CA1333295C - Global positioning system course acquisition code receiver - Google Patents
Global positioning system course acquisition code receiverInfo
- Publication number
- CA1333295C CA1333295C CA000595611A CA595611A CA1333295C CA 1333295 C CA1333295 C CA 1333295C CA 000595611 A CA000595611 A CA 000595611A CA 595611 A CA595611 A CA 595611A CA 1333295 C CA1333295 C CA 1333295C
- Authority
- CA
- Canada
- Prior art keywords
- signal
- synthesizer
- carrier
- receiver
- generated
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/69—Spread spectrum techniques
- H04B1/707—Spread spectrum techniques using direct sequence modulation
- H04B1/7073—Synchronisation aspects
- H04B1/7075—Synchronisation aspects with code phase acquisition
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/36—Constructional details or hardware or software details of the signal processing chain relating to the receiver frond end
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/53—Determining attitude
- G01S19/54—Determining attitude using carrier phase measurements; using long or short baseline interferometry
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
- G01S3/46—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
- G01S3/46—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
- G01S3/48—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems the waves arriving at the antennas being continuous or intermittent and the phase difference of signals derived therefrom being measured
Abstract
Two receiver channels each driven by a common local oscillator signal are employed in a global positioning system.
The signal developed by the first receiver channel is used to drive in phase (I) and quadrature (Q) counters of a Castas-loop, which phase-locks to the signal. The signal developed by the second receiver channel is used to drive another pair of in phase (I) and quadrature (Q) counters, which develop signals from which heading information is calculated.
The signal developed by the first receiver channel is used to drive in phase (I) and quadrature (Q) counters of a Castas-loop, which phase-locks to the signal. The signal developed by the second receiver channel is used to drive another pair of in phase (I) and quadrature (Q) counters, which develop signals from which heading information is calculated.
Description
13~329~J
BACKGROUND OF THE INVENTION
Fleld of the Inventlon The present lnventlon relates to radlo recelvers generally and more partlcularly to a GPS satelllte recelver employlng means for computlng headlng lnformatlon.
Descrlptlon of the Prlor Art The NAVASTAR Global Posltlonlng System (GPS) ls a Unlted States Defense Department satelllte-based radlo-navlga-tlon system transmlttlng lnformatlon from whlch extremely accu-rate navlgatlonal lnformatlon can be computed lncludlng the tlme, the user's three-dlmenslonal posltlon anywhere on or near the Earth, and the user's three-dlmenslonal veloclty. When fully operatlonal, the GPS ls planned to employ 18 satellltes evenly dlspersed ln three, lncllned, 12-hour clrcular orblts chosen to lnsure contlnuous 24-hour coverage worldwlde. Each satelllte carrles extremely accurate ceslum and rubldlum vapor atomlc clocks provldlng tlmlng lnformatlon. Addltlonally, each satelllte ls provlded clock correctlon and orbltal lnformatlon by Earth-based monltorlng statlons.
Each satelllte transmlts a palr of L-band carrler slgnals lncludlng an Ll slgnal havlng a frequency of 1575.42 MHz (also referred to as 1540 f0 where f0 ls 1.023 MHz) and an L2 slgnal havlng a frequency of 1227.6 MHz (1200 f0). The Ll and L2 slgnals are blphase modulated by pseudo-random nolse (PRN) codes. The PRN codes facllltate multlple access. Slnce each satelllte uses dlfferent PRN codes, a slgnal transmltted by a partlcular satelllte can be selected by generatlng and matchlng (correlatlng) the correspondlng PRN code pattern.
Addltlonally, the PRN codes facllltate slgnal transmlt tlme measurements whlch can be made by measurlng the phase shlft requlred to match the code. Both of the carrler slgnals (Ll and L2) are modulated by a PRN code whlch ls referred to as a preclslon (p) code. The p PRN code, whlch ls lntended for mllltary purposes, ls a relatlvely long, flne-gralned, ~.
'~;
- 133323'3 precision code having a clock rate of 10.23 MHz tl0 f0). The L1 carrier signal is additionally modulated by a PRN code which is referred to as a clear/acquisition (C~A) code. The C/A PRN
code, which is intended for rapid signal acquisition and for commercial purposes, is a relatively short, coarse-grained code having a clock rate of 1.023 MHz (f0) and a code length of 1023 bits (one ms). A full bit (chip) of C/A PRN code, phase delay corresponds to a distance of 293 meters. In addition to the PRN codes, both of the signals (L1 and L2) are, continuously, biphase modulated by a 50 bit per second, 1500 bit long, navigation data bit stream. The navigation data bit stream includes information as to the status and emphemeris of all satellites, parameters for computing the particular satellite clock, and corrections for atmospheric propagation delays.
Disclosed in the Canadian Patent Application serial number 480,285 filed April 29, 1985 of Charles R. Trimble is a Global Positioning System Course Acquisition Code Receiver suitable for computing the position and velocity information which matured to Canadian Patent No. 1,246,724 on December 13, 1988. However, the above mentioned receiver, as disclosed, lacks means for computing heading information (including yaw and pitch or roll).
SUMMARY OF THE INVENTION
It is therefore an object of the present invention to provide a GPS satellite receiver which has means for computing heading information.
Another object of the present invention is to provide a GPS satellite receiver which is relatively simple inexpensive, and compact.
Briefly, the presently preferred embodiment of a GPS
satellite receiver in accordance with the present invention ,~ f~
133329~ ~
BACKGROUND OF THE INVENTION
Fleld of the Inventlon The present lnventlon relates to radlo recelvers generally and more partlcularly to a GPS satelllte recelver employlng means for computlng headlng lnformatlon.
Descrlptlon of the Prlor Art The NAVASTAR Global Posltlonlng System (GPS) ls a Unlted States Defense Department satelllte-based radlo-navlga-tlon system transmlttlng lnformatlon from whlch extremely accu-rate navlgatlonal lnformatlon can be computed lncludlng the tlme, the user's three-dlmenslonal posltlon anywhere on or near the Earth, and the user's three-dlmenslonal veloclty. When fully operatlonal, the GPS ls planned to employ 18 satellltes evenly dlspersed ln three, lncllned, 12-hour clrcular orblts chosen to lnsure contlnuous 24-hour coverage worldwlde. Each satelllte carrles extremely accurate ceslum and rubldlum vapor atomlc clocks provldlng tlmlng lnformatlon. Addltlonally, each satelllte ls provlded clock correctlon and orbltal lnformatlon by Earth-based monltorlng statlons.
Each satelllte transmlts a palr of L-band carrler slgnals lncludlng an Ll slgnal havlng a frequency of 1575.42 MHz (also referred to as 1540 f0 where f0 ls 1.023 MHz) and an L2 slgnal havlng a frequency of 1227.6 MHz (1200 f0). The Ll and L2 slgnals are blphase modulated by pseudo-random nolse (PRN) codes. The PRN codes facllltate multlple access. Slnce each satelllte uses dlfferent PRN codes, a slgnal transmltted by a partlcular satelllte can be selected by generatlng and matchlng (correlatlng) the correspondlng PRN code pattern.
Addltlonally, the PRN codes facllltate slgnal transmlt tlme measurements whlch can be made by measurlng the phase shlft requlred to match the code. Both of the carrler slgnals (Ll and L2) are modulated by a PRN code whlch ls referred to as a preclslon (p) code. The p PRN code, whlch ls lntended for mllltary purposes, ls a relatlvely long, flne-gralned, ~.
'~;
- 133323'3 precision code having a clock rate of 10.23 MHz tl0 f0). The L1 carrier signal is additionally modulated by a PRN code which is referred to as a clear/acquisition (C~A) code. The C/A PRN
code, which is intended for rapid signal acquisition and for commercial purposes, is a relatively short, coarse-grained code having a clock rate of 1.023 MHz (f0) and a code length of 1023 bits (one ms). A full bit (chip) of C/A PRN code, phase delay corresponds to a distance of 293 meters. In addition to the PRN codes, both of the signals (L1 and L2) are, continuously, biphase modulated by a 50 bit per second, 1500 bit long, navigation data bit stream. The navigation data bit stream includes information as to the status and emphemeris of all satellites, parameters for computing the particular satellite clock, and corrections for atmospheric propagation delays.
Disclosed in the Canadian Patent Application serial number 480,285 filed April 29, 1985 of Charles R. Trimble is a Global Positioning System Course Acquisition Code Receiver suitable for computing the position and velocity information which matured to Canadian Patent No. 1,246,724 on December 13, 1988. However, the above mentioned receiver, as disclosed, lacks means for computing heading information (including yaw and pitch or roll).
SUMMARY OF THE INVENTION
It is therefore an object of the present invention to provide a GPS satellite receiver which has means for computing heading information.
Another object of the present invention is to provide a GPS satellite receiver which is relatively simple inexpensive, and compact.
Briefly, the presently preferred embodiment of a GPS
satellite receiver in accordance with the present invention ,~ f~
133329~ ~
employs the components of the recelver whlch ls dlsclosed ln the above ldentlfled Csnadlan Patent of Charles R. Trlmble.
More partlcularly, employed, ln a "flrst recelver channel", ls a (flrst) L-band antenna for GPS slgnal receptlon, a bandpass fllter for attenuatlng off-frequency slgnals, a (flrst) ampll-fler for establlshlng the recelver nolse flgure, and a (flrst) lmage-re~ect mlxer all connected ln cascade. In addltlon, a (sole) half-frequency local-osclllator-slgnal-generatlng oscll-lator connected to also drlve the mlxer ls employed. Also employed ln the "flrst recelver channel" ls another (second) ampllfler, another bandpass fllter and a (flrst) hard llmlter -all connected ln cascade from the (flrst) mlxer output. The (flrst) hard llmlter converts the (flrst channel) (four fO) down-converted satelllte slgnal and assoclated nolse from analog-to-dlgltal form.
Addltlonally, the recelver employs a phase-controlled syntheslzer for generatlng the pertlnent PRN code ln the form of a punctual, an early and a late slgnal and a frequency-controlled syntheslzer for developlng dlgltal, phase-quadrature slgnals at the down-converted (doppler-shlfted) carrler fre-quency (four fO). A (flrst) excluslve-OR gate connected to develop a slgnal by comparlng the slgnal developed by the (flrst) hard llmlter wlth the punctual PRN-code slgnal and a (flrst) palr of counters connected to be clocked ln quadrature by the Doppler-shlfted carrler-syntheslzer-developed slgnals and to be lncremented/decremented responslve to the state of the gate-developed slgnal are employed to remove the PRN-code-modulatlon lnformatlon and to develop a (flrst) ln phase (I) and a (flrst) quadrature (Q) Castas-loop slgnals. Clrcultry represented by a palr of excluslve-OR gates connected to develop a palr of slgnals by comparlng the hard-llmlter-developed slgnal one wlth the early PRN-code slgnal and the other wlth the late PRN-code slgnal; an adder connected to ,.~
133329~
More partlcularly, employed, ln a "flrst recelver channel", ls a (flrst) L-band antenna for GPS slgnal receptlon, a bandpass fllter for attenuatlng off-frequency slgnals, a (flrst) ampll-fler for establlshlng the recelver nolse flgure, and a (flrst) lmage-re~ect mlxer all connected ln cascade. In addltlon, a (sole) half-frequency local-osclllator-slgnal-generatlng oscll-lator connected to also drlve the mlxer ls employed. Also employed ln the "flrst recelver channel" ls another (second) ampllfler, another bandpass fllter and a (flrst) hard llmlter -all connected ln cascade from the (flrst) mlxer output. The (flrst) hard llmlter converts the (flrst channel) (four fO) down-converted satelllte slgnal and assoclated nolse from analog-to-dlgltal form.
Addltlonally, the recelver employs a phase-controlled syntheslzer for generatlng the pertlnent PRN code ln the form of a punctual, an early and a late slgnal and a frequency-controlled syntheslzer for developlng dlgltal, phase-quadrature slgnals at the down-converted (doppler-shlfted) carrler fre-quency (four fO). A (flrst) excluslve-OR gate connected to develop a slgnal by comparlng the slgnal developed by the (flrst) hard llmlter wlth the punctual PRN-code slgnal and a (flrst) palr of counters connected to be clocked ln quadrature by the Doppler-shlfted carrler-syntheslzer-developed slgnals and to be lncremented/decremented responslve to the state of the gate-developed slgnal are employed to remove the PRN-code-modulatlon lnformatlon and to develop a (flrst) ln phase (I) and a (flrst) quadrature (Q) Castas-loop slgnals. Clrcultry represented by a palr of excluslve-OR gates connected to develop a palr of slgnals by comparlng the hard-llmlter-developed slgnal one wlth the early PRN-code slgnal and the other wlth the late PRN-code slgnal; an adder connected to ,.~
133329~
develop a slgnal by summlng the excluslve-OR-gate-palr-developed slgnals and a counter connected to be clocked by the ln-phase one of the Doppler-shlfted carrler-syntheslzer-developed slqnals and lncremented/checked/decremented respon-slve to the state of the adder-developed slgnal 18 employed to develop a slgnal used to mlnlmlze PRN-code-phase-matchlng error. Flnally, the recelver employs a mlcrocomputer connected to recelve the (flrst) ln phase (I), the (flrst) quadrature (Q) and the matchlng-error slgnals to control the phase of the PRN-code syntheslzer and the frequency of the Doppler-shlfted-carrler syntheslzer and to compute the posltlon and veloclty ~:
lnformatlon.
In addltlon to the components of the recelver dls-closed ln the above ldentlfled CAnA~1 An Patent of Charles R.
Trlmble, the presently preferred embodlment of a GPæ satelllte ~ -recelver ln accordance wlth the present lnventlon employs, ln a "second recelver channel", another (second) L-band antenna for GPS slgnal receptlon, another bandpass fllter for attenuatlng off-frequency slgnals, stlll another (thlrd) ampllfler for establlshlng the recelver nolse flgure, and another (second) lmage-re~ect mlxer, the latter components all belng connected ln cascade. The later (second) mlxer 18 also connected to be drlven by the former (sole) half-frequency local-osclllator-slgnal-generatlng osclllator. Also employed ln the "second recelver channel" 18 yet another (fourth) ampllfler, another hAndrA~8 fllter and another (second) hard llmlter, the later components all belng connected ln cascade from the ~second) mlxer output. Slmllarly, the (second) hard llmlter converts the (second channel) (four fO) down-converted satelllte slgnal and assoclated nolse from analog-to-dlgltal form.
Addltlonally, the recelver employs a (second) excluslve-OR gate connected to develop a signal by comparing the signal developed by the (second) hard limiter with the punctual PRN-code signal and a (second) pair of counters connected to be clocked in quadrature by the Doppler-shifted carrier-synthesizer-developed signals and to be incremented/-decremented responsive to the state of the (second) exclusive-OR gate-developed signal are employed to remove the PRN-code- -modulation information and to develop a (second) in phase (I) and a (second) quadrature (Q) Castas-loop signals, also for driving the microcomputer. From the (second) in phase (I) and the (second) quadrature (Q) signals the microcomputer computes the heading information.
In accordance with the present invention there is provided a receiver comprising in combination: means for generating a local oscillator signal; a first receiver channel including, means for receiving a transmitted signal, and down-converting means connected to said local-oscillator-generating -~
means, said first receiver-channel down-converting means for mixing said local-oscillator signal with a signal derived from said first receiver-channel received signal to generate a first down-converted signal; a second receiver channel including, means for receiving said transmitted signal, and down-converting means connected to said local-oscillator-generating means, said second receiver-channel down-converting means for mixing said local-oscillator signal with a signal derived from said second receiver-channel received signal to generate a second down-converted signal; carrier-synthesizer means for generating a signal having a frequency established by carrier-synthesizer-means-driving signals; first counter means coupled ~-to said first receiver channel and connected to said carrier-synthesizer means, said first counter means for developing signals representing a count which is incremented at each of a , .
`-; 13332~5 5a 69368-40 series of times marked by said carrier-synthesizer-means-generated signal when a signal developed from said first down-converted signal has a predetermined one of two states and decremented at each of said carrier-synthesizer-means-generated-signal marked times otherwise; second counter means coupled to said second receiver channel and connected to said carrier-synthesizer means, said second counter means for developing signals represented a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated signal when a signal developed from said second down-converted signal has a predetermined one of two states and decremented at each of said carrier-synthesizer-means-generated-signal marked times otherwise; and controller means connected to said carrier-synthesizer means and connected to said first and said second counter means, said controller means being responsive to said first-counter-means-developed signals and operative to develop said carrier-synthesizer-means-driving signals so as to lock the frequency of said carrier-synthesizer-means-generated signal to the frequency of said first down-converted signal.
In accordance with the present invention there is also provided a GPS satellite receiver comprising in combination, means for generating a local oscillator signal; a first receiver channel including, means for receiving a satellite signal, and down-converting means connected to said local-oscillator-generating means, said first receiver-channel down-converting means for mixing said local-oscillator signal ~:
with a signal derived from said first receiver-channel received-satellite signal to generate a first down-converted satellite signal; a second receiver channel including, means for receiving said satellite signal, and down-converting means connected to said local-oscillator-generating means, said . .
~t'~
5b 13332~ 69368-40 second receiver-channel down-converting means for mixing said local-oscillator signal with a signal derived from said second receiver-channel received-satellite signal to generate a second down-converter satellite signal; carrier-synthesizer means for generating a first signal having a frequency established by :
carrier-synthesizer-means-driving signals; first Q-counter means coupled to said first receiver channel and connected to said carrier-synthesizer means, said first Q-counter means for developing signals representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated first signal when a signal developed from said first down-converted satellite signal has a predetermined one of two states and decremented at each of said carrier- ~, synthesizer-means-generated-first-signal marked times otherwise; second Q-counter coupled to said second receiver channel and connected to said carrier-synthesizer means, said second Q-counter means for developing signals representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated first signal when a signal developed from said second down-converted satellite signal has a predetermined one of two states and decremented at each of said carrier-synthesizer-means-generated-first-signal marked times otherwise; and controller means connected to said carrier-synthesizer means and connected to sald first and said second Q-counter means, said controller means being responsive to said first Q-counter-means-developed signals and operative to develop said carrier-synthesizer-means-driving-signals so as to lock the frequency of said carrier-synthesizer-means-generated first signal to the frequency of said first down-converted satellite signal.
In accordance with the present invention there isfurther provided a GPS satellite receiver comprising in '`'' '~
1- ~333%9~ :-5c 69368-40 combination: means for generating a local oscillator signal; a firæt receiver channel including, means for receiving a satellite signal which is biphase modulated by a PRN code, and down-converting means connected to said local-oscillator-generating means, said first receiver-channel down-converting means for mixing said local oscillator signal with a signal derived from said first receiver-channel received-satellite signal to generate a first down-converted satellite signal; a second receiver channel including, means for receiving said satellite signal, and down-converting means connected to said local-oscillator-generating meanæ, said second receiver-channel down-converting means for mixing said local oscillator signal with a signal derived from said second receiver-channel received satellite signal to generate a second down-converter satellite signal; carrier-synthesizer means for generating a first signal having a frequency established by carrier-synthesizer-means-driving-signals; PRN-code-synthesizer means for generating an early, a punctual, and a late signal each representing said PRN code and each having a phase established -by PRN-code-synthesizer-means-driving signals; first exclusive-OR-gate means connected to said PRN-code-synthesizer means and connected to said first receiver channel, said first exclusive-OR-gate means for comparing the state of a signal developed from said first down-converted satellite signal with the state of said PRN-code-synthesizer-means-generated punctual signal to develop a signal, second exclusive-OR-gate means connected to said PRN-code-synthesizer means and connected to said second receiver channel, said second exclusive-OR-gate means for comparing the state of a signal developed from said second converted satellite signal with the state of said PRN-code-synthesizer-means-generated punctual signal to develop a signal, first Q-counter means connected to said first receiver .~ r~, .
5d 133329~ 69368-40 ~~ channel, connected to said carrier-synthesizer means, and connected to said first exclusive-OR-gate means, said first Q-counter means for developing signal representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated first signal when said first exclusive-OR-gate-developed signal has a predetermined one of two states and decremented at each of said carrier-synthesizer-means-generated-first-signal marked times otherwise; second Q-counter means connected to said second receiver channel, connected to said carrier-synthesizer means, and connected to said second exclusive-OR-gate means, said second Q-counter means for developing signals representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated first signal when said second exclusive-OR-gate-developed signal has a predetermined one of two states and decremented at each of said carrier-sy~thesizer-means-generated-first-signal marked times otherwise; and controller means connected to said carrier-synthesizer means and connected to said first and said second Q-counter means, said controller means being responsive to said first Q-counter-means-developed signals and operative to develop said carrier-synthesizer-means-driving signals so as to lock the frequency of said carrier-synthesizer-means-generated first signal to the frequency of said first down-converted satellite signal.
These and other objects of the present invention will no doubt become apparent to those skilled in the art after having read the detailed description of the presently preferred embodiment of the present invention which is illustrated in the figure of the drawings.
'L~
~ 5e 1 3 3 3 2 9 ~ 69368-40 -~ IN THE DRAWINGS
Fig. 1 is a block diagram illustrating the presently preferred embodiment of a GPS satellite receiver in accordance with the present invention.
DETAILED DESCRIPTION OF THE PREFERRED EHBODIMENTS
Illustrated in Fig. 1 of the drawing generally designated by the number 8 is the presently preferred embodiment of a GPS satellite receiver in accordance with the present invention. Receiver 8 employs the components of the receiver which is disclosed in the above identified Canadian Patent of Charles R. Trimble. The components of the later receiver are collectlvely designated by the number 10. Hore particularly, receiver 10 employs a (first) L-band antenna 20, a (first) amplifier 22, a (first) image-reject mixer 24, and a (sole) local oscillator 26. In the presently '~;tt' rj~"
preferred embodlment, antenna 20 is of the quadrlfllar-hellx-type. For clarlty, antenna 20 ls shown connected by a llne 28, a band-pass fllter 30 and a llne 32 to the lnput of ampllfler 22. In the presently preferred embodlment, the fllterlng func-tlon ls performed by ampllfler 22 whlch, preferably, ls of the two-stage GaAs-FET type to provlde a slgnal galn of 35 db and a three db bandwldth of 200 MHz at 1540 f0. Mlxer 24, whlch ls conflgured wlth the mlxer RF lnput connected to the output of ampllfler 22 by a llne 34 and the mlxer LO lnput connected to -the output of local osclllator 26 by a llne 36, ls of the ;
starved-LO balanced-type to cancel (re~ect) slgnals and nolse -at the mlxer lmage frequency (1532 f0).
Osclllator 26 ls operatlve to generate a 768 f0 slgnal the level of whlch ls sufflclent to cause mlxer 24 to double the frequency of the slgnal to 1536 f0 for mlxlng wlth an Ll (1540 f0) satelllte slgnal to down convert the frequency of the satelllte slgnal dlrectly to four f0.
Recelver 10 also employs another (second) fllter, --deslgnated 38, another (second) ampllfler, deslgnated 40, and a (flrst) hard llmlter 42. Fllter 38, whlch ls connected to the output of mlxer 24 by a llne 44, and to the lnput of ampllfler 40 by a cable 46, ls of the slx-pole, passlve, band-pass-type havlng a center frequency of four f0 and a three db bandwldth of two MHz. Ampllfler 40 provldes a galn of approxlmately 40 to 50 db, the galn belng chosen to lnsure that hard llmlter 42 provldes hard llmltlng. Hard llmlter 42, whlch ls conflgured wlth the llmlter lnput connected to the output of ampllfler 42 by a cable 48 and the llmlter output connected to a llne 50, ls employed to convert from analog-to-dlgltal form the (flrst recelver channel) down-converted satelllte slgnal and assocl-ated nolse developed by ampllfler 40 on llne 48.
13332~
_ .
As prevlously lndlcated, hard llmlter 42 ls employed to convert from analog-to-dlgltal form the slgnal developed by ~:
ampllfler 40 on llne 48, whlch lncludes both the down-converted satelllte slgnal and the assoclated nolse. It ls lmportant to note that because of the bandwldth, the level of the nolse ls substantlally greater than the down-converted satelllte-slgnal level. Thus, although the dlgltal resolutlon of hard llmlter 42 ls but a slngle blt, no lnformatlon ls lost.
Addltlonally, recelver 10 employs a phase-controlled PRN-code-signal syntheslzer 52, a frequency-controller Doppler-shlfted carrler-slgnal syntheslzer 54, an excluslve-OR gate 56, two counters, deslgnated 58 and 60, two addltlonal excluslve-OR
gates, deslgnated 62, and 64, an adder 66, another counter 68, and a mlcrocomputer 70. Syntheslzer 52 ls responslve to slg- ~-nals developed on a bus 72 by mlcrocomputer 70 both for selec-tlng a PRN-code and for controlllng the phase of the code and operatlve to develop slgnals lncludlng on a llne 74 a punctual PRN-code slgnal, on a llne 76 a slmllar slgnal advanced (early) one-half blt ~wlth respect to the punctual slgnal), on a llne 78 a slmllar slgnal retarded (late) one-half blt (also wlth respect to the punctual slgnal), and on a llne 80 a PRN-code- -tlmlng (epoch) slgnal.
Syntheslzer 54 ls responslve to slgnals developed on `.-bus 72 by mlcrocomputer 70 for controlllng, to wlthln one- .
quarter Hz resolutlon, the syntheslzer frequency and operatlve to generate a palr of dlgltal slgnals ln phase quadrature, each on a correspondlng one of a palr of llnes, deslgnated 82 and 84.
For clarlty, a slngle excluslve-OR gate, gate 56, ls shown connected to compare the state of the slgnal developed by hard llmlter 42 on llne 50 wlth the state of the punctual PRN-code slgnal developed by syntheslzer 52 on llne 74 to develop _ 8 133329~ 69368-40 on a llne 86 a slgnal for drlvlng both counters 58 and 60. In the presently preferred embodlment, two excluslve-OR gates are used, one for drivlng counter 58 and the other for drlvlng counter 60. Further, the slgnals for drlvlng the former gate are each latched for proper tlmlng.
Counters 58, 60 and 68 are lncremented when the state of a glven one, and only one, of the early and late PRN-code slgnals developed on llnes 76 and 78 ls the same as (correlates ln state wlth) the state of the slgnal developed by hard llml- `
ter 42 on llne 50, decremented when only the other one corre-lates, and not changed (checked) when both correlate or nelther correlates.
Mlcrocomputer 70 ls connected to bus 72 both to recelve the slgnals developed by counters 58, 60, and 68 and to develop slgnals for controlllng syntheslzers 52 and 54. To recelve the Ll slgnal transmltted by a partlcular satelllte, mlcrocomputer 70 ls operatlve to cause PRN-code syntheslzer 52 to develop the assoclated PRN code. Also, mlcrocomputer 70 ls responslve to the slgnals developed by (early/late) counter 68 and operatlve to control the phase of the syntheslzer 52 developed PRN-code slgnals so as to phase-lock the phase of the punctual PRN-code slgnal developed on llne 74 to the phase of the correspondlng down-converted satelllte slgnal. Addltlon-ally, mlcrocomputer 70 18 responslve to the slgnals developed by (Q) counter 60 and operatlve to control the frequency of the syntheslzer 54 developed Doppler-shlfted-carrler slgnals so as to phase-lock the frequency of the syntheslzed slgnals to the frequency of the down-converted satelllte slgnal. Further, mlcrocomputer 70 ls responslve to the transmlt tlme lnformatlon obtalned from controlllng syntheslzer 52, the relatlve veloclty lnformatlon obtalned from controlllng syntheslzer 54 and the navlgatlonal data blt stream lnformatlon obtalned from (I) 9 1 3 ~ 3 2 9 5 69368-40 counter 58 and operatlve to computer the posltlon and veloclty lnformatlon.
Mlcroc.~uter 70 compensates for the (navlgatlonal data blt stream) blphase modulatlon on the down-converted satelllte slgnal to phase-lock syntheslzer 54. Speclflcally, mlcrocomputer 70 18 responslve to the blnary state of the slgnal representlng the slgn blt of the (count) slgnals deve-loped by (I) counter 58 and operatlve to lnvert/or not, the slgn blt slgnal of the (Q) counter 60 developed slgnals. For clarlty, the slgn-blt-lnvertlng and subsequent dlgltal-fllter-lng steps performed by mlcrocomputer 70 are represented by separate blocks lncludlng a mlxer 90 and a second-order dls-crete-tlme-sample fllter 92.
Further, mlcroc-~uter 70 compensates for varlatlons ln the down-converted satelllte-slgnal level to malntaln the syntheslzer 54 phase-locked-loop-galn constant. Mlcrocomputer 70 18 responslve to the (I) counter 58 slgnals and operatlve to ad~ust the fllter 92 galn parameters. (It 18 lmportant to note that rather than reflectlng the slgnal level, the (I) counter 58 developed slgnals reflect the slgnal to nolse ratlo. How-ever, the nolse level 18 relatlvely constant.) Antenna 20, ampllfier 22, mlxer 24, local osclllator 26, fllter 38, ampllfler 40, and hard llmlter 42 form what 18 referred to hereln as a "flrst recelver channel".
In addltlon to the components of the recelver (10) dlsclosed ln the above ldentlfled Unlted States Patent Appll-catlon of Charles R. Trlmble, recelver 8 employs another (second) L-band antenna 20', another (thlrd) ampllfler 22', another (second) lmage-re~ect mlxer 24', another (second) fllter 38', yet another (fourth) ampllfler 40', and another (second) hard llmlter 42', ln what 18 referred to hereln as a "second recelver channel". The components ln the "second lo 13332~ 69368-40 recelver channel are slmllar to those ln the "flrst recelver channeln. In sddltlon, the components ln the "second recelver channel" are slmllarly conflgured as those ln the "flrst re-celver channel". However, lt 18 lmportant to note that only one local osclllator (26) 18 employed. The (sole) local oscll-lator (26) 18 connected to slmultaneously drlve both lmage-re~ect mlxer 24 and lmage-re~ect mlxer 24'. More speclflcally, for clarlty, antenna 20' 18 shown connected by a llne 28', a band-pass fllter 30' and a llne 32' to the lnput of ampllfler 22'. Mlxer 24' 18 conflgured wlth the mlxer RF lnput connected to the output of ampllfler 22' by a llne 34' and the mlxer LO
lnput connected to the output of local osclllator 26 by llne 36. Fllter 38' 18 connected to the output of mlxer 24' by a llne 44', and to the lnput of ampllfler 40' by a cable 46'.
Llmlter 42' 18 conflgured wlth the llmlter lnput connected to ~ ;
the output of ampllfler 42' by a cable 48' and the llmlter output connected to a llne 50'.
Thus, hard llmlter 42' develops on llne 50' a slgnal, whlch dlffers from the one developed on llne 50 by hard llmlter 42 only ln ~phase". In other words, when one of the two anten-nas (20 and 20n) 18 further from the satelllte than the other one, one of the two slgnals (developed on the llnes 50 and 50') wlll be delayed a perlod of tlme equal to the dlfference in the satelllte to antenna propagatlon tlmes.
Addltlonally, recelver 8 employs an excluslve-OR gate 56' and two counters, deslgnated 58' and 60'. Agaln, for clarlty, a slngle excluslve-OR gate 56', 18 shown connected to compare the state of the slgnal developed by hard llmlter 42' on llne 50' wlth the state of the punctual PRN-code slgnal developed by syntheslzer 52 on llne 74 to develop on a llne 86' a slgnal for drlvlng both counters 58' and 60'. Agaln, ln the presently preferred embodlment, two excluslve-OR gates are ..
~ 3 3 2 ~ ~ 69368-40 used, one for drlvlng counter 58' and the other for drlvlng counter 60'. Further, the slgnals for drlvlng the former gate are each latched for proper tlmlng.
In one embodlment, counters 58' and 60', whlch are slmllar to counters 58 and 60, each lnclude three 74LSl93 type devlces ~four-blt up/down counter) whlch are connected ln cas-cade to form a 12-blt counter. Addltlonally, counter 58 ln-cludes one, and counter 60 lncludes one and one-half 74LS374 type devlces (octal-latch) connected to latch the state of the slgnals representlng the count developed by the respectlve 12-blt counter and to selectlvely couple the latched slgnals onto bus 72. Counters 58' and 60' also lnclude a number of 74LS175 type fllp-flops and a number of gates conflgured to develop a count-up slgnal and a count-down slgnal sultable for drlvlng each of the 12-blt counters from the (count up~down) slgnal developed on llne 86' and the (clocklng) slgnals developed on llnes 82 and 84.
Slmllarly, counters 58' and 60' are lncremented when the state of a glven one, and only one, of the early and late PRN-code slgnals developed on llnes 76 and 78 18 the ssme as (correlates ln state wlth) the state of the slgnal developed by hard llmlter 42' on llne 50', decremented when only the other one correlates, and not changed (checked) when both correlate or nelther correlates.
In calculatlng a headlng, mlcrocomputer 70 calculates the bearlng of one of the satellltes. In addltlon, mlcrocom-puter 70 calculates the dlfference between the dlstance from the satelllte to antenna 20 and the dlstance from the satelllte to antenna 20'. In calculatlng thls dlfferentlal dlstance, mlcrocomputer 70 calculates the dlfference ln the arrlval tlmes to antennas 20 and 20' of the satelllte slgnal. More speclfl-cally, mlcrocomputer 70 calculates, ln portlons of an Ll .' .~
133329'~
carrler slgnal cycle, the phase dlfference between the Hflrst recelver channel" and the "second recelver ch~nnel" slgnals by calculatlng the arctanqent of the ratlo of the number repre-sented by slgnals developed on bus 72 by (Q) counter 60' to the number represented by slgnals developed on bus 72 by (I) coun-ter 58'. Then, mlcrocomputer 70 converts thls phase dlfference to a dlfferentlal dlstance by multlplylng the phase dlfference by the wavelength of the Ll carrler sl5~nal (19.02937 cm) dlvl-ded by two phl (or 360 degrees). Addltlonally, mlcrocomputer 10 70 calculates the angle between the satelllte bearlng and a 99 llne whlch extends between the antennas (20 and 20' ) by calcu-latlng the arccoslne of the ratlo of the dlfferentlal dlstance to the antenna (20 and 20') spaclng. Flnally, wlth the use of other satellltes, any amblgulty 18 resolved. (When the llne whlch extends between the antennas 18 allgned wlth the prlncl-pal axls of a shlp or alrplane, the headlng 80 calculated cor-responds to the headlng of the shlp or alrplane.) (In another embodlment, components formlng a Hthlrd recelver channel", another excluslve OR gate, another (I) counter, and another (Q) 20 counter are employed. Preferably, the "thlrd recelver channel"
antenna 18 dlsposed along a llne whlch extends perpendlcular to the llne whlch extends between antennas 20 and 20'. Wlth these addltlonal components, the mlcrocomputer calculates roll as well as headlng, yaw and pltch.) In the presently preferred embodlment, syntheslzers 52 and 54, gates 56, 62, 64, and 56', counters 58, 60, 68, 58', and 60', and adder 66 are all lntegrated ln a slngle gate-array-type devlce.
It 18 contemplated thst after havlng read the prece-30 dlng dlsclosure, certaln alteratlons and modlflcatlons of the present lnventlon wlll no doubt become apparent to those skllled ln the art. It 18 therefore lntended that the 13 1 33329~ 69368-40 followlng clalms be lnterpreted to cover all such alteratlons and modlflcatlons as fall wlthln the true splrlt and scope of the lnventlon.
:
;
. .
--,....
~,,
lnformatlon.
In addltlon to the components of the recelver dls-closed ln the above ldentlfled CAnA~1 An Patent of Charles R.
Trlmble, the presently preferred embodlment of a GPæ satelllte ~ -recelver ln accordance wlth the present lnventlon employs, ln a "second recelver channel", another (second) L-band antenna for GPS slgnal receptlon, another bandpass fllter for attenuatlng off-frequency slgnals, stlll another (thlrd) ampllfler for establlshlng the recelver nolse flgure, and another (second) lmage-re~ect mlxer, the latter components all belng connected ln cascade. The later (second) mlxer 18 also connected to be drlven by the former (sole) half-frequency local-osclllator-slgnal-generatlng osclllator. Also employed ln the "second recelver channel" 18 yet another (fourth) ampllfler, another hAndrA~8 fllter and another (second) hard llmlter, the later components all belng connected ln cascade from the ~second) mlxer output. Slmllarly, the (second) hard llmlter converts the (second channel) (four fO) down-converted satelllte slgnal and assoclated nolse from analog-to-dlgltal form.
Addltlonally, the recelver employs a (second) excluslve-OR gate connected to develop a signal by comparing the signal developed by the (second) hard limiter with the punctual PRN-code signal and a (second) pair of counters connected to be clocked in quadrature by the Doppler-shifted carrier-synthesizer-developed signals and to be incremented/-decremented responsive to the state of the (second) exclusive-OR gate-developed signal are employed to remove the PRN-code- -modulation information and to develop a (second) in phase (I) and a (second) quadrature (Q) Castas-loop signals, also for driving the microcomputer. From the (second) in phase (I) and the (second) quadrature (Q) signals the microcomputer computes the heading information.
In accordance with the present invention there is provided a receiver comprising in combination: means for generating a local oscillator signal; a first receiver channel including, means for receiving a transmitted signal, and down-converting means connected to said local-oscillator-generating -~
means, said first receiver-channel down-converting means for mixing said local-oscillator signal with a signal derived from said first receiver-channel received signal to generate a first down-converted signal; a second receiver channel including, means for receiving said transmitted signal, and down-converting means connected to said local-oscillator-generating means, said second receiver-channel down-converting means for mixing said local-oscillator signal with a signal derived from said second receiver-channel received signal to generate a second down-converted signal; carrier-synthesizer means for generating a signal having a frequency established by carrier-synthesizer-means-driving signals; first counter means coupled ~-to said first receiver channel and connected to said carrier-synthesizer means, said first counter means for developing signals representing a count which is incremented at each of a , .
`-; 13332~5 5a 69368-40 series of times marked by said carrier-synthesizer-means-generated signal when a signal developed from said first down-converted signal has a predetermined one of two states and decremented at each of said carrier-synthesizer-means-generated-signal marked times otherwise; second counter means coupled to said second receiver channel and connected to said carrier-synthesizer means, said second counter means for developing signals represented a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated signal when a signal developed from said second down-converted signal has a predetermined one of two states and decremented at each of said carrier-synthesizer-means-generated-signal marked times otherwise; and controller means connected to said carrier-synthesizer means and connected to said first and said second counter means, said controller means being responsive to said first-counter-means-developed signals and operative to develop said carrier-synthesizer-means-driving signals so as to lock the frequency of said carrier-synthesizer-means-generated signal to the frequency of said first down-converted signal.
In accordance with the present invention there is also provided a GPS satellite receiver comprising in combination, means for generating a local oscillator signal; a first receiver channel including, means for receiving a satellite signal, and down-converting means connected to said local-oscillator-generating means, said first receiver-channel down-converting means for mixing said local-oscillator signal ~:
with a signal derived from said first receiver-channel received-satellite signal to generate a first down-converted satellite signal; a second receiver channel including, means for receiving said satellite signal, and down-converting means connected to said local-oscillator-generating means, said . .
~t'~
5b 13332~ 69368-40 second receiver-channel down-converting means for mixing said local-oscillator signal with a signal derived from said second receiver-channel received-satellite signal to generate a second down-converter satellite signal; carrier-synthesizer means for generating a first signal having a frequency established by :
carrier-synthesizer-means-driving signals; first Q-counter means coupled to said first receiver channel and connected to said carrier-synthesizer means, said first Q-counter means for developing signals representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated first signal when a signal developed from said first down-converted satellite signal has a predetermined one of two states and decremented at each of said carrier- ~, synthesizer-means-generated-first-signal marked times otherwise; second Q-counter coupled to said second receiver channel and connected to said carrier-synthesizer means, said second Q-counter means for developing signals representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated first signal when a signal developed from said second down-converted satellite signal has a predetermined one of two states and decremented at each of said carrier-synthesizer-means-generated-first-signal marked times otherwise; and controller means connected to said carrier-synthesizer means and connected to sald first and said second Q-counter means, said controller means being responsive to said first Q-counter-means-developed signals and operative to develop said carrier-synthesizer-means-driving-signals so as to lock the frequency of said carrier-synthesizer-means-generated first signal to the frequency of said first down-converted satellite signal.
In accordance with the present invention there isfurther provided a GPS satellite receiver comprising in '`'' '~
1- ~333%9~ :-5c 69368-40 combination: means for generating a local oscillator signal; a firæt receiver channel including, means for receiving a satellite signal which is biphase modulated by a PRN code, and down-converting means connected to said local-oscillator-generating means, said first receiver-channel down-converting means for mixing said local oscillator signal with a signal derived from said first receiver-channel received-satellite signal to generate a first down-converted satellite signal; a second receiver channel including, means for receiving said satellite signal, and down-converting means connected to said local-oscillator-generating meanæ, said second receiver-channel down-converting means for mixing said local oscillator signal with a signal derived from said second receiver-channel received satellite signal to generate a second down-converter satellite signal; carrier-synthesizer means for generating a first signal having a frequency established by carrier-synthesizer-means-driving-signals; PRN-code-synthesizer means for generating an early, a punctual, and a late signal each representing said PRN code and each having a phase established -by PRN-code-synthesizer-means-driving signals; first exclusive-OR-gate means connected to said PRN-code-synthesizer means and connected to said first receiver channel, said first exclusive-OR-gate means for comparing the state of a signal developed from said first down-converted satellite signal with the state of said PRN-code-synthesizer-means-generated punctual signal to develop a signal, second exclusive-OR-gate means connected to said PRN-code-synthesizer means and connected to said second receiver channel, said second exclusive-OR-gate means for comparing the state of a signal developed from said second converted satellite signal with the state of said PRN-code-synthesizer-means-generated punctual signal to develop a signal, first Q-counter means connected to said first receiver .~ r~, .
5d 133329~ 69368-40 ~~ channel, connected to said carrier-synthesizer means, and connected to said first exclusive-OR-gate means, said first Q-counter means for developing signal representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated first signal when said first exclusive-OR-gate-developed signal has a predetermined one of two states and decremented at each of said carrier-synthesizer-means-generated-first-signal marked times otherwise; second Q-counter means connected to said second receiver channel, connected to said carrier-synthesizer means, and connected to said second exclusive-OR-gate means, said second Q-counter means for developing signals representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated first signal when said second exclusive-OR-gate-developed signal has a predetermined one of two states and decremented at each of said carrier-sy~thesizer-means-generated-first-signal marked times otherwise; and controller means connected to said carrier-synthesizer means and connected to said first and said second Q-counter means, said controller means being responsive to said first Q-counter-means-developed signals and operative to develop said carrier-synthesizer-means-driving signals so as to lock the frequency of said carrier-synthesizer-means-generated first signal to the frequency of said first down-converted satellite signal.
These and other objects of the present invention will no doubt become apparent to those skilled in the art after having read the detailed description of the presently preferred embodiment of the present invention which is illustrated in the figure of the drawings.
'L~
~ 5e 1 3 3 3 2 9 ~ 69368-40 -~ IN THE DRAWINGS
Fig. 1 is a block diagram illustrating the presently preferred embodiment of a GPS satellite receiver in accordance with the present invention.
DETAILED DESCRIPTION OF THE PREFERRED EHBODIMENTS
Illustrated in Fig. 1 of the drawing generally designated by the number 8 is the presently preferred embodiment of a GPS satellite receiver in accordance with the present invention. Receiver 8 employs the components of the receiver which is disclosed in the above identified Canadian Patent of Charles R. Trimble. The components of the later receiver are collectlvely designated by the number 10. Hore particularly, receiver 10 employs a (first) L-band antenna 20, a (first) amplifier 22, a (first) image-reject mixer 24, and a (sole) local oscillator 26. In the presently '~;tt' rj~"
preferred embodlment, antenna 20 is of the quadrlfllar-hellx-type. For clarlty, antenna 20 ls shown connected by a llne 28, a band-pass fllter 30 and a llne 32 to the lnput of ampllfler 22. In the presently preferred embodlment, the fllterlng func-tlon ls performed by ampllfler 22 whlch, preferably, ls of the two-stage GaAs-FET type to provlde a slgnal galn of 35 db and a three db bandwldth of 200 MHz at 1540 f0. Mlxer 24, whlch ls conflgured wlth the mlxer RF lnput connected to the output of ampllfler 22 by a llne 34 and the mlxer LO lnput connected to -the output of local osclllator 26 by a llne 36, ls of the ;
starved-LO balanced-type to cancel (re~ect) slgnals and nolse -at the mlxer lmage frequency (1532 f0).
Osclllator 26 ls operatlve to generate a 768 f0 slgnal the level of whlch ls sufflclent to cause mlxer 24 to double the frequency of the slgnal to 1536 f0 for mlxlng wlth an Ll (1540 f0) satelllte slgnal to down convert the frequency of the satelllte slgnal dlrectly to four f0.
Recelver 10 also employs another (second) fllter, --deslgnated 38, another (second) ampllfler, deslgnated 40, and a (flrst) hard llmlter 42. Fllter 38, whlch ls connected to the output of mlxer 24 by a llne 44, and to the lnput of ampllfler 40 by a cable 46, ls of the slx-pole, passlve, band-pass-type havlng a center frequency of four f0 and a three db bandwldth of two MHz. Ampllfler 40 provldes a galn of approxlmately 40 to 50 db, the galn belng chosen to lnsure that hard llmlter 42 provldes hard llmltlng. Hard llmlter 42, whlch ls conflgured wlth the llmlter lnput connected to the output of ampllfler 42 by a cable 48 and the llmlter output connected to a llne 50, ls employed to convert from analog-to-dlgltal form the (flrst recelver channel) down-converted satelllte slgnal and assocl-ated nolse developed by ampllfler 40 on llne 48.
13332~
_ .
As prevlously lndlcated, hard llmlter 42 ls employed to convert from analog-to-dlgltal form the slgnal developed by ~:
ampllfler 40 on llne 48, whlch lncludes both the down-converted satelllte slgnal and the assoclated nolse. It ls lmportant to note that because of the bandwldth, the level of the nolse ls substantlally greater than the down-converted satelllte-slgnal level. Thus, although the dlgltal resolutlon of hard llmlter 42 ls but a slngle blt, no lnformatlon ls lost.
Addltlonally, recelver 10 employs a phase-controlled PRN-code-signal syntheslzer 52, a frequency-controller Doppler-shlfted carrler-slgnal syntheslzer 54, an excluslve-OR gate 56, two counters, deslgnated 58 and 60, two addltlonal excluslve-OR
gates, deslgnated 62, and 64, an adder 66, another counter 68, and a mlcrocomputer 70. Syntheslzer 52 ls responslve to slg- ~-nals developed on a bus 72 by mlcrocomputer 70 both for selec-tlng a PRN-code and for controlllng the phase of the code and operatlve to develop slgnals lncludlng on a llne 74 a punctual PRN-code slgnal, on a llne 76 a slmllar slgnal advanced (early) one-half blt ~wlth respect to the punctual slgnal), on a llne 78 a slmllar slgnal retarded (late) one-half blt (also wlth respect to the punctual slgnal), and on a llne 80 a PRN-code- -tlmlng (epoch) slgnal.
Syntheslzer 54 ls responslve to slgnals developed on `.-bus 72 by mlcrocomputer 70 for controlllng, to wlthln one- .
quarter Hz resolutlon, the syntheslzer frequency and operatlve to generate a palr of dlgltal slgnals ln phase quadrature, each on a correspondlng one of a palr of llnes, deslgnated 82 and 84.
For clarlty, a slngle excluslve-OR gate, gate 56, ls shown connected to compare the state of the slgnal developed by hard llmlter 42 on llne 50 wlth the state of the punctual PRN-code slgnal developed by syntheslzer 52 on llne 74 to develop _ 8 133329~ 69368-40 on a llne 86 a slgnal for drlvlng both counters 58 and 60. In the presently preferred embodlment, two excluslve-OR gates are used, one for drivlng counter 58 and the other for drlvlng counter 60. Further, the slgnals for drlvlng the former gate are each latched for proper tlmlng.
Counters 58, 60 and 68 are lncremented when the state of a glven one, and only one, of the early and late PRN-code slgnals developed on llnes 76 and 78 ls the same as (correlates ln state wlth) the state of the slgnal developed by hard llml- `
ter 42 on llne 50, decremented when only the other one corre-lates, and not changed (checked) when both correlate or nelther correlates.
Mlcrocomputer 70 ls connected to bus 72 both to recelve the slgnals developed by counters 58, 60, and 68 and to develop slgnals for controlllng syntheslzers 52 and 54. To recelve the Ll slgnal transmltted by a partlcular satelllte, mlcrocomputer 70 ls operatlve to cause PRN-code syntheslzer 52 to develop the assoclated PRN code. Also, mlcrocomputer 70 ls responslve to the slgnals developed by (early/late) counter 68 and operatlve to control the phase of the syntheslzer 52 developed PRN-code slgnals so as to phase-lock the phase of the punctual PRN-code slgnal developed on llne 74 to the phase of the correspondlng down-converted satelllte slgnal. Addltlon-ally, mlcrocomputer 70 18 responslve to the slgnals developed by (Q) counter 60 and operatlve to control the frequency of the syntheslzer 54 developed Doppler-shlfted-carrler slgnals so as to phase-lock the frequency of the syntheslzed slgnals to the frequency of the down-converted satelllte slgnal. Further, mlcrocomputer 70 ls responslve to the transmlt tlme lnformatlon obtalned from controlllng syntheslzer 52, the relatlve veloclty lnformatlon obtalned from controlllng syntheslzer 54 and the navlgatlonal data blt stream lnformatlon obtalned from (I) 9 1 3 ~ 3 2 9 5 69368-40 counter 58 and operatlve to computer the posltlon and veloclty lnformatlon.
Mlcroc.~uter 70 compensates for the (navlgatlonal data blt stream) blphase modulatlon on the down-converted satelllte slgnal to phase-lock syntheslzer 54. Speclflcally, mlcrocomputer 70 18 responslve to the blnary state of the slgnal representlng the slgn blt of the (count) slgnals deve-loped by (I) counter 58 and operatlve to lnvert/or not, the slgn blt slgnal of the (Q) counter 60 developed slgnals. For clarlty, the slgn-blt-lnvertlng and subsequent dlgltal-fllter-lng steps performed by mlcrocomputer 70 are represented by separate blocks lncludlng a mlxer 90 and a second-order dls-crete-tlme-sample fllter 92.
Further, mlcroc-~uter 70 compensates for varlatlons ln the down-converted satelllte-slgnal level to malntaln the syntheslzer 54 phase-locked-loop-galn constant. Mlcrocomputer 70 18 responslve to the (I) counter 58 slgnals and operatlve to ad~ust the fllter 92 galn parameters. (It 18 lmportant to note that rather than reflectlng the slgnal level, the (I) counter 58 developed slgnals reflect the slgnal to nolse ratlo. How-ever, the nolse level 18 relatlvely constant.) Antenna 20, ampllfier 22, mlxer 24, local osclllator 26, fllter 38, ampllfler 40, and hard llmlter 42 form what 18 referred to hereln as a "flrst recelver channel".
In addltlon to the components of the recelver (10) dlsclosed ln the above ldentlfled Unlted States Patent Appll-catlon of Charles R. Trlmble, recelver 8 employs another (second) L-band antenna 20', another (thlrd) ampllfler 22', another (second) lmage-re~ect mlxer 24', another (second) fllter 38', yet another (fourth) ampllfler 40', and another (second) hard llmlter 42', ln what 18 referred to hereln as a "second recelver channel". The components ln the "second lo 13332~ 69368-40 recelver channel are slmllar to those ln the "flrst recelver channeln. In sddltlon, the components ln the "second recelver channel" are slmllarly conflgured as those ln the "flrst re-celver channel". However, lt 18 lmportant to note that only one local osclllator (26) 18 employed. The (sole) local oscll-lator (26) 18 connected to slmultaneously drlve both lmage-re~ect mlxer 24 and lmage-re~ect mlxer 24'. More speclflcally, for clarlty, antenna 20' 18 shown connected by a llne 28', a band-pass fllter 30' and a llne 32' to the lnput of ampllfler 22'. Mlxer 24' 18 conflgured wlth the mlxer RF lnput connected to the output of ampllfler 22' by a llne 34' and the mlxer LO
lnput connected to the output of local osclllator 26 by llne 36. Fllter 38' 18 connected to the output of mlxer 24' by a llne 44', and to the lnput of ampllfler 40' by a cable 46'.
Llmlter 42' 18 conflgured wlth the llmlter lnput connected to ~ ;
the output of ampllfler 42' by a cable 48' and the llmlter output connected to a llne 50'.
Thus, hard llmlter 42' develops on llne 50' a slgnal, whlch dlffers from the one developed on llne 50 by hard llmlter 42 only ln ~phase". In other words, when one of the two anten-nas (20 and 20n) 18 further from the satelllte than the other one, one of the two slgnals (developed on the llnes 50 and 50') wlll be delayed a perlod of tlme equal to the dlfference in the satelllte to antenna propagatlon tlmes.
Addltlonally, recelver 8 employs an excluslve-OR gate 56' and two counters, deslgnated 58' and 60'. Agaln, for clarlty, a slngle excluslve-OR gate 56', 18 shown connected to compare the state of the slgnal developed by hard llmlter 42' on llne 50' wlth the state of the punctual PRN-code slgnal developed by syntheslzer 52 on llne 74 to develop on a llne 86' a slgnal for drlvlng both counters 58' and 60'. Agaln, ln the presently preferred embodlment, two excluslve-OR gates are ..
~ 3 3 2 ~ ~ 69368-40 used, one for drlvlng counter 58' and the other for drlvlng counter 60'. Further, the slgnals for drlvlng the former gate are each latched for proper tlmlng.
In one embodlment, counters 58' and 60', whlch are slmllar to counters 58 and 60, each lnclude three 74LSl93 type devlces ~four-blt up/down counter) whlch are connected ln cas-cade to form a 12-blt counter. Addltlonally, counter 58 ln-cludes one, and counter 60 lncludes one and one-half 74LS374 type devlces (octal-latch) connected to latch the state of the slgnals representlng the count developed by the respectlve 12-blt counter and to selectlvely couple the latched slgnals onto bus 72. Counters 58' and 60' also lnclude a number of 74LS175 type fllp-flops and a number of gates conflgured to develop a count-up slgnal and a count-down slgnal sultable for drlvlng each of the 12-blt counters from the (count up~down) slgnal developed on llne 86' and the (clocklng) slgnals developed on llnes 82 and 84.
Slmllarly, counters 58' and 60' are lncremented when the state of a glven one, and only one, of the early and late PRN-code slgnals developed on llnes 76 and 78 18 the ssme as (correlates ln state wlth) the state of the slgnal developed by hard llmlter 42' on llne 50', decremented when only the other one correlates, and not changed (checked) when both correlate or nelther correlates.
In calculatlng a headlng, mlcrocomputer 70 calculates the bearlng of one of the satellltes. In addltlon, mlcrocom-puter 70 calculates the dlfference between the dlstance from the satelllte to antenna 20 and the dlstance from the satelllte to antenna 20'. In calculatlng thls dlfferentlal dlstance, mlcrocomputer 70 calculates the dlfference ln the arrlval tlmes to antennas 20 and 20' of the satelllte slgnal. More speclfl-cally, mlcrocomputer 70 calculates, ln portlons of an Ll .' .~
133329'~
carrler slgnal cycle, the phase dlfference between the Hflrst recelver channel" and the "second recelver ch~nnel" slgnals by calculatlng the arctanqent of the ratlo of the number repre-sented by slgnals developed on bus 72 by (Q) counter 60' to the number represented by slgnals developed on bus 72 by (I) coun-ter 58'. Then, mlcrocomputer 70 converts thls phase dlfference to a dlfferentlal dlstance by multlplylng the phase dlfference by the wavelength of the Ll carrler sl5~nal (19.02937 cm) dlvl-ded by two phl (or 360 degrees). Addltlonally, mlcrocomputer 10 70 calculates the angle between the satelllte bearlng and a 99 llne whlch extends between the antennas (20 and 20' ) by calcu-latlng the arccoslne of the ratlo of the dlfferentlal dlstance to the antenna (20 and 20') spaclng. Flnally, wlth the use of other satellltes, any amblgulty 18 resolved. (When the llne whlch extends between the antennas 18 allgned wlth the prlncl-pal axls of a shlp or alrplane, the headlng 80 calculated cor-responds to the headlng of the shlp or alrplane.) (In another embodlment, components formlng a Hthlrd recelver channel", another excluslve OR gate, another (I) counter, and another (Q) 20 counter are employed. Preferably, the "thlrd recelver channel"
antenna 18 dlsposed along a llne whlch extends perpendlcular to the llne whlch extends between antennas 20 and 20'. Wlth these addltlonal components, the mlcrocomputer calculates roll as well as headlng, yaw and pltch.) In the presently preferred embodlment, syntheslzers 52 and 54, gates 56, 62, 64, and 56', counters 58, 60, 68, 58', and 60', and adder 66 are all lntegrated ln a slngle gate-array-type devlce.
It 18 contemplated thst after havlng read the prece-30 dlng dlsclosure, certaln alteratlons and modlflcatlons of the present lnventlon wlll no doubt become apparent to those skllled ln the art. It 18 therefore lntended that the 13 1 33329~ 69368-40 followlng clalms be lnterpreted to cover all such alteratlons and modlflcatlons as fall wlthln the true splrlt and scope of the lnventlon.
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Claims (10)
PROPERTY OR PRIVILEGE IS CLAIMED ARE DEFINED AS FOLLOWS:
1. A receiver comprising in combination:
means for generating a local oscillator signal;
a first receiver channel including, means for receiving a transmitted signal, and down-converting means connected to said local-oscillator-generating means, said first receiver-channel down-converting means for mixing said local-oscillator signal with a signal derived from said first receiver-channel received signal to generate a first down-converted signal;
a second receiver channel including, means for receiving said transmitted signal, and down-converting means connected to said local-oscillator-generating means, said second receiver-channel down-converting means for mixing said local-oscillator signal with a signal derived from said second receiver-channel received signal to generate a second down-converted signal;
carrier-synthesizer means for generating a signal having a frequency established by carrier-synthesizer-means-driving signals;
first counter means coupled to said first receiver channel and connected to said carrier-synthesizer means, said first counter means for developing signals representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated signal when a signal developed from said first down-converted signal has a predetermined one of two states and decremented at each of said carrier-synthesizer-means-generated-signal marked times otherwise;
second counter means coupled to said second receiver channel and connected to said carrier-synthesizer means, said ' second counter means for developing signals represented a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated-signal when a signal developed from said second down-converted signal has a predetermined one of two states and decremented at each of said carrier-synthesizer-means-generated-signal marked times otherwise; and controller means connected to said carrier-synthesizer means and connected to said first and said second counter means, said controller means being responsive to said first-counter-means-developed signals and operative to develop said carrier-synthesizer-means-driving signals so as to lock the frequency of said carrier-synthesizer-means-generated-signal to the frequency of said first down-converted signal.
means for generating a local oscillator signal;
a first receiver channel including, means for receiving a transmitted signal, and down-converting means connected to said local-oscillator-generating means, said first receiver-channel down-converting means for mixing said local-oscillator signal with a signal derived from said first receiver-channel received signal to generate a first down-converted signal;
a second receiver channel including, means for receiving said transmitted signal, and down-converting means connected to said local-oscillator-generating means, said second receiver-channel down-converting means for mixing said local-oscillator signal with a signal derived from said second receiver-channel received signal to generate a second down-converted signal;
carrier-synthesizer means for generating a signal having a frequency established by carrier-synthesizer-means-driving signals;
first counter means coupled to said first receiver channel and connected to said carrier-synthesizer means, said first counter means for developing signals representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated signal when a signal developed from said first down-converted signal has a predetermined one of two states and decremented at each of said carrier-synthesizer-means-generated-signal marked times otherwise;
second counter means coupled to said second receiver channel and connected to said carrier-synthesizer means, said ' second counter means for developing signals represented a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated-signal when a signal developed from said second down-converted signal has a predetermined one of two states and decremented at each of said carrier-synthesizer-means-generated-signal marked times otherwise; and controller means connected to said carrier-synthesizer means and connected to said first and said second counter means, said controller means being responsive to said first-counter-means-developed signals and operative to develop said carrier-synthesizer-means-driving signals so as to lock the frequency of said carrier-synthesizer-means-generated-signal to the frequency of said first down-converted signal.
2. A GPS satellite receiver comprising in combination:
means for generating a local oscillator signal;
a first receiver channel including, means for receiving a satellite signal, and down-converting means connected to said local-oscillator-generating means, said first receiver-channel down-converting means for mixing said local-oscillator signal with a signal derived from said first receiver-channel received-satellite signal to generate a first down-converted satellite signal;
a second receiver-channel including, means for receiving said satellite signal, and down-converting means connected to said local-oscillator-generating means, said second receiver-channel down-converting means for mixing said local-oscillator signal with a signal derived from said second receiver-channel received-satellite signal to generate a second down-converter satellite signal;
carrier-synthesizer means for generating a first signal having a frequency established by carrier-synthesizer-means-driving signals;
first Q-counter means coupled to said first receiver channel and connected to said carrier-synthesizer means, said first Q-counter means for developing signals representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated-first-siqnal when a signal developed from said first down-converted satellite signal has a predetermined one of two states and decremented at each of said carrier-synthesizer-means-generated-first-signal marked times otherwise;
second Q-counter coupled to said second receiver channel and connected to said carrier-synthesizer means, said second Q-counter means for developing signals representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated-first-signal when a signal developed from said second down-converted satellite signal has a predetermined one of two states and decremented at each of said carrier-synthesizer-means-generated-first-signal marked times otherwise; and controller means connected to said carrier-synthesizer means and connected to said first and said second Q-counter means, said controller means being responsive to said first Q-counter-means-developed signals and operative to develop said carrier-synthesizer-means-driving-signals so as to lock the frequency of said carrier-synthesizer-means-generated-first-signal to the frequency of said first down-converted satellite signal.
means for generating a local oscillator signal;
a first receiver channel including, means for receiving a satellite signal, and down-converting means connected to said local-oscillator-generating means, said first receiver-channel down-converting means for mixing said local-oscillator signal with a signal derived from said first receiver-channel received-satellite signal to generate a first down-converted satellite signal;
a second receiver-channel including, means for receiving said satellite signal, and down-converting means connected to said local-oscillator-generating means, said second receiver-channel down-converting means for mixing said local-oscillator signal with a signal derived from said second receiver-channel received-satellite signal to generate a second down-converter satellite signal;
carrier-synthesizer means for generating a first signal having a frequency established by carrier-synthesizer-means-driving signals;
first Q-counter means coupled to said first receiver channel and connected to said carrier-synthesizer means, said first Q-counter means for developing signals representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated-first-siqnal when a signal developed from said first down-converted satellite signal has a predetermined one of two states and decremented at each of said carrier-synthesizer-means-generated-first-signal marked times otherwise;
second Q-counter coupled to said second receiver channel and connected to said carrier-synthesizer means, said second Q-counter means for developing signals representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated-first-signal when a signal developed from said second down-converted satellite signal has a predetermined one of two states and decremented at each of said carrier-synthesizer-means-generated-first-signal marked times otherwise; and controller means connected to said carrier-synthesizer means and connected to said first and said second Q-counter means, said controller means being responsive to said first Q-counter-means-developed signals and operative to develop said carrier-synthesizer-means-driving-signals so as to lock the frequency of said carrier-synthesizer-means-generated-first-signal to the frequency of said first down-converted satellite signal.
3. A GPS satellite receiver as recited in claim 2 wherein said carrier-synthesizer means further generates a second signal which is in phase quadrature with said carrier-synthesizer-means-generated-first-signal and wherein the receiver further comprises first I-counter means coupled to said first receiver-channel, connected to said carrier-synthesizer means and connected to said controller means, said I-counter means for developing controller-means-driving signals representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated second signal when said signal developed from said first down-converted satellite signal has a predetermined one of two states and decremented at each of said second carrier-synthesizer-means-generated-signal marked times otherwise.
4. A GPS satellite receiver as recited in claim 3 further comprising second I-counter means coupled to said second receiver channel, connected to said carrier-synthesizer means and connected to said controller means, said I-counter means for developing controller-means-driving signals representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated second signal when said signal developed from said second down-converted satellite signal has a predetermined one of two states and decremented at each of said second carrier-synthesizer-means-generated-signal marked times otherwise.
5. A GPS satellite receiver as recited in claim 2 wherein said carrier-synthesizer means further generates a second signal which is in phase quadrature with said carrier-synthesizer-means-generated first signal and wherein the receiver further comprises I-counter means coupled to said second receiver channel, connected to said carrier-synthesizer means and connected to said controller means, said I-counter means for developing controller-means-driving signals representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated second signal when said signal developed from said second down-converted satellite signal has a predetermined one of two states and decremented at each of said second carrier-synthesizer-means-generated-signal marked times otherwise.
6. A GPS satellite receiver comprising in combination:
means for generating a local oscillator signal;
a first receiver channel including, means for receiving a satellite signal which is biphase modulated by a PRN code, and down-converting means connected to said local-oscillator-generating means, said first receiver-channel down-converting means for mixing said local oscillator signal with a signal derived from said first receiver-channel received-satellite signal to generate a first down-converted satellite signal;
a second receiver channel including, means for receiving said satellite signal, and down-converting means connected to said local-oscillator-generating means, said second receiver-channel down-converting means for mixing said local oscillator signal with a signal derived from said second receiver-channel received-satellite signal to generate a second down-converter satellite signal;
carrier-synthesizer means for generating a first signal having a frequency established by carrier-synthesizer-means-driving-signals;
PRN-code-synthesizer means for generating an early, a punctual, and a late signal each representing said PRN code and each having a phase established by PRN-code-synthesizer-means-driving signals;
first exclusive-OR-gate means connected to said PRN-code-synthesizer means and connected to said first receiver channel, said first exclusive-OR-gate means for comparing the state of a signal developed from said first down-converted satellite signal with the state of said PRN-code-synthesizer-means-generated punctual signal to develop a signal, second exclusive-OR-gate means connected to said PRN-code-synthesizer means and connected to said second receiver channel, said second exclusive-OR-gate means for comparing the state of a signal developed from said second converted satellite signal with the state of said PRN-code-synthesizer-means-generated punctual signal to develop a signal, first Q-counter means connected to said first receiver channel, connected to said carrier-synthesizer means, and connected to said first exclusive-OR-gate means, said first Q-counter means for developing signal representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated first signal when said first exclusive-OR-gate-developed signal has a predetermined one of two states and decremented at each of said carrier-synthesizer-means-generated-first-signal marked times otherwise;
second Q-counter means connected to said second receiver channel, connected to said carrier-synthesizer means, and connected to said second exclusive-OR-gate means, said second Q-counter means for developing signals representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated first signal when said second exclusive-OR-gate-developed signal has a predetermined one of two states and decremented at each of said carrier-synthesizer-means-generated-first-signal marked times otherwise; and controller means connected to said carrier-synthesizer means and connected to said first and said second Q-counter means, said controller means being responsive to said first Q-counter-means-developed signals and operative to develop said carrier-synthesizer-means-driving signals so as to lock the frequency of said carrier-synthesizer-means-generated first signal to the frequency of said first down-converted satellite signal.
means for generating a local oscillator signal;
a first receiver channel including, means for receiving a satellite signal which is biphase modulated by a PRN code, and down-converting means connected to said local-oscillator-generating means, said first receiver-channel down-converting means for mixing said local oscillator signal with a signal derived from said first receiver-channel received-satellite signal to generate a first down-converted satellite signal;
a second receiver channel including, means for receiving said satellite signal, and down-converting means connected to said local-oscillator-generating means, said second receiver-channel down-converting means for mixing said local oscillator signal with a signal derived from said second receiver-channel received-satellite signal to generate a second down-converter satellite signal;
carrier-synthesizer means for generating a first signal having a frequency established by carrier-synthesizer-means-driving-signals;
PRN-code-synthesizer means for generating an early, a punctual, and a late signal each representing said PRN code and each having a phase established by PRN-code-synthesizer-means-driving signals;
first exclusive-OR-gate means connected to said PRN-code-synthesizer means and connected to said first receiver channel, said first exclusive-OR-gate means for comparing the state of a signal developed from said first down-converted satellite signal with the state of said PRN-code-synthesizer-means-generated punctual signal to develop a signal, second exclusive-OR-gate means connected to said PRN-code-synthesizer means and connected to said second receiver channel, said second exclusive-OR-gate means for comparing the state of a signal developed from said second converted satellite signal with the state of said PRN-code-synthesizer-means-generated punctual signal to develop a signal, first Q-counter means connected to said first receiver channel, connected to said carrier-synthesizer means, and connected to said first exclusive-OR-gate means, said first Q-counter means for developing signal representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated first signal when said first exclusive-OR-gate-developed signal has a predetermined one of two states and decremented at each of said carrier-synthesizer-means-generated-first-signal marked times otherwise;
second Q-counter means connected to said second receiver channel, connected to said carrier-synthesizer means, and connected to said second exclusive-OR-gate means, said second Q-counter means for developing signals representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated first signal when said second exclusive-OR-gate-developed signal has a predetermined one of two states and decremented at each of said carrier-synthesizer-means-generated-first-signal marked times otherwise; and controller means connected to said carrier-synthesizer means and connected to said first and said second Q-counter means, said controller means being responsive to said first Q-counter-means-developed signals and operative to develop said carrier-synthesizer-means-driving signals so as to lock the frequency of said carrier-synthesizer-means-generated first signal to the frequency of said first down-converted satellite signal.
7. A GPS satellite receiver as recited in claim 6 further comprising early/late means connected to said PRN-code synthesizer, connected to said first receiver channel, and connected to said controller means, said early/late means for comparing the state of said signal developed from said first down-converted satellite signal with the state of said early and said late PRN-code-synthesizer-means-developed signals to develop controller-means-driving signals representing the difference between an early and a late count, and wherein said controller means is further responsive to said early/late-means-developed signals and operative to develop said PRN-code-synthesizer-means-driving signals so as to lock the phase of said PRN-code-synthesizer-developed signals to said satellite-signal PRN-code phase.
8. A GPS satellite receiver as recited in claim 7 wherein said carrier-synthesizer means further generates a second signal which is in phase quadrature with said carrier-synthesizer-means-generated first signal and wherein the receiver further comprises first I-counter means connected to said first exclusive-OR-gate means, connected to said carrier-synthesizer means and connected to said controller means, said I-counter means for developing controller-means-driving signals representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated second signal when said first exclusive-OR-gate-developed signal has a predetermined one of two states and decremented at each of said second carrier-synthesizer-means-generated-signal marked times otherwise.
9. A GPS satellite receiver as recited in claim 8 further comprising second I-counter means connected to said second exclusive-OR-gate means, connected to said carrier-synthesizer means and connected to said controller means, said I-counter means for developing controller-means-driving signals representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated second signal when said second exclusive-OR-gate-developed signal has a predetermined one of two states and decremented at each of said second carrier-synthesizer-means-generated-signal marked times otherwise.
10. A GPS satellite receiver as recited in claim 7 wherein said carrier-synthesizer means further generates a second signal which is in phase quadrature with said carrier-synthesizer-means-generated first signal and wherein the receiver further comprises I-counter means connected to said second exclusive-OR-gate means, connected to said carrier-synthesizer means and connected to said controller means, said I-counter means for developing controller-means-driving signals representing a count which is incremented at each of a series of times marked by said carrier-synthesizer-means-generated second signal when said second exclusive-OR-gate-developed signal has a predetermined one of two states and decremented at each of said second carrier-synthesizer-means-generated-signal marked times otherwise.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US07/178,980 | 1988-04-07 | ||
| US07/178,980 US4847862A (en) | 1988-04-07 | 1988-04-07 | Global positioning system course acquisition code receiver |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1333295C true CA1333295C (en) | 1994-11-29 |
Family
ID=22654717
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000595611A Expired - Fee Related CA1333295C (en) | 1988-04-07 | 1989-04-04 | Global positioning system course acquisition code receiver |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US4847862A (en) |
| EP (1) | EP0336418A3 (en) |
| JP (1) | JPH07111457B2 (en) |
| CA (1) | CA1333295C (en) |
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| US4247939A (en) * | 1978-11-09 | 1981-01-27 | Sanders Associates, Inc. | Spread spectrum detector |
| US4457006A (en) * | 1981-11-16 | 1984-06-26 | Sperry Corporation | Global positioning system receiver |
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| US4754465A (en) * | 1984-05-07 | 1988-06-28 | Trimble Navigation, Inc. | Global positioning system course acquisition code receiver |
| JPS60244878A (en) * | 1984-05-21 | 1985-12-04 | Yokogawa Hokushin Electric Corp | Gps gyro |
| DE3540212A1 (en) * | 1985-11-13 | 1987-05-14 | Standard Elektrik Lorenz Ag | DIRECTION DETECTING DEVICE |
-
1988
- 1988-04-07 US US07/178,980 patent/US4847862A/en not_active Expired - Lifetime
-
1989
- 1989-04-04 CA CA000595611A patent/CA1333295C/en not_active Expired - Fee Related
- 1989-04-06 JP JP1085894A patent/JPH07111457B2/en not_active Expired - Fee Related
- 1989-04-06 EP EP19890106067 patent/EP0336418A3/en not_active Withdrawn
Also Published As
| Publication number | Publication date |
|---|---|
| JPH07111457B2 (en) | 1995-11-29 |
| EP0336418A2 (en) | 1989-10-11 |
| US4847862A (en) | 1989-07-11 |
| EP0336418A3 (en) | 1991-05-15 |
| JPH01312484A (en) | 1989-12-18 |
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