CA2413691A1 - Track model constraint for gps position - Google Patents

Track model constraint for gps position Download PDF

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Publication number
CA2413691A1
CA2413691A1 CA002413691A CA2413691A CA2413691A1 CA 2413691 A1 CA2413691 A1 CA 2413691A1 CA 002413691 A CA002413691 A CA 002413691A CA 2413691 A CA2413691 A CA 2413691A CA 2413691 A1 CA2413691 A1 CA 2413691A1
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CA
Canada
Prior art keywords
model
constraining
planar surfaces
polygons
gps
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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.)
Granted
Application number
CA002413691A
Other languages
French (fr)
Other versions
CA2413691C (en
Inventor
James O. Mcguffin
Stanley K. Honey
Patrick C. Fenton
Thomas J. Ford
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sportvision Inc
Original Assignee
Sportvision, Inc.
James O. Mcguffin
Stanley K. Honey
Patrick C. Fenton
Thomas J. Ford
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Sportvision, Inc., James O. Mcguffin, Stanley K. Honey, Patrick C. Fenton, Thomas J. Ford filed Critical Sportvision, Inc.
Publication of CA2413691A1 publication Critical patent/CA2413691A1/en
Application granted granted Critical
Publication of CA2413691C publication Critical patent/CA2413691C/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Classifications

    • 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
    • G01S19/42—Determining position
    • G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • 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
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/04—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing carrier phase data
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0018—Transmission from mobile station to base station
    • G01S5/0027—Transmission from mobile station to base station of actual mobile position, i.e. position determined on mobile
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0018—Transmission from mobile station to base station
    • G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and position calculation on base station
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0045—Transmission from base station to mobile station
    • G01S5/0054—Transmission from base station to mobile station of actual mobile position, i.e. position calculation on base station

Abstract

A track model is created for use with a GPS receiver. In one embodiment, the track model is a set of planar surfaces [Fig. 1, item 170] which approximate the contiguous surface on which navigation takes place [item 160]. The GPS
receiver searches for an appropriate planar surface associated with its approximate position [item 166]. Having found the appropriate planar surface, the GPS receiver constrains its position using the planar surface associated with its approximate position. Using the track model improves the accuracy of the computed position at the time and improves the ambiguity estimation process so that positions with greatly improved accuracy are available sooner.

Claims (54)

1. A method for constraining GPS derived position information for an object, comprising the steps of:
accessing a model of one or more navigation surfaces, said object travels in relation to said one or more navigation surfaces, said model includes a set of two or more model surfaces; and using said model to constrain a GPS based determination of a position of said object.
2. A method according to claim 1, wherein:
said model surfaces are planar surfaces approximating said one or more navigation surfaces.
3. A method according to claim 2, wherein:
said step of using said model includes constraining said position using one of said planar surfaces.
4. A method according to claim 2, wherein:
said step of using said model includes identifying one of said planar surfaces as being in proximity to said object and constraining said position to said one of said planar surfaces.
5. A method according to claim 2, wherein:
said model is created based on a geographic frame;
said GPS based determination is performed in an ECEF frame; and said model is transformed to an intermediate frame.
6. A method according to claim 2, wherein:
said planar surfaces are polygons.
7. A method according to claim 6, wherein:
said step of using said model includes identifying one of said polygons as being in proximity to said object and constraining said position to said one of said polygons.
8. A method according to claim 7, wherein:
said step of constraining said position to said one of said polygons includes taking into account a known height of a GPS antenna mounted to said object.
9. A method according to claim 7, wherein:
said step of constraining assumes that an antenna mounted to said object has a constant position in a direction normal to said one of said polygons.
10. A method according to claim 7, wherein:
said model is divided into a grid of rectangles; and said step of identifying one of said polygons includes using an initial position to identify a first rectangle from said grid of rectangles and considering only polygons in said first rectangle in order to identify said one of said polygons.
11. A method according to claim 1, wherein:
said model is created based on a geographic frame;
said GPS based determination is performed in an ECEF frame; and said model is transformed to an intermediate frame.
12. A method according to claim 1, wherein:

said step of using includes performing a single epoch least squares process.
13. A method according to claim 12, wherein:
said step of using includes constraining said least squares process based on said model.
14. A method according to claim 13, wherein:
said step of using includes using a Kalman filter to generate one or more estimates of a relative position between a reference receiver and said object.
15. A method according to claim 14, wherein:
said step of using includes constraining said Kalman filter based on said model.
16. A method according to claim 1, wherein:
said model surfaces are planar surfaces approximating said one or more navigation surfaces;
said model is created based on a geographic frame;
said GPS based determination is performed in an ECEF frame;
said model is transformed to an intermediate frame;
said planar surfaces are triangles;
said step of using said model includes identifying one of said triangles as being in proximity to said object and constraining said position to said one of said triangles;
said step of constraining assumes that an antenna mounted to said object has a constant position in a direction normal to said one of said triangles;
and said step of using includes performing a single epoch least squares process that is constrained by said one of said triangles.
17. A method according to claim 1, further comprising the steps of receiving satellite signals;
determining pseudoranges;
calculating an initial position, said initial position used by said step of using said model to constrain a GPS based determination; and reporting said position.
18. A method according to claim 1, further comprising the step of creating said model, said step of creating said model includes the steps of:
surveying locations on or near said one or more navigation surfaces;
capturing aerial photographs of said one or more surfaces using a sensor;
recording locations of said sensor while capturing said aerial photographs; and determining three dimensional coordinates on said one or more navigation surfaces using based on said captured aerial photographs and said recorded locations.
19. A method according to claim 18, wherein said step of creating said model further comprises the step of:
dividing said model into a plurality of polygons.
20. A method according to claim 19, wherein:
said step of using said model includes identifying one of said polygons as being in proximity to said object and constraining said position to said one of said polygons.
21. A method according to claim 18, wherein said step of creating said model further comprises the steps of:
extracting edges of said one or more surfaces; and using said edges to divide said model into a plurality of polygons.
22. A method according to claim 1, wherein:
said model surfaces are planar surfaces; and said planar surfaces are not parallel to a local level plane.
23. A method according to claim 1, wherein:
said step of using said model makes use of a constraint position that changes at almost every positioning epoch.
24. A method according to claim 1, wherein:
said step of using said model makes use of a covariance matrix that changes at almost every positioning epoch.
25. A method according to claim 1, wherein:
said step of using includes constraining a Kalman filter based on said model.
26. One or more processor readable storage devices for storing processor readable code, said processor readable code for programming one or more processors to perform a method for constraining GPS derived position information for an object, the method comprising the steps of:
accessing a model of one or more navigation surfaces, said object travels in relation to said one or more navigation surfaces, said model includes a set of two or more model surfaces; and using said model to constrain a GPS based determination of a position of said object.
27. One or more processor readable storage devices according to claim 26, wherein:
said model surfaces are planar surfaces approximating said one or more navigation surfaces ;and said step of using said model includes identifying one of said planar surfaces as being in proximity to said object and constraining said position to said one of said planar surfaces.
28. One or more processor readable storage devices according to claim 27, wherein:
said model is created based on a geographic frame;
said GPS based determination is performed in an ECEF frame; and said model is transformed to an intermediate frame.
29. One or more processor readable storage devices according to claim 28, wherein:
said planar surfaces are polygons.
30. One or more processor readable storage devices according to claim 29, wherein:
said model is divided into a grid of rectangles; and said step of identifying one of said set of planar surfaces includes using an initial position to identify a first rectangle from said grid of rectangles and considering only polygons in said first rectangle in order to identify said one of said polygons.
31. One or more processor readable storage devices according to claim 26, wherein:

said step of using includes constraining a least squares process based on said model.
32. One or more processor readable storage devices according to claim 26, wherein:
said step of using includes constraining a Kalman filter based on said model.
33. One or more processor readable storage devices according to claim 26, wherein:
said model surfaces are planar surfaces approximating said one or more surfaces;
said model is created based on a geographic frame;
said GPS based determination is performed in an ECEF frame;
said model is transformed to an intermediate frame;
said planar surfaces are triangles;
said step of using said model includes identifying one of said triangles as being in proximity to said object and constraining said position to said one of said triangles;
said step of constraining assumes that an antenna mounted to said object has a constant position in a direction normal to said one of said triangles;
and said step of using includes performing a Kalman filter that is constrained by said one of said triangles.
34. One or more processor readable storage devices according to claim 26, wherein:
said model surfaces are planar surfaces; and said planar surfaces are not parallel to a local level plane.
35. One or more processor readable storage devices according to claim 26, wherein:
said step of using said model makes use of a constraint position that changes at almost every positioning epoch.
36. One or more processor readable storage devices according to claim 26, wherein:
said step of using said model makes use of a covariance matrix that changes at almost every positioning epoch.
37. An apparatus capable of constraining GPS derived position information for an object, comprising:
one or more inputs, said one or more inputs receive GPS data; and one or more processing units, said one or more processing units access a model of one or more navigation surfaces and use said model to constrain a GPS based determination of a position of said object, said object travels on said one or more surfaces, said model includes two or more model surfaces.
38. An apparatus according to claim 37, wherein:
said one or more processing units include an analog-to-digital converter, a signal processor, memory, a central processing unit, control and configuration logic, and an I/O interface.
39. An apparatus according to claim 37, wherein:
said one or more inputs include an antenna and a data input, said data input is capable of receiving differential GPS data; and said one or more processor utilize said differential GPS data to determine a position of said object.
40. An apparatus according to claim 37, wherein:

said model surfaces are planar surfaces approximating said one or more navigation surfaces; and said one or more processors identify one of said planar surfaces as being in proximity to said object and constraining said position to said one of said planar surfaces.
41. An apparatus according to claim 40, wherein:
said model is created based on a geographic frame;
said GPS based determination is performed in an ECEF frame; and said model is transformed to an intermediate frame.
42. An apparatus according to claim 40, wherein:
said planar surfaces are polygons.
43. An apparatus according to claim 42, wherein:
said model is divided into a grid of rectangles; and said one or more processors identify one of said planar surfaces by using an initial position to identify a first rectangle from said grid of rectangles and consider only polygons in said first rectangle in order to identify said one of said polygons.
44. An apparatus according to claim 43, wherein:
said one or more processor constrain a least squares process based on said model.
45. An apparatus according to claim 43, wherein:
said one or more processor constrain a Kalman filter based on said model.
46. An apparatus according to claim 37, wherein:

said model surfaces are planar surfaces approximating said one or more navigation surfaces;
said planar surfaces are triangles; and said one or more processors identify one of said triangles as being in proximity to said object and constrain a least squares process based on said one of said triangles.
47 An apparatus according to claim 37, wherein:
said model surfaces are planar surfaces; and said planar surfaces are not parallel to a local level plane.
48. An apparatus according to claim 37, wherein:
said one or more processing units use said model with a constraint position that changes at almost every positioning epoch.
49. An apparatus according to claim 37, wherein:
said one or more processing units use said model with a covariance matrix that changes at almost every positioning epoch.
50. A method for constraining GPS derived position information for an object, comprising the steps of:
accessing a model of height information;
constraining the derived height by accessing said model of height information, said height information is accessed from said model based on horizontal position information, computed based on GPS.
51. A method according to claim 50, wherein:
said model of height information includes 2 or more plainer surfaces approximating a navigation surface
52. A method according to claim 51, wherein:
said plainer surfaces are defined by their orientation in space with respect to a reference system and boundary definitions.
53. A method according to claim 52, wherein:
said plainer surfaces are triangles.
54. A method according to claim 50, wherein:
said model includes height and surface slope information arranged in two dimensions.
CA2413691A 2000-06-23 2001-06-22 Track model constraint for gps position Expired - Fee Related CA2413691C (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US21368400P 2000-06-23 2000-06-23
US60/213,684 2000-06-23
US29531001P 2001-06-01 2001-06-01
US60/295,310 2001-06-01
PCT/US2001/020009 WO2002001244A2 (en) 2000-06-23 2001-06-22 Track model constraint for gps position

Publications (2)

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CA2413691A1 true CA2413691A1 (en) 2002-01-03
CA2413691C CA2413691C (en) 2010-09-14

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US (2) US6728637B2 (en)
EP (1) EP1309878A4 (en)
AU (1) AU2001271393A1 (en)
CA (1) CA2413691C (en)
WO (1) WO2002001244A2 (en)

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WO2002001244A3 (en) 2002-09-12
AU2001271393A1 (en) 2002-01-08
US20030036849A1 (en) 2003-02-20
US20020107636A1 (en) 2002-08-08
WO2002001244A2 (en) 2002-01-03
US6728637B2 (en) 2004-04-27
EP1309878A4 (en) 2005-01-05
EP1309878A2 (en) 2003-05-14
CA2413691C (en) 2010-09-14

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