CN100420959C - 确定卫星定位系统中的时间的方法和装置 - Google Patents
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- 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
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- 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
- G01S5/0063—Transmission from base station to mobile station of measured values, i.e. measurement on base station and position calculation on mobile
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- G—PHYSICS
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- 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
- G01S19/09—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing processing capability normally carried out by the receiver
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- 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
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
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- 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
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
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- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
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- 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
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- G—PHYSICS
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- G04R—RADIO-CONTROLLED TIME-PIECES
- G04R20/00—Setting the time according to the time information carried or implied by the radio signal
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Abstract
一种确定与卫星定位系统相关的参考时间的方法和装置。工作时,在一种实施例中,参考时间可以用来确定其他的导航信息。这样的导航信息可以包含如卫星定位系统(SPS)接收机的地点/位置。在一种实施例中,SPS接收机和一组具有一个或多个卫星之间的相对速度用来确定SPS接收机所表示的时间和参考时间之间的偏差。按照本发明的另一个实施例,误差统计用来确定参考时间。按照本发明的又一种实施例,将两个记录进行比较以确定时间,两个记录中的每一个代表至少一部分的卫星消息。在一种结构中,SPS接收机是一个移动装置,它与一基站一起工作,用来按照所描述的方法中的一种或多种方法的组合,确定时间和/或其他的导航信息。
Description
本申请是申请日为1999年4月12日申请号为第99807253.2号发明名称为“确定卫星定位系统中的时间的方法和装置”的中国专利申请的分案申请。
相关申请的引述
本申请是美国专利申请08/794,649的部分续展申请,其标题是“用于卫星定位系统的时间测量的方法和装置”,申请日为1997年2月3日。该申请已转让给本发明的受让人。
发明背景
发明领域:
本发明涉及卫星定位系统(SPS),尤其涉及确定与SPS信号发送和/或接收相关的时间。
背景信息:
诸如GPS(全球定位系统)接收机的SPS接收机通常通过计算从多个卫星如GPS(或NAVSTAR)卫星同时传送的信号的相对到达时间,来确定它们的时间。在典型的卫星定位系统如GPS中,多个卫星是按照高度精确的系统时钟而同步的。这些系统时钟具有原子钟的精度。一般情况下,每一个卫星发送导航数据(如卫星的位置),导航数据还包括一个按照系统时钟所表示的时间(下文中称为系统时间)而发送的时间标志,而该时间在GPS的情况下,称为(GPS)系统时间。
然而,SPS接收机通常是不具备这样的精确时钟的。所以,SPS接收机通常通过读取卫星消息中所包含的定时信息来确定定时信息。许多接收机采用从四个(或更多个)卫星得到的测量来确定位置和时间。四个卫星(i=1,2,3,4)中的每一个卫星的范围可以用下式表述:
式中,
x,y和z是接收机的坐标/位置(未知);
xi,yi和zi是第i个卫星的坐标/位置(已知);
cb代表时钟偏移,它是接收机的时钟和参考时间之间的时间差(未知)。
所以,上述等式(1)中一共有四个未知量。
通常,Pri指的是准范围,这是因为它代表第I个卫星的实际范围,加上或减去由于如等式(1)中的cb项所表示的接收机的时钟差而产生的偏移。采用这四个卫星的测量,可以使上述等式线性化,而用下面的行列式表示成:
式中,
ΔPRi是第i个卫星(i=1,2,3,4)的准范围剩余,并代表第i个卫星测得的准范围和初始估计范围之间的差(已知);
uxi,uyi和uzi是从接收机到第i个卫星的视线(LOS)矢量沿x、y和z坐标轴的方向余弦(已知);
Δx,Δy,Δz和Δcb是接收机的坐标/位置和时钟的初始估计,它们可以是偏移参考时钟的(未知)。
下文中,准范围剩余矢量也称为是Z,n×4元行列式H也称为是观察行列式,而x代表SPS接收机位置和时间校正矢量,它包含感兴趣的未知量。所以,如果存在一个观察行列式H的逆,那么可以确定上述行列式等式(2)所代表的一组线性等式中未知量x的解,从而:
x=H-1·Z
或
x=(HT·H)-1HT·Z (3)
式中,
H-1是观察矩阵的逆;
(HT·H)-1是观察范围的伪逆;以及
x是未知参数x的矢量的最小平方估计。
为了确定准范围(PRi),传统的SPS接收机通常采用其位置的初始估计和已知在毫秒范围内的时钟偏差。但是,由于来自卫星的信号是在光速下或近似在光速下传播的,因此,即使是时间上1毫秒的不确定性也会在准范围测量中产生多达300公里的误差。求解上述矩阵等式(2),传统的GPS接收机可以计算一个对初始时钟偏差估计的校正,其中,初始时钟偏差估计是通过读取提供“时间对准”信息的导航消息来产生的。
但是不幸的是,在许多情况下,通过读取一个或多个卫星的导航消息来确定系统时间可能因信号质量较差而有困难。例如,当有对卫星信号阻挡时,从GPS卫星得到的接收信号或信噪比(SNR)可能太低,以致无法无差错地解调和读取卫星数据。这种情况会在个人跟踪和其他高移动应用场合更加突出。在这样的信号条件下,接收机可能仍然会捕获和跟踪GPS信号。但是,无定时数据时进行位置和不模糊时间测量可能最好采用另一些方法。
本发明提供了一种相对于参考时间(如系统时间或其他相对精确的参考时间)由SPS接收机确定SPS中的时间如卫星传输的时间和/或测量时间而无需确定从卫星导航数据消息中提供的处理定时消息所得到的参考时间的方法和装置。
发明概述
下面描述确定与卫星定位系统相关的参考时间的方法和装置。在一种实施例中,参考时间一经确定,可以用来确定其他的导航信息。这样的导航信息可以包括如卫星定位系统(SPS)接收机的地点/位置。在一种实施例中,一个卫星接收机和一组一个或多个卫星之间的相对速度用来确定SPS接收机所表示的时间和参考时间之间的偏差。按照本发明的另一个实施例,采用误差统计来确定参考时间。按照本发明的另一种实施例,将两种记录比较来确定时间。其中的每一种记录代表至少一部分的卫星消息。在一种结构中,SPS接收机是一个移动站,并且是与基站一起工作的,用来按照上述一种或多种方法来确定时间和/或其他的导航信息。
附图简述
图1A示出的是按照本发明的一个实施例可以使用的组合GPS接收机和通信系统的一个例子;
图1B绘出的是图1A所示射频(RF)至中频(IF)转换器7和频率合成器16的进一步细节;
图2是按照本发明的一个实施例采用相对卫星速度进行卫星定位系统中的时间确定的方法流程图,它可以用于与如图1A中示出的移动通信接收机和发射机组合的移动SPS接收机;
图3A是按照本发明的一个实施例,采用误差统计来确定卫星定位系统中的时间的方法流程图;
图3B是按照本发明的一个实施例,采用图3A方法300中所示的单元方差统计来确定卫星定位系统中的时间的方法流程图;
图4A和4B描绘的是按照本发明的一个实施例的一组范围估计的单元方差拟合;
图5示出的是按照本发明的一个实施例,根据比较卫星数据消息的第一和第二记录,确定与卫星定位系统相关的时间的一般化方法,并且这种方法用于如图1A中所示与移动通信接收机和发射机组合的移动SPS接收机;
图6描绘的是测量与卫星数据消息相关的时间的方法620的进一步的细节,而该卫星数据是用于卫星定位系统的;
图7A描绘的是本发明一个实施例的基站;
图7B描绘的是本发明的一个实施例的基站;
图8描绘的是按照本发明的一个实施例的系统,该系统包括一SPS接收机、蜂窝电话站、基站、互联网和用客计算机系统。
详细描述
下面描述测量与卫星数据消息相关的时间的方法和装置,而该消息是用于卫星定位系统的。本发明的某些讨论将针对美国的全球定位卫星(GPS)系统。但是,应当理解,这些方法同样适用于相似的卫星定位系统,如俄国Glonass系统。另外,应当理解,本发明的原理同样适用于采用假卫星或卫星与假卫星的组合的定位系统。另外,各种基站和移动SPS接收机的结构是描述性的,而不能认为是对本发明的限制。
一实施例的概述
采用卫星速度进行时间确定
图2是按照本发明的一个实施例,采用相对卫星速度在卫星定位系统中进行时间确定的方法流程图,该方法可以适用于与如图1所示的移动通信接收机和发射机组合在一起的移动SPS接收机。在图2所示的方法200中,一装置(如图1A中所示的移动SPS接收机100)在步骤202中估计其对一组一个或多个卫星的位置。在一种实施例中,SPS接收机可以根据从卫星传送的信号,确定对该组卫星的一组准范围。这样,由SPS接收机进行的范围或位置估计将因SPS接收机的时钟提供的测量时间和参考时间之间的偏移而成为相对于实际位置和范围的偏移。
在步骤204,如图7A中所示的基站从SPS接收机接收估计信息。例如,估计信息可以包括与由SPS接收机测量的时间估计相关的准范围测量的表述。例如,可以用由SPS接收机的时钟表示的时间来确定准范围。如上所述,在不知道相对于精确的参考时间的时刻的卫星位置的时候,SPS接收机可以仅限于其位置的估计/近似,而该估计/近似可以因时间偏移/误差而偏移一定的距离。
在步骤206,基站确定与SPS接收机的范围或位置估计相关的时间偏移,诸如根据该组卫星的相对速度估计由SPS接收机提供到基站的估计信息所表示的那样。在一种实施例中,该组卫星中的每一个卫星的相对速度代表卫星和移动SPS接收机之间的近似相对速度。下面参照矩阵等式(4),描述按照本发明的一种实施例的方法,该方法采用相对卫星速度来确定由SPS接收机进行的测量的时间和参考时间(如GPS系统时间)之间的时间偏差。
最后,在步骤208,基站向SPS接收机提供一种改进的导航信息,如时间、位置、速度等。这种改进的导航信息是基于偏差的确定(或其近似)来确定移动SPS接收机所估计或测量的相对于参考时间的时间、位置、范围或其他信息的。在另一种实施例中,基站可以不提供该估计的导航信息给SPS接收机。例如,这种信息可以被存储起来、通过有线的或无线等方式的数据通信链路而提供给另一装置。
表1给出的是本文中所提到的某些量是如何按照本发明的一种实施例来确定以及是由什么装置来确定的。
表1
SPS接收机 | 基站 | 确定方法 | |
PR | X | X | 由交叉相关方法来测量,如下文中参照图5-6所描述的那样 |
ΔPR | X | 采用ΔPR=PR-R进行估计,其中,R是真实范围的估计 | |
TOM(测量时间) | X | 估计,从而TOM(GPS或参考))=TOM(接收机)+时钟偏移 | |
GPS时间 | X | 通过读取卫星导航数据信息求知 | |
SV范围_速率 | X | 通过读取卫星导航数据消息估计 |
在本发明的一种实施例中,针对与移动SPS接收机测量的时间相关的估计时间与参考时间之间的时间误差/偏移,求解准范围矩阵等式(4)。在一种实施例中,这样的一种求解是基于用来估计移动SPS接收机的位置的一组卫星和移动SPS接收机之间的相对速度的。对于5个测量,修改的矩阵等式(4)可以表述如下:
式中,
ΔPRi是第i个卫星(i=1,2,3,4,5)的准范围剩余,并且代表测得的准范围和对第i个卫星进行的初始估计范围之间的差(已知);
uxi,uyi和uzi是从接收机到第i个卫星(i=1,2,3,4,5)的视线(LOS)矢量沿x,y和z坐标轴投影的方向余弦(已知);
sv_range_ratei是第i个卫星(i=1,2,3,4,5)和一装置(如移动SPS接收机)之间的相对速度(已知);
Δx,Δy,Δz和Δcb是对接收机的坐标/位置和时钟进行初始估计的校正(未知);
Δt是时间测量的偏差,它在一种实施例中,代表进行准范围测量的估计时间和参考时间(例如,GPS系统时间、基于GPS系统时间的时间,等)之间的差异(或偏差)(未知)。
可以求解上述矩阵方程(4),得到“拟合”在特定的时间时进行的准范围测量的唯一解。从矩阵方程(4)的解,Δt对确定准范围的时间初始估计提供粗校正,而Δcb提供细校正。所以,参考时间与一组卫星的地点和/或位置基于估计的估计时间之间的偏差(可以是小于毫秒或更多数量级)可以根据该卫星组的相对速度来确定。
尽管这种情况并不总是必须的,但矩阵方程(4)通常包括5个未知的值:Δx,Δy,Δz,Δcb和Δt。所以,除非在测量时这些未知值是已知的,否则在求解未知值的唯一解时,通常应当考虑5个(或更多个)独立的准范围测量。
通常,矩阵方程(4)的精确性至少部分地是取决于卫星(sv_range_ratei)中每一个的相对速度的精度的。另外,用来计算从每一卫星到一装置(如移动SPS接收机)的视线(LOS)矢量的初始位置和时间估计误差会在每一卫星的速度估计中产生误差。所以,在一种实施例中,区站地点信息用来确定SPS接收的地点的初始估计的。另外,在一种实施例中,矩阵方程(4)是通过重新计算具有改进的装置位置估计的卫星组的一个或多个卫星的速度而迭代求得的。这样,每一迭代可以提供5个改进,三个是空间域或位置/范围(Δx,Δy,Δz),而两个是时域的(Δcb和Δt)。
在本发明的一种实施例中,移动SPS接收机的速度是已知的,多普勒测量可以用来确定时间。在该实施例中,采用多普勒信息来使后验速度误差为最小,来确定时间。在本实施例中,速度误差代表移动SPS接收机(可以用几种方法计算得到,包括用上面的矩阵方程(4)和下面要描述的误差统计方法)的计算速度和移动SPS接收机的已知速度之差。通过使如误差为最小,可以确定所感兴趣的时间。例如,如果移动SPS接收机是固定的(即,速度是零),可以用几种相对于参考时间的测量时间的近似方法来计算一组解。对应于零速度的解是对参考时间的最好近似,它可以用来确定移动SPS接收机的位置和/或其他的导航信息。在另一些实施例中,还可以采用高度辅助(altitude aiding)、航位推算(即,将速度严格限制在已知的方向上)或其他的计算来改进或简化SPS接收机和一组一个或多个卫星的相对速度,以确定时间和/或其他的导航信息。
另一实施例的概述
采用误差统计来确定时间
在本发明的一种实施例中,采用误差统计来确定与卫星定位系统相关的参考时间。作为本发明的这一方面-即根据误差统计来确定时间-的一种情况,是在测量(即准范围测量)的次数超过已知的数值(例如,Δx,Δy,Δz,Δcb等)的时候。另外,可以同时采用误差统计和其他的技术,来改进时间和/或其他导航信息的确定。
图3A是按照本发明一个实施例的采用误差统计来确定卫星定位系统中的时间的方法的流程图。在图3A中所示方法300的步骤302中,一装置如移动SPS接收机估计在这些时刻相对于一组卫星的范围或位置,而在这些时刻中的一个或多个时刻是与和参考时间偏移的测量估计时间相关的。上述偏移可以是由于SPS接收机时钟和由参考时钟所给出的时间之间的偏移SPS接收机时钟中漂移和/或其他的不准确等所引起的。参考时钟可以对应于与卫星定位系统相关的时间如GPS系统时间。
在步骤304中,通过加入或减去一偏移而使一组时刻中的每一个时刻发生变化。例如,在一种实施例中,与每一范围或位置相关的每一估计的测量时间可以通过改变-5和+5秒之间的偏移来改变。在另一些实施例中,可以加入或减去其他的偏移范围来得到各种误差统计样本。
在步骤306中,对改变的一组时刻(即,具有从其中加入或减去偏移的时刻)进行误差统计。最后,在步骤308,根据误差统计的特性确定参考时间(或其近似)。在一种实施例中,正如将在下面参照图3B所进一步描述的那样,误差统计包括确定准范围剩余值的单位方差分布。在该实施例中,单位方差的线性偏差通常对应于空域(x,y,z)和时域(Δt)中的线性偏差。通过使所使用的误差统计为最佳-即这时的单位方差对应于单位方差的最小值-可以确定近似于所寻找的参考时间的时间。下面参照图3B进一步描述按照一种实施例针对范围或/位置估计误差的单位方差。
图3B是按照本发明的一个实施例,采用图3A所示方法300中的单位方差误差统计确定卫星定位系统中的参考时间的流程图。特别是,图3B描绘的是图3A的步骤306的一种实施例。在步骤310中,单位方差是为改变的一组时刻而确定的。在一种实施例中,单位方差是由下式定义的:
式中,
W是加权因子,它代表一加权观察矩阵。
在一种实施例中,是不采用加权因子的,它通常等效于将一加权矩阵设置成单位矩阵;以及
n是测量的次数;以及
m是未知量的个数。
因此,在大多数时候,单位方差代表准范围剩余值的加权(或非加权)和。单位方差方差(5)的分母代表自由度数。
在步骤312中,确定拟合单位方差的多项式。可以看出,对于正态分布的准范围剩余,单位方差的期望值是一,并且分布呈具有(n-m)个自由度的x2分布。然而,在某些情况下,单个单位方差值也可以等于零,这与固定用于SPS接收机的位置或时间完全拟合是对应的。所以,用于统计最佳位置拟合的测量(如准范围、准范围剩余等)通常应当使单位方差为最小,在理想情况下接近于零。换句话说,当用于一组范围或位置估计的单位方差为最小时,可以在空间和/或时间中得到“最佳拟合”(或解)。
图4A和4B描绘的是一例按照本发明的一种实施例用于一组范围估计的单位方差拟合的例子。当得到一个如图4A所示的单位方差误差统计分布(作为时间偏移的函数)时,可以计算两个线性拟合-一个用于正偏移,而另一个用于负偏移。两条线的交点给出参考时钟的近似。应当理解,有几种众所周知类型的多项式拟合可以用于单位方差数据,并且也可以用来确定单位方差分布的局域最小值,并且接着可以用来确定所感兴趣的参考时间。
图4B是图4A所示单位方差分布的放大图。这样,就使得图4B所示的时移比例与图4A所示的相似。应当注意,从图4B所示的例子中,单位方差拟合的相交点或最小交叉点是不一定必须准确与零的时移对应的。在任何时候,单位方差提供了一种充分精确的SPS接收机位置的估计和/或感兴趣的参考时间,如GPS系统时间。
应当理解,也可以采用其他的误差统计来得到一种“拟合”,它给出了对参考时间的近似。另外,对参照图3A和3B描述的方法可以通过移动SPS接收机和基站的组合或唯一地由一个装置来进行。例如,在一种实施例中,基站接收机从移动SPS接收机接收一组范围估计(如准范围值),并根据误差统计如单位方差,确定接收机的时间、位置或其他的导航信息。另外,基站也可以将导航信息或至少部分根据其上的信息提供到移动SPS接收机或另一个装置。这时,SPS接收机可以根据这样的信息和/或其他的信息,来确定其时间、位置和/或其他的导航信息。
另一种实施例
如上所述,按照本发明的各种实施例,相对速度和误差统计(如与准范围剩余相关的单位方差)可以单独地或联合地用来确定与卫星定位系统相关的时间。另外,按照预定的条件(如已有的数据、信号的质量、卫星的个数和间隔、一个或多个卫星与接收机之间的间距等)可以对采用哪一种方法作出选择。在一种实施例中,两种方法都可以使用,并且可以根据最小化不精确性,来选择时间、位置分辨率的最佳结果或其他导航信息。
在本发明的又一种实施例中,用来确定卫星定位系统中的时间的一种上述方法和装置或其组合是可以与确定时间的另一种方法和装置相组合的,详见美国专利申请08/794,649,该申请的申请日是1997年2月3日,其标题是“基于卫星定位系统的时间测量的方法和装置”,该申请在此引述供参考。如在引述的专利中所细述的那样,通过将装置接收的卫星数据消息记录(如移动SPS接收机)与假设是没有误差的另一记录进行比较,可以确定时间。从这一比较中,可以通常如下面参照图5和图6描述的那样,以及如上述共同待批的专利申请08/794,649中细述的那样,来确定时间。
图5描述的是根据卫星数据消息的第一记录和第二记录的比较,来确定与卫星定位系统相关的时间的一般方法,并且这种方法按照本发明的一种实施例,可以用在如图1A所示与移动通信接收机和发射机组合在一起的移动SPS接收机。下文中参照图5和图6描述的方法可以根据相对速度和/或误差统计确定而与一种上述确定技术或多种技术的组合而组合起来。图1A中所示的移动GPS接收机100对卫星数据消息(如星历表)进行取样,并在步骤501中产生一条消息记录。其次,在该方法500中,在步骤503中,远程或移动GPS接收机将该记录发送到一个基站,如图7A或7B中所示的基站。该记录通常是由移动SPS接收机接收的卫星数据消息的某种表述。在步骤505中,基站将从移动SPS接收机发送的记录与可以看作是卫星导航消息的参考记录的另一条记录比较。该参考记录具有相关的时间值,其中,卫星数据消息的各个片段具有与之相关的特定的“参考”时间。在步骤507中,基站确定由卫星数据消息的移动GPS接收机取样的时间。该确定是基于一与参考记录相关的时间值的,并且通常表示由移动GPS接收机接收的记录的时间。
图6描绘的是测量用于卫星定位系统的与卫星数据消息有关的时间的方法620的进一步的细节。移动或远程GPS接收机在步骤621中获取GPS信号,并确定来自获取的GPS信号的准范围。在步骤623,移动GPS接收机去掉PN数据,并从用来产生或确定准范围的获取的GPS信号中产生卫星数据消息的记录。该记录通常是获取的GPS信号中卫星导航消息的某种表述,并且通常代表数据的估计。在步骤625中,移动GPS接收机将记录和确定的准范围发送到一基站,如图7A或7B所示的基站。
在步骤627中,基站把从移动GPS接收机发送的记录与该组卫星的导航消息的参考记录进行交叉相关。该参考记录通常包括一个与参考记录中的数据(如,参考记录中数据的每一位有一个相关的时间值或“标志”)相关的精确的时间标志,并且正是该时间标志将被用来确定由一开始获取的GPS信号的移动GPS接收机接收的时间。通常,从移动GPS接收机传送出来的记录和参考记录在时间上是部分重叠的。
在步骤629中,基站从交叉相关操作确定接收GPS信号的远程GPS接收机获取的时间。随后,基站在步骤631中使用由GPS信号的远程GPS接收机获取的时间,并使用确定的准范围来确定位置信息,而该位置信息可以是远程/移动GPS接收机的经度和纬度。基站在步骤633中,可以将远程GPS接收机的该位置信息传递到另一装置,如通过网络(互联网、局域网)耦合的计算机系统传递到基站。
硬件概述
图1A示出的是用于本发明的组合移动GPS接收机和通信系统的一个例子。该组合的移动GPS接收机和通信系统100已在申请日为1996年5月23日的共同待批的专利申请08/652,833中作了详细描述,该申请的标题是“采用共享电路的组合GPS定位系统和通信系统”,在此引述供参考。图1B描绘的是图1A所示的RF至IF转换器7和频率合成器16的进一步的细节。图1B中的这些元件同样见共同待批的专利申请08/652,833。
图1A所示的移动移动GPS接收机和通信系统100可以构成用来以这样的方式,即接收机具有很高灵敏度,对存储的GPS信号进行特定形式的数字信号处理。进一步的详述见美国专利5,663,734,其申请日为1997年9月2日,其标题是“用于GPS信号处理的GPS接收机和方法”,在此引述供参考。美国专利5,663,734中描述的处理操作通常采用快速富立叶变换(FFT)计算多个中间卷积,并将这些中间卷积存储在数字存储器中,并采用这些中间卷积来提供至少一个准范围。图1A中示出的组合GPS和通信系统100还含有某些频率稳定或校正技术,以便进一步改进GPS接收机的灵敏度和精度。这些技术见共同待批的专利申请08/759,523,其申请日是1996年12月4日,其标题是“采用通信链路的改进的GPS接收机”,该申请在此引述供参考。
下面不详细描述图1A中所示的组合移动GPS接收机和通信系统100的操作,而是给出其概述。在典型的实施例中,移动GPS接收机和通信系统100将从基站(如基站17)接收一指令,基站可以是图7A或图7B中所示的任何一个基站。该指令是在通信天线2上接收的,并且指令作为数字消息被处理,并由处理器10存储在存储器9中。在一种实施例中,存储器9可以被扩展成是随机存取存储器(RAM),用来存储指令、数据和/或“快摄(snapshot)”信息。处理器10判断该消息是一条将位置信息提供给基站的指令,并且这使得处理器10能够启动系统的GPS部分,而该部分的至少某些部分是与通信系统共享的。这包括例如设置转换器6,从而RF至IF转换器7从GPS天线1接收GPS信号,而不是从通信天线2接收通信信号。随后,GPS信号被接收、数字化,并存储在数字存储器9,并且可以按照美国专利5,663,734中描述的数字信号处理技术进行处理。该处理结果通常可以包括多个用于“观察中的”一组卫星的准范围,并且这些基于此的准范围或数据可以通过启动发射机部分和通过通信天线2将准范围发送回基站,由处理元件10发送回基站。
图1A中所示的基站17可以通过无线通信链路直接与远端耦合,或者如图8所示,通过提供电话站和基站之间的有线通信链路的蜂窝电话站,与远端耦合。图7A和7B描绘的是这两种可能的基站的例子。
通过提供至和来自各移动GPS接收机的无线链路以及通过处理接收的准范围,图7A中描绘的基站701可以用作一种自治单元。按照上述一个实施例或实施例的组合,基站701可以处理准范围,以启动采用相对卫星速度、误差统计和/或卫星数据消息记录比较而确定时间。基站701可以使用于基站位于城市内并且所有要跟踪的移动GPS接收机类似地位于同一城市内的情况。例如,发射机元件和接收机元件709和711将分别并入一个单个的收发机单元内,并且具有单个的天线。然而,图中,这些元件是分立的,就象它们已经是分立存在的那样。发射机709用来通过发射机天线710向移动GPS接收机提供指令和/或导航信息。通常,发射机709是在数据处理单元705的控制下,数据处理单元可以从处理单元的用户处接收请求,以确定特定的移动GPS接收机的地点。因此,数据处理单元705可以使指令由发射机709发送到移动GPS接收机。因此,在本发明的一种实施例中,移动GPS接收机会把准范围和相关的时间估计和/或卫星数据消息记录(或其一部分)发送回接收机711,由接收天线712接收。接收机711从移动GPS接收机接收这样的信息,并将该信息提供给数据处理单元705,随后,数据处理单元执行上述一种或多种操作,以确定与从移动GPS接收机接收到的准范围相关的时间、位置和/或其他的导航信息。如上所述,参照共同待批的申请08/794,649,这些操作可以包含从GPS接收机703接收的卫星数据消息或其他来源的参考质量卫星数据消息。这在上述共同待批的专利申请中有详述。GPS接收机703会提供卫星历表数据,该数据在一种实施例中将与准范围。和确定时间一起使用,以便计算移动GPS接收机的位置信息。大容量存储器707将存储卫星速度信息,一种卫星数据消息的参考记录的存储形式、用来与从移动GPS接收机接收的记录作比较按照上面讨论的一种或多种技术的误差统计分析程序和/或根据准范围以及移动GPS接收机提供的其他信息来确定时间的信息。数据处理单元705可以与一可选显示器715耦合,并且还可以与大容量存储器713耦合,该大容量存储器713带有可任选的GIS软件。应当理解,尽管是单独描述的,但大容量存储器713可以具有相同的硬盘或其他数据存储装置/介质方面与大容量存储器707是相同的。
图7B描绘的是本发明的另一种基站。该基站725是用来与远端发射和接收站(如图8所示的蜂窝电话站855)耦合的。该基站725还可以通过网络(互联网、局域网或其他类型的计算机网络连接系统)与客户机耦合。以这种方式使用的基站可进一步参见共同待批的专利申请08/708,176,其申请日是1996年9月6日,其标题是“基于客户机的远端定位器装置”,在此引述供参考。基站725通过图8中所示的蜂窝电话站855及其相应的一个天线或多个天线857与移动GPS单元如图8中所示的组合移动GPS接收机和通信系统853进行通信。应当理解,组合GPS接收机和通信系统853可以是与图1A中的系统100相似的。
如图7B中所示的基站725包括处理器727,处理器727可以是由总线730耦合到主存储器729的传统微处理器,而主存储器729可以是随机存储存储器(RAM)。基站725还包括其他的输入和输出装置,如键盘、鼠标器和显示器735和通过总线730耦合到处理器727和存储器729的相关的I/O控制器。大容量存储装置733如硬盘或CD ROM或其他的大容量存储装置通过总线730与系统如处理器727的各种元件耦合。用来在GPS接收机或其他卫星数据消息来源之间提供I/O功能的输入/输出(I/O)装置731还与总线730耦合。该I/O装置731还从GPS接收机(即图7A所示的GPS接收机703)接收卫星数据消息,并通过总线730将消息提供到处理器,该处理器按照本发明的上述一种实施例对其打上时间标志。随后,记录被存储到大容量存储装置733中,用来以后与从GPS接收机接收的消息比较。大容量存储装置733还可以存储代表一个或多个为一组的卫星的相对速度的速度信息。另外,大容量存储装置733可以存储与一个或多个上述方法相应的程序,用来处理卫星定位信息/信号。
两个调制解调器739和737如图7B所示,是用作接口与相对于基站725而位于远端的其他系统接口相连的。在调制解调器或网络接口739的情况下,该装置通过例如互联网或某些其他的计算机网络与一客户计算机耦合。调制解调器或其他的接口737向蜂窝电话站如图8(绘出系统851)中所示的站提供一个接口。
正如本领域中的技术人员能够理解的那样,基站725可以用各种计算机结构来实现。例如,可以有多个总线或一个主总线和一个外围总线,或者是多个计算机系统和/或多个处理器。例如,最好有一个专用处理器,用来按照本发明的上述实施例,从GPS接收机703接收卫星数据消息并处理该消息,以便用专用的方式提供参考记录,使得在准备参考记录的过程中不会出现中断,并存储该记录,管理所存储的数据量。
图8描绘的是按照本发明的一种实施例的系统,它包括一SPS接收机、蜂窝电话站、基站、互联网和客户计算机系统。在一种实施例中,图8中所示的系统851可以以下面的方式运行。客户计算机系统863将通过网络如互联网,将消息发送到基站825。应当理解,网络或互联网861中可以有介入路由器或计算机系统,而网络传送对特定移动GPS接收机位置的请求。随后,基站825将通过链路(通常是有线电话网859)将一消息发送到蜂窝电话站855。该蜂窝电话站855随后用其一幅天线或多幅天线857向组合的移动SPS接收机和通信系统853发送一条指令。因此,系统853发送回准范围,卫星数据消息的记录、速度信息,和/或其他的信息。这样的信息可以由蜂窝电话站855接收,并通过链路859送回到基站。随后,基站执行如上所述各种实施例的一种或多种操作,如采用相对卫星速度、多普勒测量、误差统计中的一种或其组合以及/或者比较两个或多个卫星数据记录进行时间确定。随后,基站将确定导航信息,如SPS接收机的时间和/或位置,并通过网络如互联网861将导航信息传递到用客计算机系统853,在客户计算机系统处它自己可以具有映射软件,使得该系统的用户能够在地图上看到移动SPS系统853的准确位置。
另一些实施例
尽管本发明是针对几种实施例和附图进行描述的,但本领域中的技术人员将能理解,本发明并非仅限于这些实施例或附图。特别是,本发明可以以几种其他的实施例来实施,这些实施例提供了一种方法和/或装置,采用下述一种或几种组合来确定卫星定位系统中的时间或其他的导航信息:(1)采用一个装置和/或一组卫星的相对速度;(2)计算时间或位置/间距的误差统计;以及(3)比较两个或多个卫星数据消息。
所以,应当理解,本发明的方法和装置可以用修改的或变更的形式来实现,这同样属于权利要求书所限定的本发明的范围之内。所以,说明书不能被看作是对本发明的限制。
Claims (5)
1. 一种确定与一卫星定位系统相关的参考时间的机器实施方法,其特征在于,所述方法包含下述步骤:
一装置估计一第一值,所述估计第一值与一组卫星相对于所述装置的位置相关,所述估计的第一值与一第一时间测量值相关,其中,与所述第一值相关的所述第一时间测量值与和所述卫星定位系统相关的所述参考时间相差一个偏差;
计算用于所述第一值的一个误差统计;以及
根据所述误差统计,确定所述第一时间测量值和与所述卫星定位系统相关的所述参考时间之间的所述偏差;
所述第一值包含一个伪距剩余值,并且所述误差统计包括所述伪距剩余值的平方和。
2. 如权利要求1所述的方法,其特征在于,使所述伪距剩余值的所述平方和加权一个加权因子。
3. 一种确定与卫星定位系统相关的时间的方法,其特征在于,所述方法包含下述用机器执行的步骤:
一装置估计多个值,该多个值与所述装置与一组卫星之间的相对位置和相对距离中的至少之一相关,其中,所述多个值中的每一个值与各个时间测量相关,其中,每一测量时间与和所述卫星定位系统相关的所述时间相差一个时间偏差;
用与所述多个值中的一个值相关的每一测量时间确定第一组误差统计值;
使每一测量时间改变一个第二偏差;
用所述改变的时间测量值确定第二组误差统计值;以及
根据所述第二组误差统计值,确定所述第一偏差。
4. 如权利要求3所述的方法,其特征在于,确定所述第一偏差的所述步骤包含确定所述第二误差统计的线性收敛。
5. 如权利要求4所述的方法,其特征在于,所述第二误差统计包含一个基于所述多个值和所述第二偏差的单位方差。
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