Source: https://patents.google.com/patent/US9128176B2/en
Timestamp: 2019-02-20 12:09:34
Document Index: 345955658

Matched Legal Cases: ['art 1', 'art 2', 'art 7', 'art 6', 'art 9', 'art 3', 'art 4', 'art 5', 'art 6', 'art 3', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 2210', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 8', 'art 8', 'art 8', 'art 8', 'art 8']

US9128176B2 - GNSS signal processing to estimate MW biases - Google Patents
GNSS signal processing to estimate MW biases Download PDF
US9128176B2
US9128176B2 US13/392,878 US201013392878A US9128176B2 US 9128176 B2 US9128176 B2 US 9128176B2 US 201013392878 A US201013392878 A US 201013392878A US 9128176 B2 US9128176 B2 US 9128176B2
US13/392,878
US20120163419A1 (en
2007-06-22 Priority to US12/451,513 priority Critical patent/US8773303B2/en
2008-01-14 Priority to US98876308A priority
2008-08-19 Priority to US18938208P priority
2008-10-06 Priority to US19527608P priority
2009-09-19 Priority to US27718409P priority
2010-02-20 Priority to US12/660,080 priority patent/US8237609B2/en
2010-02-20 Priority to US12/660,091 priority patent/US8400351B2/en
2010-09-19 Priority to US13/392,878 priority patent/US9128176B2/en
2010-09-19 Priority to PCT/US2010/002565 priority patent/WO2011034617A2/en
2010-09-19 Application filed by Trimble Inc filed Critical Trimble Inc
2010-11-09 Assigned to TRIMBLE NAVIGATION LIMITED reassignment TRIMBLE NAVIGATION LIMITED ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: SEEGER, STEPHAN
2012-02-28 Assigned to TRIMBLE NAVIGATION LIMITED reassignment TRIMBLE NAVIGATION LIMITED ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: SEEGER, STEPHAN
2012-06-28 Publication of US20120163419A1 publication Critical patent/US20120163419A1/en
2015-09-08 Publication of US9128176B2 publication Critical patent/US9128176B2/en
Methods and apparatus are described for processing a set of GNSS signal data derived from code observations and carrier-phase observations at multiple receivers of GNSS signals of multiple satellites over multiple epochs, the GNSS signals having at least two carrier frequencies, comprising: forming an MW (Melbourne-Wübbena) combination per receiver-satellite pairing at each epoch to obtain a MW data set per epoch, and estimating from the MW data set per epoch an MW bias per satellite which may vary from epoch to epoch, and a set of WL (widelane) ambiguities, each WL ambiguity corresponding to one of a receiver-satellite link and a satellite-receiver-satellite link, wherein the MW bias per satellite is modeled as one of (i) a single estimation parameter and (ii) an estimated offset plus harmonic variations with estimated amplitudes.
The following are related hereto and incorporated herein in their entirety by this reference: U.S. patent application Ser. No. 12/660,091 filed 20 Feb. 2010; U.S. patent application Ser. No. 12/660,080 filed 20 Feb. 2010; U.S. Provisional Application for Patent No. 61/277,184 filed 19 Sep. 2009; International Patent Application PCT/US2009/059552 filed 5 Oct. 2009, published as WO 2010/042441 on 15 Apr. 2010; U.S. Provisional Application for Patent No. 61/195,276 filed 6 Oct. 2008; International Patent Application PCT/US/2009/004471 filed 5 Aug. 2009, published as WO 2010/021656 on 25 Feb. 2010; International Patent Application PCT/US/2009/004473 filed 5 Aug. 2009, published as WO 2010/021658 on 25 Feb. 2010; International Patent Application PCT/US/2009/004474 filed 5 Aug. 2009, published as WO 2010/021659 on 25 Feb. 2010; International Patent Application PCT/US/2009/004472 filed 5 August 2009, published as WO 2010/021657 on 25 Feb. 2010; International Patent Application PCT/US/2009/004476 filed 5 Aug. 2009 published as WO 2010/021660 A3 on 25 Feb. 2010; U.S. Provisional Application for Patent No. 61/189,382 filed 19 Aug. 2008; U.S. Pat. No. 7,576,690 issued 18 Aug. 2009; U.S. patent application Ser. No. 12/451,513 filed 22 June 2007, published as US 2010/0141515 on 10 Jun. 2010; U.S. Pat. No. 7,755,542 issued 13 Jul. 2010; International Patent Application PCT/US07/05874 filed 7 Mar. 2007, published as WO 2008/008099 on 17 Jan. 2008; U.S. patent application Ser. No. 11/988,763 filed 14 Jan. 2008, published as US 2009/0224969 A1 on 10 Sep. 2009; International Patent Application No. PCT/US/2006/034433 filed 5 Sep. 2006, published as WO 2007/032947 on 22 Mar. 2007; U.S. Pat. No. 7,432,853 granted 7 Oct. 2008; International Patent Application No. PCT/US2004/035263 filed 22 Oct. 2004, published as WO 2005/045463 on 19 May 2005; U.S. Pat. No. 6,862,526 granted 1 Mar. 2005. Priority benefit of U.S. Provisional Application for Patent No. 61/277,184 filed 19 Sep. 2009 is hereby claimed.
The invention relates to GNSS signal processing, and particularly to GNSS signal processing involving precise satellite data.
In some embodiments, corrections are applied to the GNSS signal data. In some embodiments, at least one linear combination of GNSS signal data is smoothed before estimating an MW bias per satellite. In some embodiments, at least one MW bias constraint is applied. In some embodiments, at least one integer WL ambiguity constraint is applied. In some embodiments, a spanning tree (ST) is used over one of an observation graph and a filter graph for constraining the WL ambiguities. In some embodiments, a minimum spanning tree (MST) is used on one of an observation graph and a filter graph for constraining the WL ambiguities.
In some embodiments, the minimum spanning tree is based on edge weights, each edge weight derived from receiver-satellite geometry. In some embodiments, the edge weight is defined with respect to one of (i) a geometric distance from receiver to satellite, (ii) a satellite elevation angle, and (iii) a geometric distance from satellite to receiver to satellite, and (iv) a combination of the elevations under which the two satellites in a single differenced combination are seen at a station. In some embodiments, the minimum spanning tree is based on edge weights, with each edge weight based on WL ambiguity information, defined with respect to one of (i) difference of a WL ambiguity to integer, (ii) WL ambiguity variance, and (iii) a combination of (i) and (ii).
In some embodiments, at least one of the WL ambiguities is fixed as an integer value. In some embodiments, candidate sets of WL integer ambiguity values are determined, a weighted combination of the candidate sets is formed, and at least one of the WL ambiguities is fixed as a value taken from the weighted combination. In some embodiments, the estimating step comprises introducing fixed WL ambiguities so as to estimate MW biases which are compatible with fixed WL ambiguities. In some embodiments, the estimating step comprises applying an iterative filter to the MW data per epoch and wherein introducing fixed WL ambiguities comprises one of (i) putting the fixed WL ambiguities as observations into the filter, (ii) putting the fixed WL ambiguities as observations into a copy of the filter generated after each of a plurality of observation updates, and (iii) reducing the MW combinations by the fixed WL ambiguities and putting the resulting reduced MW combinations into a second filter without ambiguity states to estimate at least one MW bias per satellite.
In some embodiments, at least one MW bias is shifted by an integer number of WL cycles. In some embodiments, at least one MW bias and its respective WL ambiguity are shifted by an integer number of WL cycles. In some embodiments, the navigation message comprises orbit information.
Some embodiments provide apparatus for performing one or more of the described methods. Some embodiments provide a computer program comprising instructions configured, when executed on a computer processing unit, to carry out one or more of the described methods. Some embodiments provide a tangible computer-readable medium embodying such a computer program.
FIG. 1 shows a high-level view of a system in accordance with some embodiments of the invention;
FIG. 2 shows a high-level view of a system and system data in accordance with some embodiments of the invention;
FIG. 3 is a schematic diagram of network processor architecture in accordance with some embodiments of the invention;
FIG. 4 is a schematic diagram of data correction in accordance with some embodiments of the invention;
FIG. 5 is a schematic view of linear combinations of observations in accordance with some embodiments of the invention;
FIG. 6 is a schematic view of a generic Kalman filter process;
FIG. 7 is a schematic diagram of a code-leveled clock processor in accordance with some embodiments of the invention;
FIG. 8 is a schematic diagram of a Melbourne-Wübbena bias process flow in accordance with some embodiments of the invention;
FIG. 9 is a schematic diagram of a Melbourne-Wübbena bias process flow in accordance with some embodiments of the invention;
FIG. 10A shows filter states of an undifferenced Melbourne-Wübbena bias processor in accordance with some embodiments of the invention;
FIG. 10B shows filter states of a single-differenced Melbourne-Wübbena bias processor in accordance with some embodiments of the invention;
FIG. 11 is a schematic diagram of a Melbourne-Wübbena bias processor in accordance with some embodiments of the invention;
FIG. 12 is a schematic diagram of a Melbourne-Wübbena bias processor in accordance with some embodiments of the invention;
FIG. 13 is a schematic diagram of a Melbourne-Wübbena bias processor in accordance with some embodiments of the invention;
FIG. 14 is a schematic diagram of a Melbourne-Wübbena bias processor in accordance with some embodiments of the invention;
FIG. 15 is a schematic diagram of a Melbourne-Wübbena bias processor in accordance with some embodiments of the invention;
FIG. 16A is an observation graph of GNSS stations and satellites;
FIG. 16B is an abstract graph showing stations and satellites as vertices and station-satellite observations as edges;
FIG. 16C depicts a minimum spanning tree of the graph of FIG. 19B;
FIG. 16D depicts a minimum spanning tree with constrained edges;
FIG. 16E is an undifferenced observation graph of GNSS stations and satellites;
FIG. 16F is an filter graph corresponding to the observation graph of FIG. 19E;
FIG. 16G is a single-differenced observation graph of GNSS stations and satellites;
FIG. 16H is a filter graph corresponding to the observation graph of FIG. 19G;
FIG. 16I is a set of observations graphs comparing constraints in undifferenced and single-differenced processing;
FIG. 17 is a schematic diagram of a Melbourne-Wübbena bias processor in accordance with some embodiments of the invention;
FIG. 18A shows a spanning tree on an undifferenced observation graph;
FIG. 18B shows a minimum spanning tree on an undifferenced observation graph;
FIG. 18C shows a spanning tree on a single-differenced observation graph;
FIG. 18D shows a minimum spanning tree on a single-differenced observation graph;
FIG. 19 is a schematic diagram of a Melbourne-Wübbena bias processor in accordance with some embodiments of the invention;
FIG. 20A is a schematic diagram of a Melbourne-Wübbena bias processor in accordance with some embodiments of the invention;
FIG. 20B is a schematic diagram of a Melbourne-Wübbena bias processor in accordance with some embodiments of the invention;
FIG. 21A is a schematic diagram of a Melbourne-Wübbena bias processor in accordance with some embodiments of the invention;
FIG. 21B is a schematic diagram of a Melbourne-Wübbena filtering process in accordance with some embodiments of the invention;
FIG. 21C is a schematic diagram of a Melbourne-Wübbena filtering process in accordance with some embodiments of the invention;
FIG. 21D is a schematic diagram of a Melbourne-Wübbena filtering process in accordance with some embodiments of the invention;
FIG. 22A is a schematic diagram of a Melbourne-Wübbena bias processor in accordance with some embodiments of the invention;
FIG. 22B illustrates the effect of shifting biases in accordance with some embodiments of the invention;
FIG. 22C is a schematic diagram of a Melbourne-Wübbena bias processor in accordance with some embodiments of the invention;
FIG. 23A is a schematic diagram of the startup of an orbit processor in accordance with some embodiments of the invention;
FIG. 23B is a schematic diagram of an orbit processor in accordance with some embodiments of the invention;
FIG. 23C is a schematic diagram of an orbit mapper of an orbit processor in accordance with some embodiments of the invention;
FIG. 23D is a schematic diagram of an orbit mapper of an orbit processor in accordance with some embodiments of the invention;
FIG. 24 is a timing diagram of code-leveled clock processing in accordance with some embodiments of the invention;
FIG. 25A is a schematic diagram of a high-rate code-leveled satellite clock processor in accordance with some embodiments of the invention;
FIG. 25B is a schematic diagram of a high-rate code-leveled satellite clock processor in accordance with some embodiments of the invention;
FIG. 25C is a schematic diagram of a high-rate code-leveled satellite clock processor in accordance with some embodiments of the invention;
FIG. 26 is a schematic diagram of a high-rate phase-leveled satellite clock processor in accordance with some embodiments of the invention;
FIG. 27A is a schematic diagram of a high-rate phase-leveled satellite clock processor in accordance with some embodiments of the invention;
FIG. 27B is a schematic diagram of a high-rate phase-leveled satellite clock processor in accordance with some embodiments of the invention;
FIG. 27C is a schematic diagram of a high-rate phase-leveled satellite clock processor in accordance with some embodiments of the invention;
FIG. 28 is a schematic diagram of a high-rate phase-leveled satellite clock processor in accordance with some embodiments of the invention;
FIG. 29 is a schematic diagram of a high-rate phase-leveled satellite clock processor in accordance with some embodiments of the invention;
FIG. 30 is a schematic diagram of a high-rate phase-leveled satellite clock processor in accordance with some embodiments of the invention;
FIG. 31 is a schematic diagram of a high-rate phase-leveled satellite clock processor in accordance with some embodiments of the invention;
FIG. 32 is a schematic diagram of a network processor computer system in accordance with some embodiments of the invention;
FIG. 33 is a simplified schematic diagram of an integrated GNSS receiver system in accordance with some embodiments of the invention;
FIG. 34 is a schematic diagram of a GNSS rover process with synthesized base station data in accordance with some embodiments of the invention;
FIG. 35 depicts observation clock prediction in accordance with some embodiments of the invention;
FIG. 36 is a schematic diagram of a process for generating synthesized base station data in accordance with some embodiments of the invention;
FIG. 37 is a schematic diagram of an alternate GNSS rover process with synthesized base station data in accordance with some embodiments of the invention;
FIG. 38 is a simplified schematic diagram of a GNSS rover process with synthesized base station data in accordance with some embodiments of the invention;
FIG. 39 is a timing diagram of a low-latency GNSS rover process with synthesized base station data in accordance with some embodiments of the invention;
FIG. 40 is a timing diagram of a high-accuracy GNSS rover process with synthesized base station data in accordance with some embodiments of the invention;
FIG. 41 is a schematic diagram of an alternate GNSS rover process with synthesized base station data in accordance with some embodiments of the invention;
FIG. 42 depicts performance of a GNSS rover process with ambiguity fixing in accordance with some embodiments of the invention in relation to a GNSS rover process without ambiguity fixing;
FIG. 43 is a schematic diagram of a GNSS rover process with ambiguity fixing in accordance with some embodiments of the invention;
FIG. 44 is a schematic diagram of a GNSS rover process with ambiguity fixing in accordance with some embodiments of the invention;
FIG. 45 is a schematic diagram of a GNSS rover process with ambiguity fixing in accordance with some embodiments of the invention;
FIG. 46 is a schematic diagram of a GNSS rover process with ambiguity fixing in accordance with some embodiments of the invention;
FIG. 47 is a schematic diagram of a GNSS rover process with ambiguity fixing in accordance with some embodiments of the invention;
FIG. 48 is a schematic diagram of a GNSS rover process with ambiguity fixing in accordance with some embodiments of the invention;
FIG. 49 is a schematic diagram of a GNSS rover process with ambiguity fixing in accordance with some embodiments of the invention;
FIG. 50 is a schematic diagram of a GNSS rover process with ambiguity fixing in accordance with some embodiments of the invention;
FIG. 51 is a schematic diagram of a GNSS rover process with ambiguity fixing in accordance with some embodiments of the invention;
FIG. 52 is a schematic diagram of a GNSS rover process with ambiguity fixing in accordance with some embodiments of the invention;
FIG. 53 is a schematic diagram of a GNSS rover process with ambiguity fixing in accordance with some embodiments of the invention;
FIG. 54 is a schematic diagram of a GNSS rover process with ambiguity fixing in accordance with some embodiments of the invention;
FIG. 55 is a schematic diagram of a GNSS rover process with ambiguity fixing in accordance with some embodiments of the invention;
FIG. 56 is a schematic diagram of a GNSS rover process with ambiguity fixing in accordance with some embodiments of the invention; and
FIG. 57 is a schematic diagram of a GNSS rover process with ambiguity fixing in accordance with some embodiments of the invention.
Part 1: System Overview
Global Navigation Satellite Systems (GNSS) include GPS, Galileo, Glonass, Compass and other similar positioning systems. While the examples given here are directed to GPS processing the principles are applicable to any such positioning system.
Definition of Real time: In this document the term “Real time” is mentioned several times. In the scope of the inventions covered by the following embodiments this term means that there is an action (e.g., data is processed, results are computed) as soon the required information for that action is available. Therefore, certain latency exists, and it depends on different aspects depending on the component of the system. The required information for the application covered in this document is usually GNSS data, and/or GNSS corrections, as described below.
The network processors running in real time are able to provide results for one epoch of data from a network of monitoring receivers after: (1a) The data is collected by each of the monitoring receivers (typically less than 1 msec); (1b) The data is transmitted from each receiver to the processing center (typically less than 2 sec); (1c) The data is processed by the processor. The computation of the results by the network processors typically takes between 0.5 and 5 seconds depending on the processor type, and amount of data to be used.
It is usual that data that do not follow certain restrictions in transmission delay (e.g., 3 sec) are rejected or buffered and therefore not immediately used for the current epoch update. This avoids the enlargement of the latency of the system in case one or more stations are transmitting data with an unacceptable amount of delay.
A rover receiver running in real time is able to provide results for one epoch of data after the data is collected by receiver (typically less than 1 msec) and: (2a) The correction data is generated by the processing center (see 1a, 1b, 1c); (2b) The correction data (if required) is received from the processing center (typically less than 5 sec); (2c) The data is processed (typically less than 1 msec).
To avoid or minimize the effect of data latency caused by (2a) and (2b), a delta phase approach can be used so updated receiver positions can be computed (typically in less than 1 msec) immediately after the data is collected and with correction data streams. The delta phase approach is described for example in U.S. Pat. No. 7,576,690 granted Aug. 18, 2009 to U. Vollath.
FIG. 1 and FIG. 2 show high level views of a system 100 in accordance with some embodiments of the invention. Reference stations of a worldwide tracking network, such as reference stations 105, 110, . . . 115, are distributed about the Earth. The position of each reference station is known very precisely, e.g., within less than 2 cm. Each reference station is equipped with an antenna and tracks the GNSS signals transmitted by the satellites in view at that station, such as GNS satellites 120, 125, . . . 130. The GNSS signals have codes modulated on each of two or more carrier frequencies. Each reference station acquires GNSS data 205 representing, for each satellite in view at each epoch, carrier-phase (carrier) observations 210 of at least two carriers, and pseudorange (code) observations 215 of the respective codes modulated on at least two carriers. The reference stations also obtain the almanac and ephemerides 220 of the satellites from the satellite signals. The almanac contains the rough position of all satellites of the GNSS, while the so-called broadcast ephemerides provide more precise predictions (ca. 1 m) of the satellites' positions and the satellites' clock error (ca. 1.5 m) over specific time intervals.
GNSS data collected at the reference stations is transmitted via communications channels 135 to a network processor 140. Network processor 140 uses the GNSS data from the reference stations with other information to generate a correction message containing precise satellite position and clock data, as detailed below. The correction message is transmitted for use by any number of GNSS rover receivers. The correction message is transmitted as shown in FIG. 1 via an uplink 150 and communications satellite 155 for broadcast over a wide area; any other suitable transmission medium may be used including but not limited to radio broadcast or mobile telephone link. Rover 160 is example of a GNSS rover receiver having a GNSS antenna 165 for receiving and tracking the signals of GNSS satellites in view at its location, and optionally having a communications antenna 170. Depending on the transmission band of the correction message, it can be received by rover 160 via GNSS antenna 165 or communications antenna 170.
Part 2: Network Architecture
FIG. 3 is a schematic diagram showing principal components of the process flow 300 of a network processor 140 in accordance with some embodiments of the invention. GNSS data from the global network of reference stations is supplied without corrections as GNSS data 305 or after correction by an optional data corrector 310 as corrected GNSS data 315, to four processors: a standard clock processor 320, a Melbourne-Wübbena (MW) bias processor 325, an orbit processor 330, and a phase clock processor 335.
Data corrector 310 optionally analyzes the raw GNSS data 305 from each reference station to check for quality of the received observations and, where possible, to correct the data for cycle slips, which are jumps in the carrier-phase observations occurring, e.g., each time the receiver has a loss of lock. Commercially-available reference stations typically detect cycle slips and flag the data accordingly. Cycle slip detection and correction techniques are summarized, for example, in G. Seeber, SATELLITE GEODESY, 2nd Ed. (2003) at pages 277-281. Data corrector 310 optionally applies other corrections. Though not all corrections are needed for all the processors, they do no harm if applied to the data. For example as described below some processors use a linear combination of code and carrier observations in which some uncorrected errors are canceled in forming the combinations.
Observations are acquired epoch by epoch at each reference station and transmitted with time tags to the network processor 140. For some stations the observations arrive delayed. This delay can range between milliseconds and minutes. Therefore an optional synchronizer 318 collects the data of the corrected reference station data within a predefined time span and passes the observations for each epoch as a set to the processor. This allows data arriving with a reasonable delay to be included in an epoch of data.
The MW bias processor 325 takes either uncorrected GNSS data 305 or corrected GNSS data 315 as input, since it uses the Melbourne-Wübbena linear combination which cancels out all but the ambiguities and the biases of the phase and code observations. Thus only receiver and satellite antenna corrections are important for the widelane processor 325. Based on this linear combination, one MW bias per satellite and one widelane ambiguity per receiver-satellite pairing are computed. The biases are smooth (not noisy) and exhibit only some sub-daily low-rate variations. The widelane ambiguities are constant and can be used as long as no cycle slip occurs in the observations on the respective satellite-receiver link. Thus the bias estimation is not very time critical and can be run, e.g., with a 15 minute update rate. This is advantageous because the computation time grows with the third power of the number of stations and satellites. As an example, the computation time for a reasonable network with 80 stations can be about 15 seconds. The values of fixed widelane ambiguities 340 and/or widelane biases 345 are optionally used in the orbit processor 330 and/or the phase clock processor 335, and/or are supplied to a scheduler 355. MW bias processor 325 is described in detail in Part 7 below.
Some embodiments of orbit processor 330 are based on a prediction-correction strategy. Using a precise force model and starting with an initial guess of the unknown values of the satellite's parameters (initial position, initial velocity and dynamic force model parameters), the orbit of each satellite is predicted by integration of the satellite's nonlinear dynamic system. The sensitivity matrix containing the partial derivatives of the current position to the unknown parameters is computed at the same time. Sensitivities of the initial satellite state are computed at the same time for the whole prediction. That is, starting with a prediction for the unknown parameters, the differential equation system is solved, integrating the orbit to the current time or into the future. This prediction can be linearized into the direction of the unknown parameters. Thus the partial derivatives (sensitivities) serve as a measure of the size of the change in the current satellite states if the unknown parameters are changed, or vice versa.
In some embodiments these partial derivatives are used in a Kalman filter to improve the initial guess by projecting the GNSS observations to the satellite's unknown parameters. This precise initial state estimate is used to again integrate the satellite's dynamic system and determine a precise orbit. A time update of the initial satellite state to the current epoch is performed from time to time. In some embodiments, ionospheric-free ambiguities are also states of the Kalman filter. The fixed widelane ambiguity values 340 are used to fix the ionospheric-free ambiguities of the orbit processor 330 to enhance the accuracy of the estimated orbits. A satellite orbit is very smooth and can be predicted for minutes and hours. The precise orbit predictions 350 are optionally forwarded to the standard clock processor 320 and to the phase clock processor 335 as well as to a scheduler 355.
Ultra-rapid orbits 360, such as IGU orbits provided by the International GNSS Service (IGS), can be used as an alternative to the precise orbit predictions 355. The IGU orbits are updated four times a day and are available with a three hour delay.
Standard clock processor 320 computes code-leveled satellite clocks 360 (also called standard satellite clocks), using GNSS data 305 or corrected GNSS data 315 and using precise orbit predictions 355 or ultra-rapid orbits 365. Code-leveled means that the clocks are sufficient for use with ionospheric-free code observations, but not with carrier-phase observations, because the code-leveled clocks do not preserve the integer nature of the ambiguities. The code-leveled clocks 360 computed by standard clock processor 320 represent clock-error differences between satellites. The standard clock processor 320 uses the clock errors of the broadcast ephemerides as pseudo observations and steers the estimated clocks to GPS time so that they can be used to compute, e.g., the exact time of transmission of a satellite's signal. The clock errors change rapidly, but for the use with code measurements, which are quite noisy, an accuracy of some centimeter is enough. Thus a “low rate” update rate of 30 seconds to 60 seconds is adequate. This is advantageous because computation time grows with the third power of number of stations and satellites. The standard clock processor 325 also determines troposphere zenith delays 365 as a byproduct of the estimation process. The troposphere zenith delays and the code-leveled clocks are sent to the phase clock processor 335. Standard clock processor 320 is described in detail in Part 6 below.
The phase clock processor 335 optionally uses the fixed widelane ambiguities 340 and/or MW biases 345 from widelane processor 325 together with the troposphere zenith delays 365 and the precise orbits 350 or IGU orbits 360 to estimate single-differenced clock errors and narrowlane ambiguities for each pairing of satellites. The single-differenced clock errors and narrowlane ambiguities are combined to obtain single-differenced phase-leveled clock errors 370 for each satellite (except for a reference satellite) which are single-differenced relative to the reference satellite. The low-rate code leveled clocks 360, the troposphere zenith delays 365 and the precise orbits 350 or IGU orbits 360 are used to estimate high-rate code-leveled clocks 375. Here, the computational effort is linear with the number of stations and to the third power with the number of satellites. The rapidly-changing phase-leveled clocks 370 and code-leveled clocks 375 are available, for example, with a delay of 0.1 sec-0.2 sec. The high-rate phase-leveled clocks 370 and the high-rate code-leveled clocks 375 are sent to the scheduler 355 together with the MW biases 340. Phase clock processor 340 is described in detail in Part 9 below.
Scheduler 355 receives the orbits (precise orbits 350 or IGU orbits 360), the MW biases 340, the high-rate phase-leveled clocks 370 and the high-rate code-leveled clock 375. Scheduler 355 packs these together and forwards the packed orbits and clocks and biases 380 to a message encoder 385 which prepares a correction message 390 in compressed format for transmission to the rover. Transmission to a rover takes for example about 10 sec-20 sec over a satellite link, but can also be done using a mobile phone or a direct Internet connection or other suitable communication link.
Part 3: Observation Data Corrector
FIG. 4 is a schematic diagram of data correction in accordance with some embodiments of the invention. Optional observation corrector 310 corrects the GNSS signals collected at a reference station for displacements of the station due to centrifugal, gyroscopic and gravitational forces acting on the Earth, the location of the station's antenna phase center relative to the station's antenna mounting point, the location of the satellite's antenna phase center relative to the satellite's center of mass given by the satellite's orbit, and variations of those phase centers depending on the alignment of the station's antenna and the satellite's antenna.
The main contributors to station displacements are solid Earth tides up to 500 mm, ocean tidal loadings up to 100 mm, and pole tides up to 10 mm. All of these depend on where the station is located. More description is found in McCarthy, D. D., Petit, G. (eds.), IERS Conventions (2003), IERS Technical Note No. 32, and references cited therein.
Ocean tides caused by the forces of astronomical bodies—mainly the moon—acting on the Earth's loose masses, also cause the Earth's tectonic plates to be lifted and lowered. This well-known effect shows up as recurring variations of the reference stations' locations. The solid Earth tides are optionally computed for network processing as well as for rover processing, as the effect should not be neglected and the computational effort is minor.
The second largest effect is the deformation of the Earth's tectonic plates due to the load of the oceans varying over time with the tides. Ocean tide loading parameters used to quickly compute the displacement of a station over time depend on the location of the station. The computational effort to derive these parameters is quite high. They can be computed for a given location, using any of the well-known models available at the online ocean-tide-loading service provided by the Onsala Space Observatory Ocean, http://www.oso.chalmers.se/˜loading/, Chalmers: Onsala Space Observatory, 2009. The lower accuracy parameters, e.g., from interpolation of a precomputed grid, are sufficient for the applications discussed here.
The smallest effect mentioned here is that due to pole tides. This displacement is due to the lift of a tectonic plate caused by the centrifugal and gyroscopic effects generated by the polar motion of the Earth. Earth orientation parameters are used for this computation. These are updated regularly at the International Earth Rotation & Reference System Service, International Earth Rotation & Reference System Service, http://hpiers.obspm.fr/, L′Observatoire de Paris, 2009, and are not easily computed. This minor effect is therefore optionally neglected in the rover processing.
Absolute calibrated antenna models are used to compute the offsets and variations of receiver and satellite antenna phase centers. A description is found at J. Kouba, A Guide to Using International GPS Service (IGS) Products, Geoodetic Survey Division Natural Resources Canada, February 2003. Calibration data collected by the IGS is made available in antex files at http://igscb.ipl.nasa.gov/, 2009; satellite antenna offset information is found for example in the IGS absolute antenna file igs05.atx.
Another effect is the antenna phase wind-up. If a receiver antenna is moving relative to the sender antenna the recorded data shows a phase shift. If this effect is neglected, a full turn of the satellite around the sending axis will cause an error of one cycle in the carrier-phase detected at the receiver. Since the satellite's orientation relative to the receiver is well known most of the time, this effect can be modeled as described in Wu J. T., Hajj G. A., Bertiger W. I., & Lichten S. M., Effects of antenna orientation on GPS carrier phase, MANUSCRIPTA GEODAETICA, Vol. 18, pp. 91-98 (1993).
The relative movement of the station and the satellite is mainly due to the orbiting satellite. If a satellite is eclipsing—this means the satellites orbit crosses the Earth's shadow—additional turns of the satellite around its sending axis are possible. For example, GPS Block IIA satellites have a noon turn and a shadow crossing maneuver, while GPS Block IIR satellites have a noon turn and a midnight turn. If the sun, the Earth and the satellite are nearly collinear it is hard to compute the direction of the turn maneuvers, and an incorrect direction will cause an error in the carrier-phase of one cycle. The satellite's yaw attitude influences the phase wind-up and the satellite antenna corrections. More detailed descriptions are found in Kouba, J., A simplified yaw-attitude model for eclipsing GPS satellites, GPS SOLUTIONS (2008) and Bar-Sever, Y. E., A new model for GPS yaw attitude, JOURNAL OF GEODESY, Vol. 70, pp. 714-723 (1996).
In the case of only using phase observations, the effect of an unmodeled satellite turn maneuver can not be separated from the satellite clock. Thus in a phase clock error estimation the effect of the turn maneuver is included in the estimated satellite clock error. If a rover uses those clocks it must not correct for satellite turn maneuver either.
The sun position is needed to compute the satellite's body-fixed coordinate frame, since the x axis is defined by the cross product of the satellite's position and the sun's position. This coordinate system is used to compute the yaw attitude, the satellite's antenna correction (offset and variations, mapped into sine of sight) and the phase wind-up correction. The moon's position is also needed for the solid Earth tides. How to compute the position of the sun and the moon is found, for example, in Seidelmann, P. K. (ed.), Explanatory Supplement to the Astronomical Almanac, University Science Books, U.S. (1992).
Further corrections can also be applied, though these are of only minor interest for the positioning accuracy level demanded by the marketplace.
Additional effects as corrections for relativistic effects, ionospheric and troposphere delays do not need to be considered in the optional data corrector 310. Relativistic corrections are usually applied to the satellite clocks. The major first order effect due to the ionosphere is eliminated using an ionospheric free combination of the GNSS observations, and the effect due to the troposphere is in some embodiments partly modeled and partly estimated.
Part 4: Forming Linear Combinations
4.1 Basic Modeling Equations
For code Pi,km j and carrier phase Φi,km j observations between receiver i and satellite j on frequency band k and modulation type m the following observation model is assumed that relates the observations to certain physical quantities,
P i,km j=ρi j +cΔt i −cΔt j +T i j +I P,i,k j +b P,i,km −b P,km j +m P,i,km j+εP,i,km j. (1)
Φi,km j=ρi j +cΔt i −cΔt j +T i j +I Φ,i,k j +b Φ,i,k −b Φ,k j+λk N i,k j +m Φ,i,km j+εΦ,i,km j. (2)
ρi j geometrical range from satellite j to receiver i
Δti receiver i clock error
Δtj satellite j clock error
Ti j tropospheric delay from satellite j to receiver i
I P , i , k j = I 1 ⁢ i j f k 2 + 2 ⁢ I 2 ⁢ i j f k 3 + 3 ⁢ I 3 ⁢ i j f k 4
code ionospheric delay on frequency fk
I Φ , i , k j = - I 1 ⁢ i j f k 2 - I 2 ⁢ i j f k 3 - I 3 ⁢ i j f k 4
carrier phase ionospheric delay on frequency fk
bP,i,km code receiver bias
bP,km j code satellite bias
bΦi,k phase receiver bias (independent of modulation type m)
bΦ,k j phase satellite bias (independent of modulation type m)
Ni,k j integer ambiguity term from satellite j to receiver i on wavelength λk
mP,i,km j code multipath from satellite j to receiver i
mΦ,i,km j phase multipath from satellite j to receiver i
εP,i,km j code random noise term
εΦ,i,km j phase random noise term
The modulation type dependency in the phase observation can be suppressed by assuming that the different phase signals on a frequency band are already shifted to a common base inside the receiver, e.g. L2C is assumed to be shifted by −0.25 cycles to compensate the 90 degrees rotation of the quadrature phase on which it is modulated. However, noise and multipath terms (that are usually not modeled) still have a different contribution to the phase observation for different modulation types.
Examples of different modulation types (also called code types) are in case of GPS L1C/A, L1P, L1C on L1-frequency band and L2C, L2P on L2-frequency band and in case of Glonass L1C/A, L1P and L2C/A, L2P. For the Glonass satellite system, wavelength λk and frequency fk also depend on a satellite specific frequency channel number so that the notation could be extended to λk (j) and fk (j). In addition, especially the code receiver biases bP,i,km also have a channel and therefore satellite dependency (as can be seen in a zero-baseline processing with some averaging over time so that Pi 1 i 2 ,km j=bP,i,km j). Therefore a more precise formulation for the code receiver bias would be bP,i,km j=bP,i,km+ΔbP,i,km j.
The symbol Φ used here for carrier phase observations, is also used for the time transition matrix in the Kalman filter context. For both cases, Φ is the standard symbol used in the scientific literature and we adopted this notation. The meaning of Φ will be always clear from the context.
In the following we neglect the second order
I 2 ⁢ ⁢ i j f k 3
and third order
I 3 ⁢ ⁢ i j f k 4
ionospheric terms that are typically in the range of less than 2 cm (Morton, van Graas, Zhou, & Herdtner, 2008), (Datta-Barua, Walter, Blanch, & Enge, 2007). In this way,
I P , i , k j = I i j f k 2 = - I Φ , i , k j
with Ii j:=I1i j. Only under very severe geomagnetic active conditions the second and third order terms can reach tens of centimeters. However, these conditions occur only for a few days in many years. The higher order ionospheric terms can be taken into account by ionospheric models based on the Appleton-Hartree equation that relates the phase index of refraction of a right hand circularly polarized wave propagating through the ionosphere to the wave frequency fk, the electron density and the earth magnetic field. Approximations to the Appleton-Hartree equation allow to relate the parameters I2i j, I3i j of the second and third order ionospheric terms to the first order ionospheric estimation parameter Ii j:=I1i j that is a measure of the total electron content along the signal propagation path. Thus higher order ionospheric terms can be corrected on base of observation data on at least two frequencies.
In the following we will often talk about ionospheric-free (IF) linear combinations. However, notice that these linear combinations only cancel the first order ionospheric term and are thus not completely ionospheric-free.
Linear Combinations of Observations
By combining several code Pi,km j and carrier phase Φi,km j observations in a linear way
LC = ∑ i , j , k , m ⁢ a P , i , km j ⁢ P i , km j + a Φ , i , km j ⁢ Φ i , km j ⁢ ⁢ with ⁢ ⁢ a P , i , km j , a Φ , i , km j ∈ R ⁢ ⁢ for ⁢ ⁢ all ⁢ ⁢ i , j , k , m ( 3 )
some of the physical quantities can be eliminated from the linear combination LC so that these quantities do not have to be estimated if the linear combination is used as the observation input for an estimator. In this way some linear combinations are of special importance.
Single difference (SD) observations between two satellites j1 and j2 eliminate all quantities that are not satellite dependent, i.e. that do not have a satellite index j.
Defining Xj 1 j 2 :=Xj 2 −Xj 1 , the between satellite SD observations are formally obtained by substituting each index j by j1j2 and ignoring all terms without a satellite index j
P i,km j 1 j 2 =ρi j 1 j 2 −cΔt j 1 j 2 +T i j 1 j 2 +I P,i,k j 1 j 2 −b P,km j 1 j 2 +m P,i,km j 1 j 2 +εP,i,km j 1 j 2 . (4)
Φi,km j 1 j 2 =ρi j 1 j 2 −cΔt j 1 j 2 +T i j 1 j 2 +I Φ,i,k j 1 j 2 −b Φ,km j 1 j 2 +m Φ,i,km j 1 j 2 +εΦ,i,km j 1 j 2 . (5)
In this way the receiver clock and receiver bias terms have been eliminated in the linear combination.
In the same way single difference observations between two receivers i1 and i2 eliminate all quantities that are not receiver dependent, i.e. that have no receiver index i.
By generating the difference between two receivers i, and i2 on the between satellite single difference observations (4) and (5), double difference (DD) observations are obtained that also eliminate all receiver dependent terms from (4) and (5).
Defining Xi 1 i 2 j 1 j 2 :=Xi 2 j 1 j 2 −Xi 1 j 1 j 2 =(Xi 2 j 2 −Xi 2 j 1 )−(Xi 1 j 2 −Xi 1 j 1 ), the DD observations are formally obtained from (4) and (5) by substituting each index i by i1i2 and ignoring all terms without a receiver index i
P i 1 i 2 ,km j 1 j 2 =ρi 1 i 2 j 1 j 2 +T i 1 i 2 j 1 j 2 +I P,i 1 i 2 ,k j 1 j 2 +m P,i 1 i 2 ,km j 1 j 2 +εP,i 1 i 2 ,km j 1 j 2 . (6)
Φi 1 i 2 ,km j 1 j 2 =ρi 1 i 2 j 1 j 2 +T i 1 i 2 j 1 j 2 +I Φ,i 1 i 2 ,k j 1 j 2 +λk N i 1 i 2 ,k j 1 j 2 +m Φ,i 1 i 2 ,km j 1 j 2 +εΦ,i 1 i 2 ,km j 1 j 2 . (7)
In this way also the satellite clock and the satellite biases have been eliminated in the linear combination.
In the following we assume that all code observations Pi,km j correspond to the same modulation type and that all phase observations Φi,km j correspond to the same observation type that may differ from the modulation type of the code observations. Since the modulation type dependency for the phase observations occurs only in the unmodeled multipath and random noise terms, in this way the modulation type index m can be suppressed.
For our purposes two linear combinations that cancel the first order ionospheric delay
I i j f k 2
in different ways are of special importance, the iono-free linear combination for code and carrier phase and the Melbourne-Wübbena (MW) linear combination Φi,WL j−Pi,NL j consisting of the widelane (WL) carrier phase
Φ i , WL j λ WL := Φ i , 1 j λ 1 - Φ i , 2 j λ 2
and narrowlane (NL) code
P i , NL j λ NL := P i , 1 j λ 1 + P i , 2 j λ 2
observations with wavelengths
λ WL = c f WL := c f 1 - f 2
λ NL = c f NL := c f 1 + f 2 ,
(Melbourne, 1985), (Wübbena, 1985),
P i , NL j = ρ i j + c ⁢ ⁢ Δ ⁢ ⁢ t i - c ⁢ ⁢ Δ ⁢ ⁢ t i - c ⁢ ⁢ Δ ⁢ ⁢ t j + T i j + λ NL ⁡ ( b P , i , 1 λ 1 + b P , i , 2 λ 2 ) - λ NL ⁡ ( b P , 1 j λ 1 + b P , 2 j λ 2 ) + λ NL ⁡ ( I i j λ 1 ⁢ f 1 2 + I i j λ 2 ⁢ f 2 2 ) + λ NL ⁡ ( m P , i , 1 j + ɛ P , i , 1 j λ 1 + m P , i , 2 j + ɛ P , i , 2 j λ 2 ) ( 8 ) Φ i , WL j = ρ i j + c ⁢ ⁢ Δ ⁢ ⁢ t i - c ⁢ ⁢ Δ ⁢ ⁢ t j + T i j + λ WL ⁡ ( b Φ , i , 1 λ 1 - b Φ , i , 2 λ 2 ) - λ WL ⁡ ( b Φ , 1 j λ 1 - b Φ , 2 j λ 2 ) - λ WL ⁡ ( I i j λ 1 ⁢ f 1 2 - I i j λ 2 ⁢ f 2 2 ) + λ WL ⁢ ( N i ⁢ ⁢ 1 j - N i ⁢ ⁢ 2 j ) ︸ = : N i , WL j + λ WL ⁡ ( m Φ , i , 1 j + ɛ Φ , i , 1 j λ 1 - m Φ , i , 2 j + ɛ Φ , i , 2 j λ 2 ) ( 9 )
Φ i , WL j - P i , NL j = ⁢ λ WL ⁡ ( b Φ , i , 1 λ 1 - b Φ , i , 2 λ 2 ) - λ NL ⁡ ( b P , i , 1 λ 1 + b P , i , 2 λ 2 ) ︸ = : b i , MW + - ⁢ [ λ WL ⁡ ( b Φ , 1 j λ 1 - b Φ , 2 j λ 2 ) - λ NL ⁡ ( b P , 1 j λ 1 + b P , 2 j λ 2 ) ] ︸ = : b MW j + ⁢ λ WL ⁢ N i , WL j ++ ⁢ λ WL ⁡ ( m Φ , i , 1 j λ 1 - m Φ , i , 2 j λ 2 ) - λ NL ⁡ ( m P , i , 1 j λ 1 + m P , i , 2 j λ 2 ) ︸ = : m i , MW j ++ ⁢ λ WL ⁡ ( ɛ Φ , i , 1 j λ 1 - ɛ Φ , i , 2 j λ 2 ) - λ NL ⁡ ( ɛ P , i , 1 j λ 1 + ɛ P , i , 2 j λ 2 ) ︸ = : ɛ i , MW j + = ⁢ b i , MW - b MW j + λ WL ⁢ N i , WL j + m i , MW j + ɛ i , MW j ( 10 )
where the ionospheric term in the WL-phase cancels with the ionospheric term in the NL-code due to
- λ WL ⁡ ( 1 λ 1 ⁢ f 1 2 - 1 λ 2 ⁢ f 2 2 ) - λ NL ⁡ ( 1 λ 1 ⁢ f 1 2 + 1 λ 2 ⁢ f 2 2 ) = - c f 1 - f 2 ⁢ ( c f 1 - c f 2 ) - c f 1 + f 2 ⁢ ( c f 1 + c f 2 ) ⁢ = - c 2 f 1 - f 2 ⁢ f 2 - f 1 f 1 ⁢ f 2 - c 2 f 1 + f 2 ⁢ f 2 + f 1 f 1 ⁢ f 2 ⁢ = + c 2 f 1 ⁢ f 2 - c 2 f 1 ⁢ f 2 = 0
Neglecting the usually unmodeled multipath mi,MW j and random noise terms εi,MW j, equation (10) simplifies to
Φi,WL j −P i,NL j =b i,MW −b MW j+λWL N i,WL j (11)
or in a between satellite single difference (SD) version to
Φi,WL j 1 j 2 −P i,NL j 1 j 2 =−b MW j 1 j 2 +λWL N i,WL j 1 j 2 (12)
Note that the satellite bias cancels in the double difference (DD) (between receivers and between satellites) Melbourne-Wübbena (MW) observation,
Φi 1 i 2 ,WL j 1 j 2 −P i 1 i 2 ,NL j 1 j 2 =λWL N i 1 i 2 ,WL j 1 j 2 . (13)
Thus the DD-WL ambiguities Ni 1 i 2 ,WL j 1 j 2 are directly observed by the DD-MW observations.
The iono-free linear combination on code
P i , IF j := f 1 2 ⁢ P i , 1 j - f 2 2 ⁢ P i , 2 j f 1 2 - f 2 2
and carrier phase
Φ i , IF j := f 1 2 ⁢ Φ i , 1 j - f 2 2 ⁢ Φ i , 2 j f 1 2 - f 2 2
P i , IF j = ⁢ ρ i j + c ⁢ ⁢ Δ ⁢ ⁢ t i - c ⁢ ⁢ Δ ⁢ ⁢ t j + T i j + ⁢ f 1 2 ⁢ b P , i , 1 - f 2 2 ⁢ b P , i , 2 f 1 2 - f 2 2 ︸ = : b P , i , IF - f 1 2 ⁢ b P , 1 j - f 2 2 ⁢ b P , 2 j f 1 2 - f 2 2 ︸ = : b P , IF j + ⁢ f 1 2 ⁢ m P , i , 1 j - f 2 2 ⁢ m P , i , 2 j f 1 2 - f 2 2 ︸ = : m P , i , IF j - f 1 2 ⁢ ɛ P , i , 1 j - f 2 2 ⁢ ɛ P , i , 2 j f 1 2 - f 2 2 ︸ = : ɛ P , i , IF j + = ⁢ ρ i j + c ⁢ ⁢ Δ ⁢ ⁢ t i - c ⁢ ⁢ Δ ⁢ ⁢ t j + T i j + b P , i , IF - b P , IF j + m P , i , IF j + ɛ P , i , IF j ( 14 ) and Φ i , IF j = ⁢ ρ i j + c ⁢ ⁢ Δ ⁢ ⁢ t i - c ⁢ ⁢ Δ ⁢ ⁢ t j + T i j + ⁢ f 1 2 ⁢ b Φ , i , 1 - f 2 2 ⁢ b Φ , i , 2 f 1 2 - f 2 2 ︸ = : b Φ , i , IF - f 1 2 ⁢ b Φ , 1 j - f 2 2 ⁢ b P , 2 j f 1 2 - f 2 2 ︸ = : b Φ , IF j + ⁢ f 1 2 ⁢ λ 1 ⁢ N i , 1 j - f 2 2 ⁢ λ 2 ⁢ N i , 2 j f 1 2 - f 2 2 ︸ = : λ IF ⁢ N i , IF j + f 1 2 ⁢ m Φ , i , 1 j - f 2 2 ⁢ m Φ , i , 2 j f 1 2 - f 2 2 ︸ = : m Φ , i , IF j + ⁢ f 1 2 ⁢ ɛ Φ , i , 1 j - f 2 2 ⁢ ɛ Φ , i , 2 j f 1 2 - f 2 2 ︸ = : ɛ Φ , i , IF j = ⁢ ρ i j + c ⁢ ⁢ Δ ⁢ ⁢ t i - c ⁢ ⁢ Δ ⁢ ⁢ t j + T i j + b Φ , i , IF - b Φ , IF j + λ IF ⁢ N i , IF j + ⁢ m Φ , i , IF j + ɛ Φ , i , IF j ( 15 )
Neglecting the usually unmodeled multipath mP,i,IF j, mΦ,i,IF j and random noise terms εP,i,IF j, εΦ,i,IF j, (14) and (15) simplify to
P i,IF j=ρi j +cΔt i −cΔt j +T i j +b P,i,IF −b P,IF j. (16)
Φi,IF j=ρi j +cΔt i −cΔt j +T i j +b Φ,i,IF −b Φ,IF j+λIF N i,IF j. (17)
P i,IF j 1 j 2 =ρi j 1 j 2 −cΔt j 1 j 2 +T i j 1 j 2 −b P,IF j 1 j 2 . (18)
Φi,IF j 1 j 2 =ρi j 1 j 2 −cΔt j 1 j 2 +T i j 1 j 2 −b Φ,IF j 1 j 2 λIF N i,IF j 1 j 2 . (19)
The iono-free wavelength λIF just depends on the ratio of the involved frequencies that are listed for different GNSS in Table 1 and Table 2.
L1 L2 L5 E2L1E1 E5a E5b E5a/b E6
10.23 MHz 154 120 115 154 115 118 116.5 125
(1602 + k · 9/16) MHz (1246 + k · 7/16) MHz
( k = - 7 , ⁢ … , + 6 ) ⁢ ⁢ L ⁢ ⁢ 1 L ⁢ ⁢ 2 = 9 7
Defining F1, F2εN by
f 1 = : ⁢ ⁢ F 1 ⁢ ⁢ gcd ⁢ ⁢ ( f 1 , f 2 ) f 2 = : ⁢ ⁢ F 2 ⁢ ⁢ gcd ⁡ ( f 1 , f 2 ) ⇒ f 1 f 2 = F 1 F 2 ( 20 )
where gcd is an abbreviation for the greatest common divisor, it follows for the iono-free wavelength
λ IF ⁢ N i , IF j := ⁢ f 1 2 ⁢ λ 1 ⁢ N i , 1 j - f 2 2 ⁢ λ 2 ⁢ N i , 2 j f 1 2 - f 2 2 = ⁢ λ 1 ⁢ f 1 2 ⁢ N i , 1 j - f 2 2 ⁢ λ 2 λ 1 ⁢ N i , 2 j f 1 2 - f 2 2 = ⁢ λ 2 ⁢ f 1 2 ⁢ N i , 1 j - f 2 2 ⁢ f 1 f 2 ⁢ N i , 2 j f 1 2 - f 2 2 = ⁢ λ 1 ⁢ f 1 2 f 2 2 ⁢ N i , 1 j - f 1 f 2 ⁢ N i , 2 j f 1 2 f 2 2 - 1 = ⁢ λ 1 ⁢ F 1 2 F 2 2 ⁢ N i , 1 j - F 1 F 2 ⁢ N i , 2 j F 1 2 F 2 2 - 1 = ⁢ λ 1 ⁢ F 1 F 2 2 ⁢ F 1 ⁢ N i , 1 j - F 2 ⁢ N i , 2 j F 1 2 - F 2 2 F 2 2 = ⁢ λ 1 ⁢ F 1 F 2 - F 2 2 ︸ = : λ IF ⁢ ( F 1 ⁢ N i , 1 j - F 2 ⁢ N i , 2 j ) ︸ := N i , IF j ( 21 )
The factors F1, F2 are listed for different GNSS frequency combinations together with the resulting iono-free wavelengths in Table 3.
GNSS Freq. bands F1/F2 λ1/m λNL/m λ IF λ 1 = F 1 F 1 2 - F 2 2
GPS L1-L2 77/60 0.1903 0.1070 0.0331
L1-L5 154/115 0.1903 0.1089 0.0147
L2-L5 24/23 0.2442 0.1247 0.5106
Galileo L1-E5a 154/115 0.1903 0.1089 0.0147
L1-E5b 77/59 0.1903 0.1077 0.0315
L1-E6 154/125 0.1903 0.1050 0.019
E5b-E5a 118/115 0.2483 0.1258 0.1688
E6-E5a 25/23 0.2344 0.1221 0.2604
E6-E5b 125/118 0.2344 0.1206 0.0735
Glonass L1-L2 9/7 c ( 1602 + k · 9 ⁢ / ⁢ 16 ) · 10 6 c ( 2848 + k ) · 10 6 0.2813
Since for most frequency combinations the iono-free wavelength λIF is too small for reliable ambiguity resolution (the frequency combination L2-L5 is a mentionable exception), the following relation between the iono-free ambiguity Ni,IF j and the widelane ambiguity Ni,WL j is of special importance. By using the definitions
N i , WL j := N i , 1 j - N i , 2 j N i , NL j := N i , 1 j + N i , 2 j } ⇔ N i , 1 j = 1 2 ⁢ ( N i , NL j + N i , WL j ) N i , 2 j = 1 2 ⁢ ( N i , NL j + N i , WL j ) ( 23 )
the iono-free ambiguity term can be rewritten as
λ IF ⁢ N i , IF j := f 1 2 f 1 2 - f 2 2 ⁢ ⁢ λ 1 ⁢ N i , 1 j - f 2 2 f 1 2 - f 2 2 ⁢ λ 2 ⁢ N i , 2 j = ( f 1 2 f 1 2 - f 2 2 ⁢ c f 1 + f 2 2 f 1 2 - f 2 2 ⁢ c f 2 ) ︸ cf 1 ( f 1 - f 2 ) ⁢ ( f 1 + f 2 ) + cf 2 ( f 1 - f 2 ) ⁢ ( f 1 + f 2 ) = c f 1 - f 2 = : λ WL ⁢ 1 2 ⁢ N i , WL j + ( f 1 2 f 1 2 - f 2 2 ⁢ c f 1 - f 2 2 f 1 2 - f 2 2 ⁢ c f 2 ) ︸ cf 1 ( f 1 - f 2 ) ⁢ ( f 1 + f 2 ) - cf 2 ( f 1 - f 2 ) ⁢ ( f 1 + f 2 ) = c f 1 - f 2 = : λ NL ⁢ 1 2 ⁢ N i , WL j = 1 2 ⁢ λ NL ⁢ N i , NL j + 1 2 ⁢ λ WL ⁢ N i , WL j ; N i , NL j = N i , 1 j + N i , 2 j = N i , 1 j + 1 2 ⁢ ( N i , NL j - N i , WL j ) = λ NL ⁢ N i , 1 j + 1 2 ⁢ ( λ WL - λ NL ) ⁢ N i , WL i ( 24 )
Thus, once the widelane ambiguity Ni,WL j has been fixed to integer on base of the Melbourne-Wübbena linear combination (11), the relation (24) can be used for integer resolution of the unconstrained narrowlane ambiguity Ni,1 j (especially when λNL>>λIF, see Table 3),
N i , 1 j = 1 λ NL ⁢ ( λ IF ⁢ N i , IF j - 1 2 ⁢ ( λ WL - λ NL ) ⁢ N i , WL j ) ( 25 )
We call Ni,1 j the unconstrained or free narrowlane ambiguity since it occurs in (24) in combination with the narrowlane wavelength λNL and does not depend on whether the fixed widelane is even or odd. Since NNL=NWL+2N2 (see (23)), NNL always has to have for consistency reasons the same even/odd status as NWL and is therefore already constrained to some extent.
Part 5: Kalman Filter Overview
Some embodiments of the standard clock processor 320, the MW bias processor 325, the orbit processor 330 and the phase clock processor 335 use a Kalman filter approach.
FIG. 6 shows a diagram of the Kalman filter algorithm 600. The modeling underlying the Kalman filter equations relate the state vector xk at time step k (containing the unknown parameters) to the observations (measurements) zk via the design matrix Hk and to the state vector at time step k−1 via the state transition matrix φk-1, together with process noise wk-1 and observation noise vk whose covariance matrices are assumed to be known as Qk, Rk, respectively. Then the Kalman filter equations predict the estimated state {circumflex over (x)}k-1 together with its covariance matrix Pk-1 via the state transition matrix φk-1 and process noise input described by covariance matrix Qk-1 to time step k resulting in predicted state {circumflex over (x)}k − and predicted covariance matrix Pk −. Predicted state matrix and state covariance matrix are then corrected by the observation zk in the Kalman filter measurement update where the gain matrix Kk plays a central role in the state update as well as in the state covariance update.
Part 6: Code-Leveled Clock Processor
The estimated absolute code-leveled low-rate satellite clocks 365 are used in positioning solutions, for example to compute the precise send time of the GNSS signal and also to obtain a quick convergence of float position solutions, e.g., in precise point positioning. For send time computation a rough, but absolute, satellite clock error estimate can be used. Even the satellite clocks from the broadcast message are good enough for this purpose. However, the quality of single-differenced pairs of satellite clock errors is important to achieve rapid convergence in positioning applications. For this purpose a clock accuracy level of ca. 10 cm is desired.
Some embodiments use quality-controlled ionospheric-free combinations of GNSS observations from a global tracking network, optionally corrected for known effects, to estimate (mostly) uninterrupted absolute code-leveled satellite clock errors.
The raw GNSS reference station data 305 are optionally corrected by data corrector 310 to obtain corrected network data 315 as described in Part 3 above.
For each station, ionospheric-free combinations derived from observation of signals with different wavelengths (e.g. L1 and L2) and the broadcasted clock error predictions are used as an input for the filter:
P r,IF s −cΔt rel s=ρr s +cΔt P,r −cΔt P s +T r s+εP,r,IF s (26)
Φr,IF s −cΔt rel s=ρr s +cΔt P,r −cΔt P s +T r s +λN r s+εΦ,r,IF s (27)
Δt brc s≈ΔP s (28)
Pr,IF s is the ionospheric-free code combination for each receiver-satellite pair r, s
Φr,IF s is the ionospheric-free phase observation for each receiver-satellite pair r, s
Δtbrc s is the broadcast satellite clock error prediction
ρr s is the geometric range from satellite s to receiver r
Δtrel s represents the relativistic effects for satellite s
cΔtP,r:=cΔtr+bP,r,IF is the clock error for receiver r
cΔtP s:=cΔts+bP,IF s is the clock error for satellite s
Tr s is the troposphere delay observed at receiver r
εP,r,IF s represents noise in the code measurement
εΦ,r,IF s represents noise in the carrier measurement
λNr s:=λIFNr,IF s+bΦ,r,IF−bP,r,IF−(bΦ,IF s−bP,IF s) is the float carrier ambiguity from satellite s to receiver r
The code and carrier observations are corrected for relativistic effects Δtrel s, computed based on satellite orbits, when estimating the satellite clock error. Afterwards this term can be added to the estimated clock error to allow the rover using those satellites to correct for all time related effects at once.
The geometric range ρr s at each epoch can be computed from a precise satellite orbit and a precise reference station location. The respective noise terms εP,r,IF s and εΦ,r,IF s are not the same for code and carrier observations. Differencing the phase observation and code observation directly leads to a rough estimate of the carrier ambiguity Nr s though influenced by measurement noise and εP,r,IF s and εΦ,r,IF s:
Φr,IF s −P r,IF s =λN r s+εΦ,r,IF s+εP,r,IF s. (29)
Thus as an input for the filter this difference Φr,IF s−Pr,IF s, the phase measurement Φr,IF s and the broadcasted satellite clock error prediction Δtbrc s is used. The difference Φr,IF s−Pr,IF s is a pseudo measurement for the ambiguities, which are modeled as constants. As due to the biases the float ambiguity is not really a constant the estimated value represents the ambiguity together with a constant part of the biases. The non-constant part of the biases will end up in the residuals. This approximation leads to acceptable results as long as the biases are more or less constant values. The converged float ambiguities are used to define the level of the clock errors.
Once the ambiguities are converged, the phase measurement Φr,IF s provides a measurement for the clock errors and the troposphere. For the troposphere Tr s=(1+cT,r){circumflex over (T)}r s it is sufficient to estimate only one scaling factor per receiver cT,r. A mapping to different elevations is computed using a troposphere model {circumflex over (T)}r s. The scaling factor can be assumed to vary over time like a random walk process.
For the satellite clocks a linear time discrete process is assumed
Δt P s(t i+1)=Δt P s(t i)+w 1 s(t i)+(Δ{dot over (t)} P s(t i)+w 2 s(t i))(t i+1 −t i) (30)
with random walks w1 s and w2 s overlaid on the clock error ΔtP s and on the clock error rate Δ{dot over (t)}P s. The receiver clocks are usually not as precise as the satellite clocks and are often unpredictable. Thus the receiver clocks are modeled as white noise to account for any behavior they might exhibit.
The system of receiver and satellite clocks is underdetermined if only code and phase observations are used. Thus all clock estimates can have a common trend (any arbitrary function added to each of the clocks). In a single difference this trend cancels out and each single difference clock is correct. To overcome this lack of information the broadcast clock error predictions can be used as pseudo observations for the satellite clock errors to keep the system close to GPS time.
The assumption of a random walk on the clock rate is equal to the assumption of a random run on the clock error itself. Optionally a quadratic clock error model is used to model changes in the clock rate. This additional parameter for clock rate changes can also be modeled as a random walk. The noise input used for the filter can be derived by an analysis of the clock errors using for example the (modified) Allan deviation or the Hadamard variance. The Allan deviation is described in A. van Dierendonck, Relationship between Allan Variances and Kalman Filter Parameters, PROCEEDINGS OF THE 16TH ANNUAL PRECISE TIME AND TIME INTERVAL (PTTI) SYSTEMS AND APPLICATION MEETING 1984, pp. 273-292. The Hadamard variance is described in S. Hutsell, Relating the Hadamard variance to MCS Kalman filter clock estimation, 27TH ANNUAL PRECISE TIME AND TIME INTERVAL (PTTI) APPLICATIONS AND PLANNING MEETING 1996, pp. 291-301.
There are many different approaches to overcome the underdetermined clock system besides adding the broadcasted satellite clock errors as pseudo-observations. One is to fix one of the satellite or receiver clock errors to the values of an arbitrarily chosen function (e.g. 0 or additional measurements of a good receiver clock). Another is to fix the mean of all clocks to some value, for example to the mean of broadcasted or ultra-rapid clock errors as done in A. Hausschild, Real-time Clock Estimation for Precise Orbit Determination of LEO-Satellites, ION GNSS 2008, Sep. 16-19, 2008, Savannah, Ga., 9 pp. This is taken into account in deriving the clock models; the system model and the noise model fits the clock error difference to the fixed clock error and no longer to the original clock error.
FIG. 7 is a schematic diagram of a “standard” code-leveled clock processor 320 in accordance with some embodiments of the invention. An iterative filter such as a Kalman filter 705 uses for example ionospheric-free linear combinations 710 of the reference station observations and clock error models 715 with broadcast satellite clocks 720 as pseudo-observations to estimate low-rate code-leveled (standard) satellite clocks 365, tropospheric delays 370, receiver clocks 725, satellite clock rates 730, (optionally) ionospheric-free float ambiguities 374, and (optionally) ionospheric-free code-carrier biases 372.
Further improvements can be made to quality of the clocks. Single differences of the estimated clock errors can exhibit a slow drift due to remaining errors in the corrected observations, errors in the orbits, and long term drift of the biases. After some time the single differences of the estimated clock errors no longer match a code-leveled clock. To account for such a drift, the mismatch between code and phase measurements is optionally estimated and applied to the estimated clock errors. In some embodiments this is done by setting up an additional filter such as filter 735 of FIG. 7 with only one bias per satellite and one per receiver, to estimate the ionospheric-free code-carrier biases 372 as indicated by “option 1.” The receiver biases are modeled for example as white noise processes. The satellite biases are modeled for example as random walk with an appropriate small input noise, because only low rate variations of the satellite biases are expected. Observations used for this filter are, for example, an ionospheric-free code combination 740, reduced by the tropospheric delay 370, the satellite clock errors 365 and the receiver clock errors 725 estimated in the above standard code-leveled clock filter 705. Rather than setting up the additional filter such as filter 730, the iono-free code-carrier biases are in some embodiments modeled as additional states in the code-leveled clock estimation filter 705, as indicated by “option 2.”
Part 7: MW (Melbourne-Wübbena) Bias Processor
Part 7.1 MW Bias: Motivation
The range signals emitted by navigation satellites and received by GNSS receivers contain a part for which delays in the satellite hardware are responsible. These hardware delays are usually just called satellite biases or uncalibrated delays. In differential GNSS processing the satellite biases do not play any role when both receivers receive the same code signals (e.g. in case of GPS both L I C/A or both LIP). However, the biases are always important for Precise Point Positioning (PPP) applications where the precise positioning of a single rover receiver is achieved with the help of precise satellite clocks and precise orbits determined on base of a global network of reference stations (as e.g. by the International GNSS service (IGS)) (Zumberge, Heflin, Jefferson, Watkins, & Webb, 1997), (Héroux & Kouba, 2001). Here the knowledge of satellite biases can allow to resolve undifferenced (or between satellite single differenced) integer ambiguities on the rover which is the key to fast high precision positioning without a reference station (Mervart, Lukes, Rocken, & Iwabuchi, 2008), (Collins, Lahaye, Héroux, & Bisnath, 2008).
Usually the satellite biases are assumed to be almost constant over time periods of weeks (Ge, Gendt, Rothacher, Shi, & Liu, 2008), and their variations can be neglected (Laurichesse & Mercier, 2007), (Laurichesse, Mercier, Berthias, & Bijac, 2008). Our own intensive studies revealed by processing in the here proposed way GPS data of a global network of reference stations over several months that there are daily repeating patterns in the Melbourne-Wübbena (MW) linear combination of satellite biases of size up to about 14 cm over 6 hours, as well as drifts over a month of up to about 17 cm and sometimes sudden bias level changes (of arbitrary size) of individual satellites within seconds (e.g. GPS PRN 24 on 2008 Jun. 26). Nevertheless, the daily repeatability of the MW satellite biases is usually in the range of 2 to 3 cm which is consistent with the literature. Therefore the real-time estimation of satellite biases as a dynamical system in a sequential least squares filter (like e.g. a Kalman filter ((Grewal & Andrews, 2001), (Bierman, 1977)) and the transmission of these biases to PPP based rover receivers (in addition to precise satellite clocks and orbits) becomes important for integer ambiguity resolution on the rover.
Part 7.2 MW Bias: Process Flow
FIG. 8 is a schematic diagram of a process flow 1100 for MW satellite bias and WL ambiguity determination in accordance with some embodiments. GNSS observation data 305 on code and carrier phase on at least two frequencies from a number of reference station receivers is used as the main input into the process. These observations are optionally corrected at 310 for effects that do not require estimation of any model parameters. Among the corrections typically used in PPP applications for the MW linear combination, especially the receiver and satellite antenna offsets and variations are of importance. Higher order ionospheric terms do not cancel in this linear combination. The optionally corrected GNSS observation data 315 is then forwarded to a module 1105 that generates linear combinations 1110 of the code and phase observations on two frequencies. The determined MW observation combinations 1110 are then input into a sequential filter 1115 (such as a Kalman filter) that relates MW observations Φi,WL j−Pi,NL j to the estimation parameters, i.e., the MW satellite biases bMW j 1120, WL ambiguities Ni,WL j 1125 and optionally MW receiver biases bi,MW 1130 via Equation (11) in the undifferenced case or via Equation (12) in the between satellite single difference case.
Importantly, process noise input on the MW satellite biases bMW j ensures that the biases can vary over time. Due to the periodic behavior of satellite biases, optionally the biases may also be modeled by harmonic functions, e.g. as
b MW j =b 0 j +b 1 j sin(αj)+b 2 j cos(αj) (31)
where aj defines the position of satellite j in the orbit (e.g. αj could be the argument of latitude or the true anomaly) and b0 j, b1 j, b2 j are the estimated parameters that need much less process noise than a single parameter bMW j and can therefore further stabilize the estimation process.
In addition to the observation data, a single MW bias constraint 1140 and several ambiguity constraints 1145 are input to the filter [935]. These constraints are additional arbitrary equations that are e.g. of the form
b WL j 0 =0 (32)
N i,WL j=round(N i,WL j) (33)
and that are added to the filter with a very low observation variance of e.g. 10−30 m2. The constraints ensure that the system of linear equations in the filter 1115 is not underdetermined so that the variances of the model parameters immediately become of the same order as the observation variance. They have to be chosen in a careful way so that the system of linear equations is not over-constrained by constraining a double-difference WL ambiguity which is directly given by the MW observations (see equation (13). By constraining the ambiguities to an arbitrary integer, information about the integer nature of the ambiguities comes into the system. In a Kalman filter approach where the system of equations in (11) or (12) (optionally together with (31)) is extended by arbitrary equations for the initial values of all parameters so that always a well defined float solution (with variances of the size of the initial variances) exists, it is preferable to constrain the ambiguities to the closest integer of the Kalman filter float solution.
The estimated MW satellite biases 1120 are either directly used as the process output or after an optional additional WL ambiguity fixing step. Therefore the estimated WL ambiguities 1125 are optionally put into an ambiguity fixer module 1135. The resulting fixed WL ambiguities 340 (that are either fixed to integer or float values) are used as the second process output. Optionally the fixed WL ambiguities 340 are fed back into the filter 1115 (or into a filter copy or a secondary filter without ambiguity states (compare FIG. 21A-FIG. 22C) to get satellite MW bias output 1120 which is consistent with integer WL ambiguities.
The MW satellite biases 1120 are transferred for example via the scheduler 355 to rover receivers where they help in fixing WL ambiguities at the rover. Network WL ambiguities 1125 or 340 can be forwarded to the phase clock processor 335 and orbit processor 330 where they help in fixing iono-free (IF) ambiguities when the reference station data 305 from the same receiver network is used in these processors. Alternatively, instead of the network WL ambiguities 1125 or 340], MW satellite biases 1120 are transferred to orbit processor 330 and phase clock processor 335 to derive WL ambiguities in a station-wise process for the network receivers in the same way as it is done on the rover. Then the derived WL ambiguities help in fixing IF ambiguities. With such an approach, GNSS data from different reference station networks can be used in the different processors.
FIG. 9 shows a schematic diagram of a processing architecture 1200 in accordance with some embodiments. Code and carrier phase observations 1205 (e.g., from reference station data 305) on at least two frequencies from a number of reference station receivers are put into a linear combiner 1210 that generates a set of Melbourne-Wübbena (MW) linear combinations 1220, one such MW combination for each station-satellite pairing from code and carrier phase observations on two frequencies. If more than two frequencies are available several MW combinations can be generated for a single station-satellite pairing. These MW observations are then put into a processor 1225 that estimates at least MW biases per satellite 1230 and WL ambiguities per station-satellite pairing 1235 based on modeling equations (11) in the undifferenced case or (12) in the between satellite single difference case (both optionally together with (31)). The processor is usually one or more sequential filters such as one or more Kalman filters. Since it can also consist of several filters, here the more general term processor is used. Process noise 1240 input on the MW satellite biases in the processor allows them to vary from epoch to epoch even after the convergence phase of filtering. The outputs of the process are the estimated satellite MW biases 1230 and network WL ambiguities 1235.
Thus, some embodiments provide a method of processing a set of GNSS signal data derived from code observations and carrier-phase observations at multiple receivers of GNSS signals of multiple satellites over multiple epochs, the GNSS signals having at least two carrier frequencies, comprising: forming an MW (Melbourne-Wübbena) combination per receiver-satellite pairing at each epoch to obtain a MW data set per epoch; and estimating from the MW data set per epoch an MW bias per satellite which may vary from epoch to epoch, and a set of WL (widelane) ambiguities, each WL ambiguity corresponding to one of a receiver-satellite link and a satellite-receiver-satellite link, wherein the MW bias per satellite is modeled as one of (i) a single estimation parameter and (ii) an estimated offset plus harmonic variations with estimated amplitudes.
Broadcast satellite orbits contained in the navigation message are optionally used, for example with coarse receiver positions, to reduce the incoming observations to a minimal elevation angle under which a satellite is seen at a station. The receiver positions are optionally given as an additional input, or alternatively can be derived as known in the art from the code observations and the broadcast satellite orbit. The restriction to observations of a minimal elevation can be done at any place before putting the observations into the processor. However, performing the restriction directly after pushing the code and carrier phase observations into the process avoids unnecessary computations.
FIG. 13A and FIG. 13B show respectively the state vectors for the undifferenced (=zero-differenced (ZD)) and single differenced embodiments, listing parameters to be estimated. The ZD state vector 1310 comprises n satellite bias states bMW j, a number of ambiguity states Ni,WL j that changes over time with the number of satellites visible at the stations, and m receiver bias states bi,MW. The SD state vector 1320 comprises n satellite bias states bMW jj 0 to a fixed reference satellite j0 that can be either a physical or an artificial satellite. In addition, the SD state vector comprises the same number of ambiguity states as in the ZD case. However, here each ambiguity represents an SD ambiguity to a physical or artificial satellite. Each station can have its own choice of reference satellite. In the SD case no receiver bias states are necessary, so that there are always m less states in the SD state vector 1320 than in the comparable ZD state vector 1310. More details about artificial reference satellites follow in Part 7.4.
Part 7.3 MW Process: Correcting and Smoothing
FIG. 11 shows a process 1400 with the addition of observation correction to the MW process of FIG. 9. Some embodiments add the observation data corrector module 310 of FIG. 3. Code and carrier phase observations 1205 on at least two frequencies from a number of reference stations (e.g., from reference station data 305) are corrected in the optional observation data corrector 310 for effects that do not require estimation of any model parameters (especially receiver and satellite antenna offsets and variations, and higher order ionospheric effects). Knowledge of the broadcast satellite orbits 1245 and the coarse receiver positions 1250 is used for this. The corrected observation data 1310 are then optionally fed into the process of FIG. 12 to produce MW satellite biases 1330 and widelane ambiguities 1335.
In FIG. 12, code and carrier phase observations 1205 on at least two frequencies from a number of reference stations (e.g., from reference station data 305) are optionally corrected in the observation data corrector 310, then combined in a linear combiner 1210 to form Melbourne-Wübbena linear combinations 1220 and finally smoothed over several epochs in a smoother 1410 to form smoothed Melbourne-Wübbena combinations 1420. Alternatively, smoothing can be done on the original observations or on any other linear combination of the original observations before generating the MW linear combination. In any case, the resulting smoothed MW observations are put into the processor 1225 for estimating MW satellite biases 1430 and WL ambiguities 1435 as in the embodiments of FIG. 9 and FIG. 11.
Smoothing means to combine multiple observations over time, e.g. by a simple averaging operation, to obtain a reduced-noise observation. MW smoothing is done to reduce the multipath error present in (10) that is not explicitly modeled in the processor 1225, e.g., as in modeling equations (11) and (12). Smoothing is motivated by the expectation that the MW observation is almost constant over short time periods since the MW observation only consists of hardware biases and a (constant) ambiguity term. A reasonable smoothing interval is, for example, 900 seconds. An additional advantage of smoothing the MW observations is that an observation variance can be derived for the smoothed observation from the input data by the variance of the mean value,
σ obs , MW 2 = ∑ t = 1 n ⁢ ( x t - x _ ) 2 ( n - 1 ) ⁢ n ⁢ ⁢ with ⁢ ⁢ x _ = 1 n ⁢ ∑ t = 1 n ⁢ x t ( 34 )
where xt is the MW observation at smoothing epoch t and n is the number of observations used in the smoothing interval. To ensure that this variance really reflects multipath and not just a too-small number of possibly unreliable observations in the smoothing interval, it is advantageous to accept a smoothed observation as filter input only when a minimal number of observations is available, e.g. 80% of the theoretical maximum. Note that the statistical data that holds mean value and variance of the Melbourne-Wübbena observation has to be reset in case of an unrepaired cycle slip since this observation contains an ambiguity term. Of course, a cycle slip also requires a reset of the corresponding ambiguity in the filter.
If smoothing is done by a simple averaging operation over a fixed time interval, smoothing implies different data rates in the process. Observations 1205 are coming in with a high data rate, while smoothed MW observations 1420 are forwarded to the processor with a lower data rate. This kind of smoothing has the advantage that observations put into the processor are not correlated and can therefore be handled in a mathematically correct way. The alternative of using some kind of a (weighted) moving average allows to stay with a single (high) data rate, but has the disadvantage that the resulting smoothed observations become mathematically correlated.
Part 7.4 MW Process: MW Bias Constraint
FIG. 13 shows a process 1600 with the addition of one or more MW bias constraints to the process of FIG. 12, which can similarly be added to the embodiments shown in FIG. 9, FIG. 11. At least one MW bias constraint 1605 like (32) is put into the processor to reduce the rank defect in modeling equations (11) or (12).
The rank defect in (11) or (12) becomes apparent by counting the number of observations and the number of unknowns in these equations. For example in (11), if there are i=1, . . . , m stations and j=1, . . . , n satellites and it is assumed that all satellites are seen at all stations, there will be m·n Melbourne-Wübbena observations. However, at the same time there are also in m·n unknown ambiguities Ni,WL j in addition to m receiver biases bi,MW and n satellite biases bMW j, resulting in m·n+m+n unknowns. Thus the system of equations defined by (11) can only be solved if the number of arbitrary constraints introduced into the system is the number of unknowns minus the number of observations, i.e. (m·n+m+n)−(m·n)=m+n.
Most of these constraints should be ambiguity constraints as the following consideration demonstrates. For n satellites n−1 independent between-satellite single differences can be generated. In the same way, from m stations m−1 between station single differences can be derived. In a double difference (DD) between stations and satellites these independent single differences are combined, resulting in (m·1)·(n−1)=m·n−(m+n−1) double difference observations. Since as in (13) the DD ambiguities are uniquely determined by the DD-MW observations, the difference between the m·n ambiguities in (11) and the m·n−(m+n−1) unique DD ambiguities should be constrained, resulting in m+n−1 ambiguity constraints. Thus from the m+n required constraints all but one should be ambiguity constraints. The remaining arbitrary constraint should be a constraint on the biases. This statement remains true in the more general case when not all satellites are seen at all stations and thus the number of required constraints can no longer be counted in the demonstrated simple way. The constraint on the biases itself is an arbitrary equation like (32) or more generally of the form
∑ i ⁢ a i ⁢ b i , MW + ∑ j ⁢ a j ⁢ b MW j = b ⁢ ⁢ with ⁢ ⁢ a i , a j , b ∈ R ( 35 )
In the single difference case (12) the constraint on the biases is more straightforward. The state vector of the satellite biases does not contain all possible SD biases but only the independent ones. This is achieved by taking an arbitrary reference satellite and choosing as states only the SD biases to the reference. To be prepared for a changing reference satellite in case the old reference satellite is not observed anymore, it is preferable to also have a state for the reference satellite. However, the SD bias of the reference to itself has to be zero.
b MW j ref j ref =b MW j ref −b MW j ref ≡0 (36)
This equation is added as a constraint. Note, however, that the SD bias states are not necessarily interpreted as SDs to a physical reference satellite. It is also possible to have an artificial reference satellite with a bias that is related to the biases of the physical satellites (this ensures that the artificial satellite is connected to the physical satellites)
∑ i ⁢ a j ⁢ b MW j ⁢ ⁢ with ⁢ ⁢ a j , b ∈ R ( 37 )
By specifying arbitrary values for aj, b (with at least one aj≠0) and introducing (37) as a constraint into (12), the information about the bias of the reference satellite comes into the system.
With knowledge of MW satellite biases (as they are derived from the system proposed here) from a different source, it is also reasonable to introduce more than one bias constraint into the system. For example, if all MW satellite biases are constrained, it is in a single-difference approach not necessary to introduce any ambiguity constraints into the system, since (12) can be rewritten as
Φi,WL j 1 j 2 −P i,NL j 1 j 2 +b MW j 1 j 2 =λWL N i,WL j 1 j 2 (38)
Thus all SD ambiguities Ni,WL j 1 j 2 are uniquely determined with knowledge of the SD-MW satellite biases. It is exactly this relation that helps a rover receiver to solve for its WL ambiguities with the help of the here derived MW satellite biases.
In the undifferenced approach, one ambiguity constraint per station is introduced when the MW satellite biases for all satellites are introduced as constraints into the system.
All bias constraints to handle the rank defect in modeling equations (11) or (12) are avoided if one additional ambiguity constraint is introduced instead. However, this additional ambiguity constraint is not arbitrary. It is chosen such that the double difference relation (13) is fulfilled. However, (13) does not contain the unmodeled multipath and just determines a float value for the DD ambiguity. Thus, deriving an integer DD ambiguity value from (13) is prone to error.
To better distinguish between arbitrary ambiguity constraints and ambiguity constraints that have to fulfill the DD ambiguity relation (13), we usually call the second kind of constraints ambiguity fixes. While constraints are arbitrary and do not depend on the actual observations, fixes do. Constraints cannot be made to a wrong value, fixes can. Which of the ambiguities can be constrained to an arbitrary value is described in Part 7.6.
Part 7.5 MW Bias Process: WL Ambiguity Constraints
FIG. 14 shows a process 1700 with the addition of one or more WL ambiguity constraints to the process of FIG. 13, which can similarly be added to the embodiments shown in FIG. 9, FIG. 11 and FIG. 12. At least one WL ambiguity integer constraint 1705 as in Equation (33) is put into the processor 1225 to further reduce the rank defect in modeling equations (11) or (12). As for FIG. 13, the correct number of arbitrary ambiguity constraints in a network with i=1, . . . , m stations and j=1, . . . , n satellites, where all satellites are seen at all stations, is m+n−1. However, in a global network with reference stations distributed over the whole Earth not all satellites are seen at all stations. For this case, choosing the correct number of arbitrary ambiguity constraints and determining the exact combinations that are not restricted by the DD ambiguity relation (13) is described in Part 7.6.
Although the constrained ambiguities that are not restricted by the DD ambiguity relation (13) could be constrained to any value in order to reduce the rank effect in the modeling equations (11) or (12), it is desirable to constrain these ambiguities to an integer value so that the integer nature of the ambiguities comes into the system. This helps later on when for the remaining unconstrained float ambiguities, integer values are searched that are consistent with (13) and to which these ambiguities can be fixed.
In a Kalman filter approach where equations (11) or (12) are extended by equations for the initial values of the parameters, there is always a well defined float solution for all parameters (that has, however, a large variance if the initial variances of the parameters have also been chosen with large values). In this case it is reasonable to constrain the ambiguities to the closest integer of their Kalman filter float solution since this disturbs the filter in the least way and gives the solution that is closest to the initial values of the parameters. It is also advantageous to constrain the ambiguities one after the other, looking up after each constraint the updated float ambiguity of the next ambiguity to be constrained. Such a procedure helps to stabilize the filter in cases of network outages where many ambiguities are lost, receiver biases are modeled as white noise parameters and just already converged satellite biases have a defined value.
Part 7.6 MW Bias Process: Determining WL Ambiguity Constraints
FIG. 15 shows a process 1800 with the addition of determining one or more WL ambiguity constraints for the process of FIG. 14 so as to avoid under- and over-constraining of the modeling equations (11) or (12).
Under-constraining means that too few constraints have been introduced to overcome the rank defect in (11) or (12). Over-constraining means that arbitrary constraints have been introduced that are inconsistent with the DD ambiguity relation (13). Thus, a system can be at the same time over- and under-constrained.
The MW observation input 1420 defines an observation graph, 1805, i.e. a number of edges given by observed station-satellite links. Based on this graph a spanning tree (ST) 1815 is generated by an ST generator 1810 that connects all stations and satellites (in the undifferenced case (11)) or just all satellites (in the between satellite single differenced case (12)) without introducing loops. The resulting ST 1815 defines the WL ambiguity constraints 1705, i.e., which WL ambiguities are constrained.
FIG. 16A shows at 1900 how observed station-satellite links can be interpreted as an abstract graph, i.e. a number of vertices connected by edges. The stations at the bottom of FIG. 16A and the satellites at the top of FIG. 16A are identified as vertices and the station-satellite pairs (each pair corresponding to observations at a station of a satellite's signals) as edges. The abstract graph 1910 of FIG. 16B does not distinguish any more between stations and satellites and instead shows the edges as links between vertices.
In graph theory a tree is a graph without closed loops. An example is shown at 1920 in FIG. 16C, where the tree is marked with bold lines. A spanning tree on a graph is a tree that connects (or spans) all vertices, as in FIG. 16C.
Instead of building the spanning tree based on the current observation graph, it can alternatively be based on all station-satellite ambiguities that are currently in the filter. These ambiguities correspond to station-satellite links that were observed in the past but that are not necessarily observed anymore in the current epoch. We call the station-satellite links defined by the filter ambiguities the filter graph. Notice that it is a bit arbitrary for how long ambiguities are kept in the filter when they are no longer observed. If a fixed slot management for the ambiguities in the filter is used that holds a maximal number of ambiguities for each station so that a newly observed ambiguity on a rising satellite will throw out the oldest ambiguity if all slots are already used, this time of keeping a certain ambiguity does not have to be specified. It will be different for each satellite on each station. However, such a slot management guarantees that after some time each station holds the same number of ambiguities.
In general the filter graph contains more station-satellite links than the observation graph. It contains in addition stations that are not observed anymore (which often occurs for short time periods in a global network), satellites no longer observed at any station (e.g. since a satellite became unhealthy for a short time period), or just station-satellite links that fall below the elevation cutoff. Working on the filter graph is of special importance when the later described ambiguity fixing is also done on the filter graph and ambiguity constraints and fixes are introduced on the original filter and not on a filter copy.
In the single-differenced observation graph 1960 of FIG. 16G two satellites are usually connected by several edges since the two satellites are usually observed at several stations. Each edge connecting two satellites corresponds to an (at least in the past) observed satellite-station-satellite link, i.e., a single-difference observation. Of course, also the SD filter graph 1970 of FIG. I 6H contains more edges than the SD observation graph 1960.
Constraining the ambiguities determined by a spanning tree over the observation or the filter graph can avoid under- and over-constraining of modeling equations (11) or (12). This is illustrated for the undifferenced case in FIG. 16D. A spanning tree (ST) on the observation graph or filter graph connects all vertices without introducing loops (see emphasized edges in FIG. 16C). FIG. 16D shows at 1930 in addition to the spanning tree edges (in dark grey) that are constrained to an arbitrary integer value, also a single satellite bias constraint S1 depicted in dark grey. The satellite bias is visualized as a circle since its contribution to the observation is the same for all receiver observations of this satellite.
Constraining the ST edges together with one additional satellite bias S1 allows to resolve the underdetermined linear system of equations (11): The observation R1-S1 together with the satellite bias constraint S1 and the ambiguity constraint R1-S1 allows to uniquely solve for receiver bias R1 (compare equation (11)). Once receiver bias R1 is known, the observation R1-S2 together with the ambiguity constraint R1-S2 allows to solve for satellite bias S2. In the same way all other receiver and satellite biases can be computed with the help of the ST constrained ambiguities. The spanning property of the ST ensures that all satellite and receiver biases are reached while the tree property ensures that there are no loops that would constrain a double difference observation (13). Once all satellite and receiver biases are known, the remaining ambiguities (e.g. R2-S1, R2-S4 and R2-S5 in FIG. 16D) can be directly computed from the remaining observations one after the other.
In the SD case shown in FIGS. 16G and 16H the argumentation is quite similar. Constraining one SD satellite bias to an arbitrary value (e.g., constraining the bias of a physical reference satellite to 0), the SD satellite bias of the next satellite can be determined with the help of an SD observation between the first and second satellite and the ambiguity constraint from the SD spanning tree between the two satellites (compare equation (12)). Once the second satellite bias is known the third bias can be calculated. In the same way all other satellite biases are determined with the help of the SD spanning tree constraints. By adding one ambiguity constraint per station to an arbitrary satellite, all remaining SD ambiguities (single-differenced against a station-specific reference satellite) in the filter can be resolved one after the other.
The relation underlying this description between an undifferenced (=zero-differenced (ZD)) spanning tree 1975 and a SD spanning tree 1980 is depicted in FIG. 16I. Connecting each station with a single satellite by introducing one ambiguity constraint per station and adding to these constraints the ones given by an ST on the SD observation graph (or filter graph), defines the same constraints that are given by an ST on a ZD observation graph (or filter graph) 1985. Building up a spanning tree on a graph is not a unique process. For a given graph there exist many trees that span the graph. To make the generation of a spanning tree more unique the use of a minimum spanning tree (with respect to some criterion) is proposed in Part 7.7.
Part 7.7 MW Bias Process: Minimum Spanning Tree
FIG. 18A shows at 2110 a spanning tree (ST) on an undifferenced observation graph. FIG. 18B shows at 2120 a minimum spanning tree (MST) (Cormen, Leiserson, Rivest, & Stein, 2001) on the undifferenced observation graph of FIG. 18A. FIG. 17 shows the ST generator 1810 of FIG. 15 replaced with an MST generator 2010. For building up an MST on a graph, each edge has an edge weight resulting in a so-called weighted graph. The MST is defined as the spanning tree with the overall minimal edge weight. The edge weight can be assigned in any of a variety of ways. One possible way is based on the current receiver-satellite geometry and therefore use the station positions 1250 and the satellite positions 1245 as inputs. The connections between the coarse receiver positions 1250, the broadcast satellite orbits 1245 and the MST generator 2010 are depicted in FIG. 17.
The edges in the undifferenced observation graph or filter graph are given by station-satellite links. In some embodiments the edge weight is the geometric distance from receiver to satellite or a satellite-elevation-angle-related quantity (like the inverse elevation angle or the zenith distance (=90°-elevation)).
The edges in the single-differenced observation graph or filter graph are given by satellite-receiver-satellite links connecting two different satellites over a station. In some embodiments the edge weight is the geometric distance from satellite to receiver to satellite, or a combination of the elevations under which the two satellites are seen at the receiver. In some embodiments the combination of the two elevations is the sum of the inverse elevations, the sum of the zenith distances, the minimal inverse elevation, or the minimal zenith distance.
In FIG. 18A and FIG. 18B the ST and MST edges are marked with an “X.” The ST 2110 in FIG. 18A and the MST 2120 in FIG. 18B are identical, and the ST 2130 in FIG. 18C and the MST 2140 in FIG. 18D are identical, reflecting the fact that each ST can be obtained as an MST by definition of suitable edge weights.
An MST is well defined (i.e. it is unique) if all edge weights are different. Assigning the weights to the edges allows control on how the spanning tree is generated. In embodiments using geometrical based weights the MST is generated in a way that highest satellites (having smallest geometrical distance and smallest zenith distance, or smallest value of 1/elevation) are preferred. These are also the station-satellite links that are least influenced by the unmodeled multipath. In these embodiments the weights prefer those edges for constraining which should shift the least multipath into other links when constraining the ambiguities to an integer value. In embodiments using low elevation station-satellite links with high multipath for constraining, the multipath is shifted to links with higher elevation satellites. This can result in the counter-intuitive effect that ambiguities on high elevation satellites become more difficult to fix to an integer value.
Generating an MST on a given weighted graph is a standard task in computer science for which very efficient algorithms exist. Examples are Kruskal's, Prim's, and Boruvka's algorithms.
FIG. 19 shows an alternative way of choosing the edge weights of the observation graph or filter graph on which the MST (defining the constrained ambiguities) is generated. In some embodiments, the edge weights are derived from the ambiguity information in the filter, i.e. from the values of the WL ambiguities 1435, or from the variances 2210 of the WL ambiguities, or from both.
A particular interesting edge weight used in some embodiments is the distance of the corresponding ambiguity to its closest integer value. In this way the MST chooses the ambiguities for constraining that span the observation/filter graph and that are as close as possible to integer. Thus the states in the processor are influenced in a minimal way by the constraints to integer. An additional advantage is that the constraints of the last epoch will also be favored in the new epoch since their distance to integer is zero which prevents from over-constraining the filter when the constraints are directly applied to the filter and no filter copy is used. The same goal is reached by using the variance of the ambiguity as an edge weight. Constrained ambiguities have a variance of the size of the constraining variance, e.g., 10−30 m2, and are thus favored in the MST generation in some embodiments. In some embodiments each combination of ambiguity distance to integer and ambiguity variance is used as an edge weight. In some embodiments the combination of an edge weight derived from the station-satellite geometry and from ambiguity information is used. In some embodiments for example, in the first epoch a geometrically motivated weight is chosen (to minimize effects from unmodeled multipath and to ensure that constraints stay in the system for a long time) and in later epochs an ambiguity-derived weight (to avoid over-constraining) is chosen.
Part 7.8 MW Bias Process: WL Ambiguity Fixing
FIG. 20A shows fixing of the WL ambiguities before they are sent out (e.g. for use in the phase clock processor 335 or orbit processor 300). In some embodiments the WL ambiguity state values 1435 are forwarded together with at least the WL ambiguity variances 2210 from the filter to an ambiguity fixer 2305 module. The ambiguity fixer module 2305 outputs the fixed WL ambiguities 2310.
The ambiguity fixer module 2305 can be implemented in a variety of ways:
Threshold Based Integer Rounding:
In some embodiments a simple fixer module checks each individual ambiguity to determine whether it is closer to integer than a given threshold (e.g., closer than a=0.12 WL cycles). If also the standard deviation of the ambiguity is below a second given threshold (e.g, σ=0.04 so that a=3σ) the ambiguity is rounded to the next integer for fixing. Ambiguities that do not fulfill these fixing criteria remain unfixed. In some embodiments the satellite elevation angle corresponding to the ambiguity is taken into account as an additional fixing criterion so that e.g. only ambiguities above 15° are fixed.
Optimized Sequence, Threshold Based Integer Bootstrapping:
A slightly advanced approach used in some embodiments fixes ambiguities in a sequential way. After the fix of one component of the ambiguity vector, the fix is reintroduced into the filter so that all other not yet fixed ambiguity components are influenced over their correlations to the fixed ambiguity. Then the next ambiguity is checked for fulfilling the fixing criteria of distance to integer and standard deviation. In some embodiments the sequence for checking ambiguity components is chosen in an optimal way by ordering the ambiguities with respect to a cost function, e.g. distance to integer plus three times standard deviation. In this way the most reliable ambiguities are fixed first. After each fix the cost function for all ambiguities is reevaluated. After that, again the ambiguity with the smallest costs is checked for fulfilling the fixing criteria. The fixing process stops when the best ambiguity fixing candidate does not fulfill the fixing criteria. All remaining ambiguities remain unfixed.
Integer Least Squares, (Generalized) Partial Fixing:
A more sophisticated approach used in some embodiments takes the covariance information of the ambiguities from the filter into account. The best integer candidate N1 is the closest integer vector to the least squares float ambiguity vector {circumflex over (N)}εRv in the metric defined by the ambiguity part of the (unconstrained) state covariance matrix P{circumflex over (N)}εRv×Rv, both obtained from the filter, i.e.
N 1 = arg ⁢ ⁢ min N ∈ Z v ⁢ ( N - N ^ ) t ⁢ P N ^ - 1 ⁡ ( N - N ^ ) ( 39 )
However, since the observation input to the filter is, due to measurement noise, only precise to a certain level also the resulting estimated float ambiguity vector {circumflex over (N)} is only reliable to a certain level. Then a slightly different {circumflex over (N)} may lead to a different NεZv that minimizes (39). Therefore in some embodiments the best integer candidate is exchanged with e.g. the second best integer candidate by putting other noisy measurements (e.g. from other receivers) into the filter. To identify the reliable components in the ambiguity vector that can be fixed to a unique integer with a high probability, the minimized quantity (N−{circumflex over (N)})jP{circumflex over (N)} −1(N−{circumflex over (N)}) is compared in some embodiments under the best integer candidates in a statistical test like the ratio test. If Ni is the i'th best (i>1) integer candidate this implies that (Ni−{circumflex over (N)})jP{circumflex over (N)} −1(Ni−{circumflex over (N)})>
( N i - N ^ ) t ⁢ P N ^ - 1 ⁡ ( N i - N ^ ) > ( N 1 - N ^ ) t ⁢ P N ^ - 1 ⁡ ( N 1 - N ^ ) , or ⁢ ⁢ F i := ( N i - N ^ ) t ⁢ P N ^ - 1 ⁡ ( N i - N ^ ) ( N 1 - N ^ ) t ⁢ P N ^ - 1 ⁡ ( N 1 - N ^ ) > 1 ( 40 )
The quotient in (40) is a random variable that follows an F-distribution. Some embodiments basically follow the description in (Press, Teukolsky, Vetterling, & Flannery, 1996). The probability that Fi would be as large as it is if (Ni−{circumflex over (N)})jP{circumflex over (N)} −1(Ni−{circumflex over (N)}) is smaller than (N1−{circumflex over (N)})jP{circumflex over (N)} −1(N1−{circumflex over (N)}) is denoted as Q(Fi|v,v) whose relation to the beta function and precise algorithmic determination is given in (Press, Teukolsky, Vetterling, & Flannery, 1996). In other words, Q(Fi|v,v) is the significance level at which the hypothesis (Ni−{circumflex over (N)})jP{circumflex over (N)} −1(Ni−{circumflex over (N)})<(N1−{circumflex over (N)})jP{circumflex over (N)} −1(N1−{circumflex over (N)}) can be rejected. Thus each candidate for which e.g. Q(Fi|v,v)≧0.05 can be declared as comparable good as N1. The first candidate i0+1 for which Q(Fi|v,v)<0.05 is accepted as significantly worse than N1.
Then all the components in the vectors N1, N2, . . . , Nt 0 that have the same value can be taken as reliable integer fixes. The components in which these ambiguity vectors differ should not be fixed to an integer. However, among these components there can exist certain linear combinations that are the same for all vectors N1, N2, . . . , Nt 0 . These linear combinations can also be reliably fixed to an integer.
In some embodiments determination of the best integer candidate vectors is performed via the efficient LAMBDA method (Teunissen, 1995).
Best Integer Equivariant Approach:
In some embodiments the components of the high-dimensional ambiguity vector are fixed to float values that are given by a linear combination of the best integer candidates. FIG. 20B shows the WL ambiguities are sent out (e.g. for use in the phase clock processor 335 or orbit processor 300).
In these embodiments the WL ambiguity state values 1435 are forwarded together with the ambiguity variance-covariance matrix 2210 from the filter to an integer ambiguity searcher module 2320. Integer ambiguity searcher module 2320 outputs a number of integer ambiguity candidate sets 2323 that are then forwarded to an ambiguity combiner module 2325 that also gets the least squares ambiguity float solution 1435 and the ambiguity variance-covariance matrix 2210 from the filter as an input. The least squares ambiguity float solution 1435 is used together with the ambiguity variance-covariance matrix 2210 for forming a weight for each integer ambiguity candidate. In the ambiguity combiner module 2325 the weighted integer ambiguity candidates are summed up. The output is a fixed WL ambiguity vector 2330 that can then be forwarded to the phase clock processor 335 and orbit processor 330.
To derive the weights for the integer ambiguity vectors, note that the least squares ambiguity float vector {circumflex over (N)} is the expectation value of a multidimensional Gaussian probability function p(N), i.e.
N ^ = ∫ N ∈ R v ⁢ N ⁢ ⁢ p ⁡ ( N ) ⁢ ⅆ N ⁢ ⁢ with ⁢ ⁢ p ⁡ ( N ) = ⅇ - 1 2 ⁢ ( N - N ^ ) t ⁢ P N ^ - 1 ⁡ ( N - N ^ ) ∫ N ∈ R v ⁢ ⅇ - 1 2 ⁢ ( N - N ^ ) t ⁢ P N ^ - 1 ⁡ ( N - N ^ ) ⁢ ⅆ N ( 41 )
Thus an ambiguity expectation value that recognizes the integer nature of the ambiguities is given by
N ⋓ := ∑ N ∈ Z v ⁢ N ⁢ ⁢ p ⋓ ⁡ ( N ) ⁢ ⁢ with ⁢ ⁢ p ⋓ ⁡ ( N ) = ⅇ - 1 2 ⁢ ( N - N ^ ) t ⁢ P N ^ - 1 ⁡ ( N - N ^ ) ∑ N ∈ Z v ⁢ ⅇ - 1 2 ⁢ ( N - N ^ ) t ⁢ P N ^ - 1 ⁡ ( N - N ^ ) ( 42 )
Since the summation over the whole integer grid NεZv cannot be computed in practice, the sum is in some embodiments restricted to the best integer ambiguity candidates
N ⋓ ≈ ∑ i ⁢ ⁢ with ⁢ ⁢ F i < 1 + ɛ ⁢ N i ⁢ p ⋓ ⁡ ( N i ) ⁢ ⁢ with ⁢ ⁢ ⁢ p ⋓ ⁡ ( N i ) ≈ ⅇ - 1 2 ⁢ ( N i - N ^ ) t ⁢ P N ^ - 1 ⁡ ( N i - N ^ ) ∑ i ⁢ ⁢ with ⁢ ⁢ F 1 < 1 + ɛ ⁢ ⅇ - 1 2 ⁢ ( N i - N ^ ) t ⁢ P N ^ - 1 ⁡ ( N i - N ^ ) ( 45 )
with Fi from (40). The {hacek over (p)}(Ni) are the desired weights for the best integer ambiguity candidates. Thereby a reasonable value for ε follows from the following consideration. In the sum in (42) ambiguity vectors N can be neglected if the relative weight to the largest {hacek over (p)}(N) is small, i.e. if {hacek over (p)}(N)/{hacek over (p)}(N1)≦δ with e.g. δ=e−q; q=25. In other words, all ambiguity vectors with {hacek over (p)}(N)/{hacek over (p)}(N1)>δ have to be recognized. Writing out this condition for N=Ni with the definition for {hacek over (p)}(N) from (42) results in
⁢ δ < p ⋓ ⁡ ( N i ) p ⋓ ⁡ ( N 1 ) = ⁢ ⅇ - 1 2 ⁢ ( N i - N ^ ) t ⁢ P N ^ - 1 ⁡ ( N i - N ^ ) ⅇ - 1 2 ⁢ ( N 1 - N ^ ) t ⁢ P N ^ - 1 ⁡ ( N 1 - N ^ ) = ⁢ ⅇ 1 2 ⁢ ( N 1 - N ^ ) t ⁢ P N ^ - 1 ⁡ ( N 1 - N ^ ) - 1 2 ⁢ ( N i - N ^ ) t ⁢ P N ^ - 1 ⁡ ( N i - N ^ ) ⁢ ⇔ ln ⁢ ⁢ δ = - q < 1 2 ⁢ ( N 1 - N ^ ) t ⁢ P N ^ - 1 ⁡ ( N 1 - N ^ ) - 1 2 ⁢ ( N i - N ^ ) t ⁢ P N ^ - 1 ⁡ ( N i - N ^ ) ⁢ ⇔ - q 1 2 ⁢ ( N 1 - N ^ ) t ⁢ P N ^ - 1 ⁡ ( N 1 - N ^ ) < 1 - 1 2 ⁢ ( N i - N ^ ) t ⁢ P N ^ - 1 ⁡ ( N i - N ^ ) 1 2 ⁢ ( N 1 - N ^ ) t ⁢ P N ^ - 1 ⁡ ( N 1 - N ^ ) ︸ = : F i ⁢ ⁢ ⇔ F i < 1 + q 1 2 ⁢ ( N 1 - N ^ ) t ⁢ P N ^ - 1 ⁡ ( N 1 - N ^ ) ⁢ ⁢ ⁢ Thus ⁢ ɛ := q 1 2 ⁢ ( N 1 - N ^ ) t ⁢ P N ^ - 1 ⁡ ( N 1 - N ^ )
is a reasonable value for ε.
The {hacek over (p)}(Ni) are the desired weights for the best integer ambiguity candidates. The ambiguity candidates themselves can be determined in an efficient way with the LAMBDA method (Teunissen, 1995).
Part 7.9 MW Bias Process: Using Fixed WL Ambiguities
FIG. 21A shows an embodiment 2400. In this way the estimated MW biases 1430 are made consistent with the fixed WL ambiguities 2330. These fixed-nature MW satellite biases from the network are transferred to the rover receiver where they help in fixing WL ambiguities.
The fixed WL ambiguities 2330 can be introduced into the processor 1225 in several different ways. FIG. 21B, FIG. 21C and FIG. 21D show details of three possible realizations of the processor 1225 that differ in the manner of feeding back the fixed WL ambiguities into the MW bias estimation process.
In the embodiment 2400 the processor 1225 comprises a single sequential filter 2410 (such as a Kalman filter) that holds states 2415 for satellite MW biases, states 2420 for WL ambiguities and—in case of the undifferenced observation model (11)—also states 2425 for receiver MW biases. In the single differenced (SD) observation model (12) no receiver bias states occur. In addition to these states, which contain the values of the least-squares best solution of the model parameters for the given observations, the filter also contains variance-covariance (vc) information 2430 of the states. The vc-information is usually given as a symmetric matrix and shows the uncertainty in the states and their correlations. It does not directly depend on the observations but only on the observation variance, process noise, observation model and initial variances. However, since the observation variance is derived from the observations when smoothing is enabled (see Part 7.3), there can also be an indirect dependence of the vc-matrix 2430 on the observations.
The filter input comprises MW observations (e.g., smoothed MW observations 1420) and satellite MW-bias process noise 1240 (see Part 7.2), a MW bias constraint 1605 (see Part 7.4), integer WL ambiguity constraints 1705 (see Part 7.5) and, optionally, shifts from a bias and ambiguity shifter 24 (discussed in Part 7.10).
The filter output of primary importance comprises the satellite MW biases 1430, the (float) WL ambiguities 1430 and the (unconstrained) WL ambiguity part 2210 of the vc-matrix 2430. The ambiguity information is forwarded to an ambiguity fixer module (see Part 7.8) that outputs (float or integer) fixed WL ambiguities 2310. These fixed WL ambiguities 2310 are output for use in the orbit processor 330 and the phase clock processor 335. In addition, the fixed WL ambiguities 2310 are reintroduced into the filter by adding them as pseudo observations with a very small observation variance (of e.g. 10−30 m2). The resulting satellite MW biases 1430 are output to the rover and, optionally, to the orbit processor 330 and the phase clock processor 335. Since they are consistent with the fixed WL ambiguities, we call them fixed MW biases.
Note that, if an ambiguity were fixed to a wrong integer, the wrong ambiguity would remain in the filter 2410 until a cycle slip on that ambiguity occurs or it is thrown out of the filter (such as when it has not been observed anymore for a certain time period or another ambiguity has taken over its ambiguity slot in the filter 2410). If this were to occur the MW biases would be disturbed for a long time. However, an advantage of this approach is that also ambiguity fixes remain in the filter that have been fixed to integer when the satellites were observed at high elevations but having meanwhile moved to low elevations and could not be fixed anymore or that are even no longer observed. These ambiguity fixes on setting satellites can stabilize the solution of MW biases a lot.
Note also that a float ambiguity should not be fixed with a very small variance (of e.g. 10−30 m2) in the single filter 2410 since in this way new observations cannot improve anymore the ambiguity states by bringing them closer to an integer. In some embodiments the float ambiguity is fixed with a variance that depends on its distance to integer so that the observation variance tends to zero when the distance to the closest integer tends to zero and tends to infinity when the distance to the closest integer tends to 0.5. However, for fixing float ambiguities the approaches used in the embodiments of FIG. 21C and FIG. 21D are more suitable.
In the embodiment 2440 of FIG. 21C the processor 1225 comprises two sequential filters 2445 and 2450 where the process flow for the first filter 2445 is almost identical with the filter 2410 of FIG. 21B. The difference is that no fixed WL ambiguities 1430 are fed back into filter 2445. Instead, each time new fixed WL ambiguities 2310 are available (e.g. after each observation update), a filter copy 2450 of the first filter 2445 is made and then the fixed WL ambiguities 2310 are introduced as pseudo-observations into the filter copy 2450. The original filter 2445 thus remains untouched so that no wrong fixes can be introduced into it. The filter copy 2450 outputs fixed satellite MW biases 2455 (e.g., as MW biases 345).
A disadvantage of this approach is that only currently observed ambiguities can be fixed and introduced into the filter copy 2550. All prior ambiguity fixes are lost. However, this is a preferred way of processing when the whole ambiguity space is analyzed at once as it is done in the integer least squares partial fixing and integer candidate combination approaches (see Part 7.8).
Embodiment 2460 of FIG. 21D shows an alternative approach to feed the fixed WL ambiguities into the estimation process. Here the fixed WL ambiguities 2310 are forwarded to an ambiguity subtracter module 2665 that reduces the MW observations 1420 by the ambiguities. The resulting ambiguity-reduced MW observations 2670 are put into a second filter 2475 that does not have any ambiguity states but only satellite MW bias states 2480 and—in the undifferenced approach (11)—also receiver MW bias states 2485. This second filter 2475 just needs a single MW bias constraint 2490 and process noise on satellite MW biases 2480 as additional inputs. In case biases are shifted in the first filter 2440 they also have to be shifted in the second filter 2475.
The second filter 2475 outputs fixed satellite MW biases 2450.
Note that in this approach the ambiguities are not fixed with a very small observation variance (of e.g. 10−30 m2) but only with the usual observation variance of the MW observations. By inserting observations over time with the same fixed ambiguity, the weak ambiguity constraint is more and more tightened. All prior ambiguity fixes remain in the filter to some extent. A wrong fix that is detected after some time will be smoothed out. Thus it is also quite reasonable to put float-ambiguity-reduced MW observations into the filter.
Since the second filter 2475 does not have ambiguity states that build the majority of states in the first filter, the second filter 2475 is very small and can be updated at a very high rate of, e.g. every second, without running into performance problems. Thus in some embodiments the original MW observations without any prior smoothing are input into this filter.
Part 7.10 MW Bias Process: Shifting MW Biases
FIG. 22A shows an embodiment 2500 in which the process described in Part 7.8 is augmented with an external satellite MW bias shifter module 2505. The term external means, in contrast to the shifting module shown in FIG. 22C where the shifting is applied on the filter. Note that all the ambiguity constraining and fixing related steps as well as the correction and smoothing steps are optional.
The bias shifter module 2505 shifts the satellite MW biases 1430 to produce satellite MW biases 2510 in a desired range of at least one WL cycle. This is possible since as seen from Equation (11) a shift in a satellite bias by n WL cycles are absorbed by the WL ambiguities corresponding to this satellite, e.g.
Φ i , WL j - P i , NL j = ⁢ b i , MW - b MW j + λ WL ⁢ N i , WL j = ⁢ b i , MW - ( b MW j + n ⁢ ⁢ λ WL ) ︸ = : b ~ MW j + λ WL ⁢ ( N i , WL j - n ) ︸ = : N ~ i , WL j ( 46 )
Similar shifts are possible for receiver biases.
FIG. 22B shows the impact of shifting MW biases as in equation (46). Each MW combination is depicted in FIG. 22B as the distance between a receiver (e.g., one of receivers 2525, 2530, 2535, 2540) and a satellite 2545. This distance is represented by the sum of a receiver bias (which is the same for all satellites and therefore visualized as a circle around the receiver such as 2550), a satellite bias (that is the same for all receivers and therefore visualized as a circle 2555 around the satellite) and an ambiguity (that depends on the receiver-satellite pair and is therefore visualized as a bar such as bar 2560 for the pairing of receiver 2525 and satellite 2545). Reducing the satellite bias by the wavelength of one WL cycle (as depicted by smaller circle 2565) increases all related ambiguities by the wavelength of one WL cycle. The receiver biases are untouched by this operation.
An advantage of shifting satellite MW biases into a defined range is that in this way the biases can be encoded with a fixed number of bits for a given resolution. This allows to reduce the necessary bandwidth for transferring satellite MW biases to the rover which is in some embodiments done over expensive satellite links.
Although all satellite biases bMW j/λWL can be mapped for a certain fixed time e.g. into the range [−0.5, +0.5[it is preferable to extend this range e.g. to [−1, +1[in order to avoid frequent jumps in the MW satellite biases when they leave the defined range. Due to the oscillating behavior of MW satellite biases, the satellite biases at the border of the defined range close to −0.5 or +0.5 might often leave this range. For example, a bias moving to −0.5−ε is then mapped to +0.5−ε. Then the bias oscillates back to +0.5+ε and is then mapped back to −0.5+ε. In practice, it has been found that with a range of [−1, +1[ bias jumps can be avoided for several months.
Note that MW bias jumps can also be handled at the rover by comparing the latest received MW bias value with the previous one. If the values differ by approximately one cycle a bias jump is detected and the correct bias reconstructed. The situation is complicated by the fact that WL ambiguities consistent with shifted satellite MW biases are used in the phase clock processor to determine iono-free (IF) biases that are also sent to the rover. Reconstructing the MW bias at the rover after a jump requires also an adaptation of the IF bias by ½(λWL−λNL).
FIG. 22C shows an alternative to the external satellite MW bias shifter module 2505 of FIG. 22A. Satellite MW biases 1430 and WL-ambiguities 1435 are sent to an internal shifter module 2580 that determines on the basis of equation (46) shifts for MW biases and WL ambiguities such that the biases are mapped to the desired range. Then all these shifts are applied to the bias and ambiguity states in the filter. In this way biases have to be shifted only once while in the approach of FIG. 22A the shifts are repeated each time satellite MW biases are output.
However, note that unshifted and shifted WL ambiguities are not allowed to be used at the same time in a single filter. This is e.g. important when WL ambiguities are forwarded to the orbit processor 330 for fixing IF ambiguities. If fixed IF ambiguities are reintroduced into a single original filter (and no filter copy as in FIG. 21C is used), WL ambiguities of different epochs come together in the filter. It has to be ensured that the WL ambiguities of different epochs are the same. If this is not the case the corresponding IF ambiguity is reset.
Part 7.11 MW Bias Process: Numerical Examples
The behavior of daily solutions for MW satellite biases was monitored over a time period of 61 days in June and July 2008 and the difference of each daily solution to the first day of this period (June 1). PRN 16 was chosen as the reference satellite with bias value 0. All biases were mapped into the interval [0,1]. Drifts of different sizes in the satellite biases are clearly detectable. All the larger drifts occur for block IIA satellites. Individual satellites show drifts of about 0.2 WL cycles within a month. These values would motivate a satellite bias update of perhaps once per day. However, for PRN 24 there is a sudden bias jump on June 26 of almost 0.2 WL cycles. The occurrence of such events demonstrates the importance of real-time estimation and transmission of MW satellite biases.
In another example the MW satellite biases for the time period from Oct. 2 to 14, 2008 were continuously processed in a Kalman filter. Again PRN 16 was chosen as the reference. The result shows that each satellite has its own daily pattern with some kind of repetition already after 12 hours (the time a GPS satellite needs for one revolution). The variations of the satellite biases are up to about 0.16 WL cycles within 6 hours. The difference of the MW satellite biases to the values they had 24 hours before demonstrates that the day to day repeatability is usually below 0.03 WL cycles. However, this day to day repeatability does not well reflect the large inner day variations of the MW satellite biases.
The filtered satellite WL biases are dependent on their process noise input. With a noise input variance between 10−6 and 10−7 squared WL cycles per hour the periodical behavior and the sudden bias level change on June 26 is well reflected. With less noise input these patterns are not detected. Due to this analysis a process noise input variance of 5·10−7 squared WL cycles per hour on satellite WL biases is recommended.
Part 7.12 MW Bias Process: References
References relating to the MW bias process include the following:
Bierman, G. J. (1977). Factorization Methods for Discrete Sequential Estimation. New York: Academic Press, Inc.
Collins, P. (2008). Isolating and Estimating Undifferenced GPS Integer Ambiguities. Proceedings of ION-NTM-2008, (pp. 720-732). San Diego, Calif.
Collins, P., Gao, Y., Lahaye, F., Héroux, P., MacLeod, K., & Chen, K. (2005). Accessing and Processing Real-Time GPS Corrections for Precise Point Positioning—Some User Considerations. Proceedings of ION-GNSS-2005, (pp. 1483-1491). Long Beach, Calif.
Collins, P., Lahaye, F., Héroux, P., & Bisnath, S. (2008). Precise Point Positioning with Ambiguity Resolution using the Decoupled Clock Model. Proceedings of ION-GNSS-2008. Savannah, Ga.
Cormen, T. H., Leiserson, C. E., Rivest, R. L., & Stein, C. (2001). Chapter 23: Minimum Spanning Trees. In Introduction to Algorithms (Second Edition ed., pp. 561-579). MIT Press and McGraw-Hill.
Datta-Barua, S., Walter, T., Blanch, J., & Enge, P. (2007). Bounding Higher Order Ionosphere Errors for the Dual Frequency GPS User. Radio Sci., 43, RS5010, doi:10.1029/2007RS003772.
Ge, M., Gendt, G., Rothacher, M., Shi, C., & Liu, J. (2008). Resolution of GPS carrier-phase ambiguities in Precise Point Positioning (PPP) with daily observations. Journal of Geodesy, Vol. 82, pp. 389-399.
Grewal, M. S., & Andrews, A. P. (2001). Kalman Filtering: Theory and Practice Using MATLAB. New York: Wiley-Interscience.
Héroux, P., & Kouba, J. (2001). GPS Precise Point Positioning Using IGS Orbit Products. Phys. Chem. Earth (A), Vol. 26 (No. 6-8), pp. 572-578.
Laurichesse, D., & Mercier, F. (2007). Integer ambiguity resolution on undifferenced GPS phase measurements and its application to PPP. Proceedings of ION-GNSS-2007, (pp. 839-448). Fort Worth, Tex.
Laurichesse, D., Mercier, F., Berthias, J., & Bijac, J. (2008). Real Time Zero-difference Ambiguities Fixing and Absolute RTK. Proceedings of ION-NTM-2008, (pp. 747-755). San Diego, Calif.
Melbourne, W. (1985). The case for ranging in GPS-based geodetic systems. Proceedings of the First International Symposium on Precise Positioning with the Global Positioning System. Vol. 1, pp. 373-386. Rockville, Md.: US Dept. of Commerce.
Mervart, L., Lukes, Z., Rocken, C., & Iwabuchi, T. (2008). Precise Point Positioning With Ambiguity Resolution In Real-Time. Proceedings of ION-GNSS-2008. Savannah, Ga.
Morton, Y., van Graas, F., Zhou, Q., & Herdtner, J. (2008). Assessment of the Higher Order Ionosphere Error on Position Solutions. ION GNSS 21st International Meeting of the Satellite Division. Savannah, Ga., USA.
Press, W. H., Teukolsky, S. A., Vetterling, W. T., & Flannery, B. P. (1996). F-Distribution Probability Function. In Numerical Recipes in C (p. 229). Cambridge University Press.
Schaer, S. (2000, May 9). IGSMAIL-2827: Monitoring (P1-C1) code biases. Retrieved from http://igscb.jpl.nasa.gov/mail/igsmail/2000/msg00166.html.
Teunissen, P. (1995). The least-squares ambiguity decorrelation adjustment: a method for fast GPS integer ambiguity estimation. Journal of Geodesy, Vol. 70, No. 1-2, pp. 65-82.
Wübbena, G. (1985). Software Developments for Geodetic Positioning with GPS using TI 4100 code and carrier measurements. Proceedings of the First International Symposium on Precise Positioning with the Global Positioning System. Vol. 1, pp. 403-412. Rockville, Md.: US Dept. of Commerce.
Zumberge, J., Heflin, M., Jefferson, D., Watkins, M., & Webb, F. (1997). Precise point positioning for the efficient and robust analysis of GPS data from large networks. Journal of Geophysical Research, Vol. 102 (No. B3), pp. 5005-5018.
Part 8: Orbit Processor
Precise (cm-accurate) orbits allow precise satellite clock estimation and precise positioning. Orbit accuracy has a direct influence on the final position accuracy of the rover using precise satellite orbits and clocks data as described herein.
Part 8.1 Option 1: Use IGS-Published Ultra-Rapid Orbits
The International GNSS Service (IGS) provides predicted satellite orbits which can be downloaded via the Internet. A description of these orbits can be found in J. KOUBA, A GUIDE TO USING INTERNATIONAL GPS SERVICE (IGS) PRODUCTS, Geodetic Survey Division, Natural Resources Canada, February 2003, 31 pages and at http://igscb.jpl.nasa.gov/components/prods.html.
The IGS Ultra-rapid (predicted) orbits, also called IGU orbits, are generated and published four times a day at 3, 9, 15, 21 hours of the UTC day. IGS claims a 5 cm orbit standard deviation, though our analyses have shown that individual satellite orbit errors can go up to 60 cm. In one case we have seen a 2 meter error.
Market requirements for commercial positioning service demand precise orbits with errors less than 3 cm and with high reliability and availability. The currently available IGU orbits do not meet these requirements. Nevertheless, they are useful either for positioning applications where the requirements are less demanding, or as a countercheck to detect gross errors in orbits estimated as described below.
Part 8.2 Option 2: Determine Satellite Orbits in Real Time
Referring to FIG. 1, observation data is streamed in real time from globally distributed GNSS reference stations, such as reference stations 105, 110, 115, to network processor 140. In some embodiments, the network processor estimates the satellite orbits in real time using a Kalman-filter approach in a numerically stable UD-Filter implementation as described in G. Bierman, Factorization Methods for Discrete Sequential Estimation, Academic Press, Inc., New York, 1977. Hereafter the term real time refers to processing immediately after observation data is available, typically in less than one second. The time-dependent filter state x(t) is set up in the following way
xcr(t) receiver clock errors
xcs(t) satellite clock errors
xqs(t) satellite dependent orbit parameters
x(t)=xr (t) receiver positions
xZDT(t) zenith tropospheric delays for each station
xEOP(t) earth orientation parameters
(EOP: xp, yp, UT1-UTC or length of day)
xAMB carrier-phase ambiguities
xif-bias iono-free biases
xcr(t) is the vector with all receiver clock errors in the network. Each station has at least one clock offset but may have also drift and drift rates, depending on the type and stability of the station clock. The receiver clocks are modeled, for example, as white noise processes or as stochastic processes (e.g., random walk, Gauss Markov) depending on the type and stability of the station clock.
xcs(t) is the vector with the satellite clocks. The vector contains a clock offset and a drift but may have drift and drift rates depending on the type and stability of the satellite clock (Rubidium, Cesium or Hydrogen maser). The satellite clocks are modeled, for example, as white noise processes or as stochastic processes depending on the type and stability of the satellite clock.
xqs(t) is the vector with the satellite dependent dynamic orbit parameters. This includes the satellite positions and velocities and additional force model parameters, which are
x qs ⁡ ( t ) = [ x s ⁡ ( t ) x . s ⁡ ( t ) x sir ⁡ ( t ) x harm ⁡ ( t ) ] ( 47 )
xs(t) is the satellite position vector (one per satellite) in the inertial reference frame (X,Y,Z).
{dot over (x)}s(t) is the satellite velocity vector (one per satellite) in the inertial reference frame (X,Y,Z).
xslr(t) is the vector with the solar radiation pressure parameters. It consists of a component in the sun-satellite direction, a second component in the direction of the solar radiation panel axis and a third component perpendicular on the first 2 axes. All three components are modeled for example as stochastic processes.
xharm(t) is the vector with harmonic coefficients for the orbit components along-track, radial and cross-track or in a satellite body fixed coordinate system. They are modeled for example as stochastic processes.
xr (t) is the station position vector in the Earth centered/Earth fixed reference frame. Stations can be either fixed or unknown in the estimation process.
xZTD(t) is the vector with the tropospheric zenith delays estimated for each station. Tropospheric gradients are optionally also estimated. These parameters are modeled for example as stochastic processes.
xEOP(t) are earth orientation parameters (EOPs) estimated routinely in real time. The vector consists of the offsets to the conventional pole (xp, yp) and the difference between UT1 and UTC time scales (UT1-UTC or length of day). The precisely-known EOP parameters are used to transition between the inertial and the earth-fixed reference frames. All three parameters are estimated for example as stochastic processes.
xAMB each satellite-station link has an individual carrier phase ambiguity in the filter state. These parameters are modeled for example as constants.
xif-bias ionospheric-free code-carrier biases, one bias per receiver-satellite pair. Code and carrier have biases, which are different from receiver to receiver and satellite to satellite and might vary with time These parameters are modeled for example via stochastic processes.
The ionospheric-free dual-frequency combinations of code and carrier observations have different biases, which vary with time. While these parameters can be estimated as additional unknowns in the orbit processor Kalman filter, they are optionally estimated in a separate processor (e.g. in standard clock processor 320 as ionospheric-free code-carrier biases 372, shown in FIG. 3) and applied to the pseudorange observations used in the orbit processor.
For linearization purposes, some embodiments have the filter set up to estimate differences to a reference trajectory and to initial force model parameters. In these embodiments the state vector for each satellite is
x qs ⁡ ( t k ) = [ r ⁡ ( t k ) - r 0 ⁡ ( t k ) p ⁡ ( t k ) - p 0 ⁡ ( t k ) y - y 0 ] = [ Δ ⁢ ⁢ r ⁡ ( t k ) Δ ⁢ ⁢ p ⁡ ( t k ) Δ ⁢ ⁢ y ] ( 48 )
xqs(tk) is the satellite state vector at time tk
r(tk) is the satellite position and velocity in the inertial reference frame
r0(tk) represents the reference trajectory created by a numerical orbit integrator
p(tk) is the vector with stochastic force model parameters
p0(tk) is the vector with approximate initial stochastic force model parameters
y is the vector with constant force model parameters
y0 is the vector with approximate constant force model parameters
r ⁡ ( t k ) = [ x x ⁡ ( t k ) x . x ⁡ ( t k ) ] ( 49 )
The prediction in the filter model for the satellite dependent part is done via the following relation
[ Δ ⁢ ⁢ r ⁡ ( t k + 1 ) Δ ⁢ ⁢ p ⁡ ( t k + 1 ) Δ ⁢ ⁢ y ] = [ Φ rr ⁡ ( t k + 1 , t k ) Φ rp ⁡ ( t k + 1 , t k ) Φ ry ⁡ ( t k + 1 , t k ) 0 M k 0 0 0 1 ] [ ⁢ Δ ⁢ ⁢ r ⁡ ( t k ) Δ ⁢ ⁢ p ⁡ ( t k ) Δ ⁢ ⁢ y ] + [ 0 w k 0 ] ( 50 )
Φ rr ⁡ ( t k + 1 , t k ) = [ ∂ r ⁡ ( t k + 1 ) ∂ r ⁡ ( t k ) ] , r ⁡ ( t ) = r 0 ⁡ ( t ) ( 51 ) Φ rp ⁡ ( t k + 1 , t k ) = [ ∂ r ⁡ ( t k + 1 ) ∂ p ⁡ ( t k ) ] , r ⁡ ( t ) = r 0 ⁡ ( t ) , p ⁡ ( t ) = p 0 ⁡ ( t ) ( 52 ) Φ ry ⁡ ( t k + 1 , t k ) = [ ∂ r ⁡ ( t k + 1 ) ∂ y ] , r ⁡ ( t ) = r 0 ⁡ ( t ) , y = y 0 ( 53 )
These matrices are computed for example by integration of the variational equations as described in the section below on numerical orbit integration.
Mk is the matrix describing the stochastic noise modeling
wk is the noise input
Part 8.3 Numerical Orbit Integration
The satellite motion in orbit can be described by a second order differential equation system
{umlaut over (x)}={umlaut over (x)}(x,{dot over (x)},q) (54)
{umlaut over (x)} acceleration in the inertial reference frame
x position in the inertial reference frame
{dot over (x)} velocity in the inertial reference frame
q vector of satellite dependent force model unknowns and initial position/velocity
The vector q is defined as
q = [ r ⁡ ( t 0 ) a ] ( 55 )
r(t0) are the initial position and velocity in inertial reference frame
a is the vector with dynamic force model parameters
Satellite position x(t) and velocity {dot over (x)}(t) at time t are derived from satellite position x(t0) and velocity {dot over (x)}(t0) at time t0 using, for example, a numerical integration (a predictor-corrector method of higher order).
{dot over (x)}(t)={dot over (x)}(t 0)+∫{umlaut over (x)}(t)dt (56)
x(t)=x(t 0)+∫{dot over (x)}(t)dt (57)
The real-time filter uses the partial derivatives of the accelerations {umlaut over (x)}(t) with respect to the unknown parameters q
[ ∂ x ¨ ∂ q ] = [ ∂ x ¨ ∂ x ] ⁡ [ ∂ x ∂ q ] ( 58 )
The equation of this example ignores derivatives with respect to satellite velocity since there are no relevant velocity-dependent forces acting on GNSS satellites in medium earth orbit.
The following matrix is computed for epoch t1:
Φ rq ⁡ ( t i , t 0 ) = [ ∂ x ∂ q ⁡ ( t i , t 0 ) ∂ x . ∂ q ⁡ ( t i , t 0 ) ] ( 59 )
The matrix for the next epoch ti+1 can then be computed via the chain rule
Φrq(t i+1 ,t 0)=Φrq(t i+1 ,t i)Φrq(t i ,t 0) (60)
The partial derivatives of the observations with respect to the unknowns q can again be derived via chain rule
∂ l ∂ q = ∂ l ∂ r ⁢ Φ rq ( 61 )
These partials are used in the observation update of the filter.
The following models are used to compute the accelerations z acting on the satellite; some embodiments use these for the integration process:
1. The Earth's gravity field is modeled by available models such as the EIGEN-CG01C or the EGM96 model. These are spherical harmonic expansions with very high resolution. Some embodiments use up to degree and order 12 for orbit integration.
2. Gravitational forces due to the attraction by sun, moon and planets.
3. The gravitational forces of sun and moon acting on the Earth's figure will deform the Earth. This effect also changes the gravity field; it is called “Solid Earth Tide” effect. Some embodiments follow the recommendations of the IERS Conventions 2003.
4. Some embodiments account for the Solid Earth Pole Tide, caused by the centrifugal effect of polar motion. This tide must not be confused with Solid Earth Tides. Some embodiments follow the recommendations of the IERS Conventions 2003.
5. The gravitational forces of sun and moon acting on the oceans will change the gravity field; this is called the “Ocean Tide” effect. Some embodiments use the CSR3.0 model recommended by the IERS Conventions 2003.
6. Some embodiments also consider the relativistic acceleration, which depends upon position and velocity of the satellite.
7. The solar radiation pressure, the acceleration acting on GNSS satellites, is most difficult to model. Some embodiments consider three components: a first component in the sun-satellite direction, a second component in the direction of the solar radiation panel axis (y-bias) and a third component perpendicular to the first two axes.
8. Some embodiments also model residual errors mainly induced by the insufficient knowledge of the force models via harmonic functions as described in the following.
GNSS satellites like GPS, GLONASS, GALILEO and COMPASS satellites are in mid earth orbits (MEO) of approximately 26000 km. The following table shows the accelerations acting on GNSS satellites and their effects after a one-day orbit integration.
Acceleration error after
Perturbation [m/s2] one day [m]
Earth's gravitation 0.59 330000000
Earth's oblateness 5 · 10−5 24000
Lunar direct tides 5 · 10−6 2000
Solar direct tides 2 · 10−6 900
Higher degree terms in geopotential 3 · 10−7 300
Direct solar radiation pressure 9 · 10−8 100
Radiation pressure along solar panel 5 · 10−10 6
Earth albedo (solar radiation due to 3 · 10−9 2
reflection by earth)
Solid Earth tides 1 · 10−9 0.3
Ocean tides 1 · 10−10 0.06
General relativity 3 · 10−10 0.3
Venus in lower conjunction 2 · 10−10 0.08
Part 8.4 Harmonic Force Modeling
Some embodiments handle residual errors by introducing a harmonic model having a cosine term and a sine term in each of the along-track, radial and cross-track directions. As the residua