions within the modules.
14. The receiver according to claim 4 wherein the receiver comprises a data storage device for storing the modules and wherein an electronic data processor is configured to execute software instructions within the modules.
15. The receiver according to claim 7 wherein the receiver comprises a data storage device for storing the modules and wherein an electronic data processor is configured to execute software instructions within the modules.