A METHOD FOR DETERMINING THE HALF-CYCLE AMBIGUITY OF A GNSS CARRIER PHASE

Abstract

Signals L1CA, L1P, L2P and L2C transmitted by a GPS satellite are received and the carrier phases φLCA and φL2C are estimated from L1CA and L2C. The cross-correlation P between the downconverted signals L1P and L2P is determined, taking into account the delay between signals. The sign of P is used to enable direct determination of the half-cycle ambiguity AL1CA of the L1CA signal. In some examples, this is done by downconverting the L2P signal by a replica having a phase derived from φL2C, instead of determining the phase of the L2P replica by a tracking loop, enabling determination of AL1CA directly from the sign of P. In some examples, the phase φL2P of the L2P replica is determined by a tracking loop, and the half-cycle ambiguity AL1CA is determined based on the sign of P and on the difference between the carrier phases φL2P and φL2C.

Description

FIELD

The present disclosure is related to global navigation satellite systems (GNSS). The present disclosure is in particular related to the problem of the half-cycle ambiguity of the carrier phase of a satellite signal that is modulated by a navigation sequence.

BACKGROUND

Global Navigation Satellite Systems (GNSS) are widely used to provide position, velocity and time to any user on or near the Earth's surface. A GNSS comprises, among other things, a constellation of multiple navigation satellites (GNSS satellites) which transmit dedicated navigation signals known as “ranging signals”. Most known is the Global Positioning System (GPS) developed by the United States. Other systems include the European Galileo system, the Russian GLONASS and the Chinese BeiDou system.

All GNSS satellites transmit multiple ranging signals in various frequency bands. For example, modern GPS satellites transmit at least two signals modulated on the L1 carrier at 1575.42 MHZ (L_1CA and L_1P) and two signals on the L2 carrier at 1227.6 MHz (L_2P and L_2C). Each signal consists of a pseudorandom code (PRN code) unique to each satellite. Some signals, known as “data signals”, are further modulated by the bits of a navigation message. The signals that are not modulated by navigation bits are called “pilot signals”. In GPS for example, the L_2C signal is a pilot signal (or more precisely, the L_2CL component of the L_2C signal is a pilot), while the L_1CA, L_1P and L_2P signals are data signals. For most signals, the PRN code is publicly available and known to the receiver. However, for some signals, such as GPS L_1P and L_2P, the PRN code is classified and unknown.

In GNSS receivers, the different frequency bands are first amplified and downconverted to baseband in analog frontend circuits, and the signals from the different satellites are acquired and tracked in dedicated tracking channels. For each tracked signal of each satellite, the receiver measures the transmission delay from the satellite to the receiver and the phase of the incoming carrier wave. The measured delay, multiplied by the speed of light, is called the pseudorange. The carrier phase measurements are much more accurate than the pseudoranges but are affected by an ambiguity of an integer number of carrier wavelengths.

The phenomenon of integer ambiguity and the techniques to overcome it are well-known in the art. The present disclosure relates to the problem of half-cycle ambiguity that affects the carrier phase measurements of data signals, as explained in the following paragraphs.

In data signals, the navigation bit modulation follows the binary phase-shift keying (BPSK) scheme, in which the phase of the carrier is offset by 0° or 180° (one half of a carrier cycle) depending on the value of the bit to be transmitted (1 or 0). In such a modulation scheme, a global shift of the unmodulated carrier by 180° is not distinguishable from an inversion of all the navigation bits. For example, upon receiving the phase sequence (0°, 180°, 180°, 0°) 0°, the receiver cannot distinguish the hypothesis that the unmodulated carrier phase was 0° and the navigation bits were (0, 1, 1, 0, 0), from the hypothesis that the carrier phase was 180° with navigation bits (1, 0, 0, 1, 1). An ambiguity of 180° exists until the receiver can determine the correct bit sequence. This ambiguity is referred to as the “half-cycle ambiguity”.

Resolving the half-cycle ambiguity typically involves waiting for the occurrence of a preamble (a short bit sequence transmitted at fixed intervals, the content of which is known in advance) and comparing it with the decoded sequence. In case of a sign inversion (the bits of the preamble have been decoded with inverted polarity), the receiver adjusts its carrier phase by 180°. In case of a match, the carrier phase is confirmed and does not need to change. This process must restart after each loss of tracking (i.e. after each signal interruption).

Even when the half-cycle ambiguity has been resolved, it may be lost again during tracking, especially in case of weak signal reception. Such event is known in the art as a “half-cycle slip”. Half-cycle slips are difficult to detect until the next preamble is received. During that interval, the carrier phase measurements are incorrect by half a cycle.

As the availability of carrier phase with integer ambiguity is key to high-accuracy positioning, there is a need for techniques to speed up the resolution of the half-cycle ambiguity affecting data signals.

Numerous cycle-slip detection and repair algorithms have been proposed involving detecting the presence of discontinuities in the phase measurements. These methods usually compare the detected carrier phase with a modelled value being obtained from past data, e.g. by extrapolation. They require the availability of recent data as the extrapolation quickly diverges. For this reason, they are not suitable to determine the initial half-cycle ambiguity, as in this case, the last time a given satellite was tracked may be hours ago. There is a need for a technique that can be applied independently of the time at which a given satellite was last seen.

Patent publication document U.S. Pat. No. 6,150,978 discloses a technique for quick half-cycle ambiguity resolution applicable to the GPS L_1CA signal. The technique involves detecting a match or an inverted match between an internally stored expected data message and the incoming data. It requires memory buffers for storing past data and relies on the assumption that the navigation message transmitted by the satellite does not change often. Periodic refreshes of the memory buffer are needed to keep track of navigation message updates, and the technique cannot be applied during those refreshes.

Son et al., “A new half cycle ambiguity resolution method for GPS attitude determination system,” Proceedings of the 13th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2000), Salt Lake City, UT, September 2000, pp. 2227-2232, propose a method to resolve the half-cycle ambiguity by comparing data sequences from multiple antennas. The method uses the fact that demodulated data sequences from multiple antennas are identical for the same satellite. This technique is not applicable to a single-antenna configuration, and, in multi-antenna systems, is ineffective in the most usual case where the signal interruption concerns all antennas.

Patent publication document U.S. Pat. No. 6,061,390 discloses a way to resolve the half-cycle ambiguity on the GPS L_1P and L_2P carrier phase measurements provided the half-cycle ambiguity is resolved on the GPS L_1CA carrier phase. However, the resolution of the GPS L_1CA half-cycle ambiguity is still based on testing the sign of the preamble, as described above.

SUMMARY

The present disclosure aims to provide a solution to the problems described above. This aim is achieved by the methods and the GPS receivers as disclosed in the appended claims. According to the present disclosure, the four signals L_1CA, L_1P, L_2P and L_2C transmitted by a GPS satellite are received and the carrier phases φ_LCA and φ_L2C are estimated from L_1CA and L_2C, e.g. in a manner known in the art. In addition, the cross-correlation P between the downconverted signals L_1P and L_2P is determined, taking into account the delay between said signals. According to the present disclosure, the sign of P is used in a novel way that enables the direct determination of the half-cycle ambiguity A_L1CA of the L_1CA signal. According to a first embodiment, this is done by downconverting the L_2P signal by a replica having a phase derived from φ_L2C, instead of determining the phase of the L_2P replica by a tracking loop as in the prior art. This new approach enables determining A_L1CA directly from the sign of P. According to a second embodiment, the phase φ_L2P of the L_2P replica is determined by a tracking loop as in the prior art, and the half-cycle ambiguity A_L1CA is determined on the basis of the sign of P and on the basis of the difference between the carrier phases φ_L2P and φ_L2C. The present disclosure is equally related to a GPS receiver comprising at least one channel configured for executing the method according to the present disclosure.

The present disclosure is in particular related to a method for determining the half-cycle ambiguity of a Global Positioning System (GPS) carrier phase comprising the steps of:

• • receiving the following signals from a GPS satellite:
    • a first signal L_1CA transmitted on a first carrier frequency f_L1,
    • a second signal L_1P transmitted on the first carrier frequency f_L1 the second signal having a known phase offset δφ_L1P,CA with respect to the first signal,
    • a third signal L_2C transmitted on a second carrier frequency f_L2,
    • a fourth signal L_2P transmitted on the second carrier frequency f_L2, the fourth signal having a known phase offset δφ_L2P,C with respect to the third signal,
  • tracking the first signal and the third signal and determining thereby respective estimations of the carrier phases φ_L1CA and φ_L2C of said first and third signals, wherein said estimation of the carrier phase φ_L1CA of the first signal comprises the term A_L1CA.π, wherein A_L1CA is equal to 0 or 1, A_L1CA being referred to hereafter as the half-cycle ambiguity of the L_1CA carrier phase,
  • downconverting the second and fourth signals L_1P and L_2P to baseband by multiplication with a carrier replica of said second and fourth signals, determining the delay between the downconverted second and fourth signals, and determining a cross-correlation P between the downconverted second and fourth signals by integrating the product of the downconverted second and fourth signals over an integration time T, taking into account said delay,characterized in that the sign of the cross-correlation P and the known phase offsets δφ_L2P,C and δφ_L1P,CA are used for determining the half-cycle ambiguity A_L1CA.

According to an embodiment, the half-cycle ambiguity A_L1CA of the first signal L_1CA is determined by:

• • executing said step of downconverting the fourth signal L_2P by multiplication of the fourth signal L_2P with a carrier replica having the phase φ_L2t+φ_L2C+δφ_L2P,C, with ω_L2=2πf_L2
  • determining the half-cycle ambiguity A_L1CA of the L_1CA signal directly from the sign of the cross-correlation P, according to the following verification steps:
    • if P is positive, A_L1CA=0,
    • if P is negative, A_L1CA=1.

In the previous embodiment, the applied delay between the downconverted second and fourth signals may be determined by a delay lock loop (DLL) circuit (15) tracking the delay between L_1P and L_2P.

Alternatively, the step of tracking the first signal and the third signal may include determining respective estimations R_L1CA and R_L2C of the satellite range, wherein the applied delay between the downconverted second and fourth signals is the difference between the respective estimations of the satellite range obtained from the third and first signals L_2C and L_1CA, divided by the speed of light, i.e. (PR_L2C−PR_L1CA)/c.

According to another embodiment, the half-cycle ambiguity A_L1CA of the first signal L_1CA is determined by:

• • tracking the carrier phase φ_L2P of the fourth signal by a tracking loop that maximizes the amplitude of the cross-correlation P, and executing said step of downconverting the fourth signal by multiplication of the fourth signal with a carrier replica having the phase ω_L2t+φ_L2P,
  • from the sign of the cross-correlation P, and from the difference between φ_L2P and φ_L2C, determining the half-cycle ambiguity A_L1CA of the first signal L_1CA according to the following steps:
    • determining a parameter D,

$D=\frac{1}{\pi }\left({\phi }_{L2P}-{\phi }_{L2C}-{\mathrm{\delta \phi }}_{L2P,C}\right)$

• • • with
    • if the integer closest to D is even: A_L1CA=0 if P>0 or A_L1CA=1 if P<0
    • if the integer closest to D is odd: A_L1CA=1 if P>0 or A_L1CA=0 if P<0.

The method according to the previous embodiment may further comprise the step of determining whether the absolute value of the difference between D and the closest integer is larger or smaller than a pre-defined threshold value D_th, wherein the step of determining the half-cycle ambiguity A_L1CA of the L_1CA signal is executed only if the absolute value of the difference between D and the closest integer is smaller than the pre-defined threshold value D_th.

The method according to the present disclosure may further comprise the step of determining whether the absolute value of P is larger than a pre-defined threshold value P_th, and wherein the step of determining the half-cycle ambiguity A_L1CA of the L_1CA signal is executed only if |P|>P_th.

The method according to the present disclosure may be performed repeatedly so as to enable an essentially continuous monitoring of the half cycle ambiguity A_L1CA.

According to an embodiment, the half-cycle ambiguity A_L1CA is determined only if the same result is obtained a given number of times.

According to an embodiment, the method of the present disclosure is performed repeatedly and in parallel with a method for determining the half-cycle ambiguity A_L1CA on the basis of a preamble transmitted in the first signal and wherein the time between two consecutive determinations of the half-cycle ambiguity is smaller than the time between two consecutive preambles.

According to an embodiment, the time between two consecutive determinations of the half-cycle ambiguity is smaller than 6 s.

The present disclosure is equally related to the use of the method of the present disclosure for detecting half-cycle slips during the acquisition and processing of GPS signals.

The present disclosure is equally related to a GPS receiver comprising one or more receiver channels, each channel being configured for tracking the following signals from a GPS satellite:

• • a first signal L_1CA transmitted on a first carrier frequency f_L1,
  • a second signal L_1P transmitted on the first carrier frequency f_L1, the second signal having a known phase offset δφ_L1P,CA with respect to the first signal,
  • a third signal L_2C transmitted on a second carrier frequency f_L2,
  • a fourth signal L_2P transmitted on the second carrier frequency f_L2, the fourth signal having a known phase offset δφ_L2P,C with respect to the third signalwherein at least one of said channels comprises a half-cycle ambiguity calculation unit configured to calculate the half-cycle ambiguity A_L1CA of the L_1CA signal in accordance with the method according to the present disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

Aspects of the present disclosure will now be described in more detail with reference to the appended drawings, wherein same reference numerals illustrate same features.

FIG. 1 illustrates the high-level architecture of a receiver channel of a GPS receiver as presently known in the art. With high level is meant that only the basic components and their interaction is illustrated, while no details of the components as such are included in the drawing.

FIGS. 2 and 3 illustrate two possible high-level architectures of a receiver channel of a GPS receiver applicable for realizing the method according to the first embodiment.

FIG. 4 is a flowchart illustrating the operation of an L_1CA half-cycle ambiguity calculation unit applicable in a receiver channel configured for realizing the method according to the first embodiment.

FIG. 5 illustrates a high-level architecture of a receiver channel of a GPS receiver applicable for realizing the method according to the second embodiment.

FIG. 6 is a flowchart illustrating the operation of an L_1CA half-cycle ambiguity calculation unit applicable in a receiver channel configured for realizing the method according to the second embodiment.

DETAILED DESCRIPTION

During the reception of the k-th navigation bit, the L_1CA, L_1P, L_2P and L_2C signals received from a GPS satellite can be represented as:

$\begin{array}{cc}\begin{array}{c}{s}_{L1\mathrm{CA}}\left(t\right)=G_{L1\mathrm{CA}}·D_{L1\mathrm{CA},k}·{\mathrm{PRN}}_{L1\mathrm{CA}}\left(t-{\Delta }_{1\mathrm{CA}}\right)·\sin \left({\omega }_{L1}t+{\Phi }_{L1}\right)\\ s_{L1P}\left(t\right)=G_{L1P}·D_{P,k}·{\mathrm{PRN}}_P\left(t-{\Delta }_{1P}\right)·\sin \left({\omega }_{L1}t+{\Phi }_{L1}+{\mathrm{\delta \phi }}_{L1P,\mathrm{CA}}\right)\\ s_{L2C}\left(t\right)=G_{L2C}·1·{\mathrm{PRN}}_{L2C}\left(t-{\Delta }_{2C}\right)·\sin \left({\omega }_{L2}t+{\Phi }_{L2}\right)\\ s_{L2P}\left(t\right)=G_{L2P}·D_{P,k}·{\mathrm{PRN}}_P\left(t-{\Delta }_{2P}\right)·\sin \left({\omega }_{L2}t+{\Phi }_{L2}+{\mathrm{\delta \phi }}_{L2P,C}\right)\end{array}& \left(1\right)\end{array}$

Where D_i,k is the sign of the k-th bit transmitted on signal i (D_i,k can take value −1 or +1), PRN_i(t) is the PRN code that the satellite uses on signal i, which is a sequence of −1 and +1 “chips” at a high chipping rate and ω_Li is the angular frequency of the L1 and L2 carriers, i.e. ω_L1=2πf_L1 and ω_L2=2πf_L2 with f₁=1575.42 MHZ and f₂=1227.6 MHz. G_i is the amplitude of signal i, accounting for the various gains in the transmission and reception chain. δφ_L1P,CA is the phase offset between the L_1P and L_1CA signals and δφ_L2P,C is the phase offset between the L_2P and L_2C signals. Typically, both offsets δφ_L1P,CA and δφ_L2P,C are equal to π/2, but other values are possible. These offsets are deliberately applied to the signals generated by the satellites and are therefore known and documented in the GPS Interface Specification (IS-GPS-200). Δ_i is the delay of signal i in its propagation from the satellite to the receiver. It is different for all signals due to the dispersive effect of the ionosphere and to satellite and receiver inter-signal delays. Φ_Li is the phase shift of the L1 and L2 carrier in its propagation from the satellite to the receiver.

It is known in the art that the L_2C signal comprises a medium length data-modulated code (CM) and a long length dataless code (CL). In equations (1) and further in this text, only the L_2CL component of the L_2C signal is considered, even though we refer to it as “L_2C” for clarity. As L_2C is a pilot signal, it has no bit modulation. The L_1P and L_2P PRN codes (PRN_P) and bits (D_P,k) are classified and considered unknown here. However, they are the same for L_1P and L_2P.

The equations (1) therefore represent the mathematical formulas of the four following signals:

• • a first signal L_1CA transmitted on a first carrier frequency f_L1, with
  • ω_L1=2πf_L1, that is modulated by a first known PRN code and by a first navigation bit sequence,
  • a second signal L_1P transmitted on the first carrier frequency f_L1 that is modulated by an unknown PRN code and by an unknown navigation bit sequence, the second signal having a known phase offset δφ_L1P,CA with respect to the first signal,
  • a third signal L_2C transmitted on a second carrier frequency f_L2, with ω_L2=2πf_L2, that is modulated by a second known PRN code,
  • a fourth signal L_2P transmitted on the second carrier frequency f_L2, that is modulated by said unknown PRN code and by said unknown navigation sequence, the fourth signal having a known phase offset δφ_L2P,C with respect to the third signal.

According to the state of the art, the high-level architecture of a receiver channel tracking the four signals of equations (1) is represented in FIG. 1. The receiver channel is dedicated to tracking one particular satellite. The receiver comprises therefore multiple channels, one for each satellite of the global positioning system.

The 4 signals of equation (1) are brought to baseband by mixing with sine waves 1 through 4, in multiplication circuits 5 through 8. The phases of the respective sine waves 1, 3 and 4 are derived from the output of phase-lock loop (PLL) circuits 9, 10 and 11. These outputs are the carrier phase measurements φ_L1CA, φ_L2P and φ_L2C for respective signals L_1CA, L_2C and L_2P. For the L_1P signal, the phase is made equal to the L_1CA phase plus the known L_1P-L_1CA phase offset δφ_L1P,CA The PLLs 9 and 10 determine the carrier phase measurements φ_L1CA and φ_L2C by maximizing the in-phase correlation between the downconverted signal and a locally produced replica of said signal, said correlation being produced by respective correlators 12 and 13. The L_2P PLL 11 determines the carrier phase φ_L2P of the L_2P signal by maximizing the in-phase cross-correlation P between the downconverted signals L_1P and L_2P, determined in a P1-P2 cross-correlator circuit 14, after compensation of the delay Δ_2P-Δ_1P between the L_1P and L_2P signals, said delay being determined by delay-lock loop (DLL) 15. The measured delay is applied to the incoming signal in a delay circuit 16.

DLL circuits 17 and 18 track the delay of the known PRN codes transmitted by the signals L_1CA and L_2C and produce the pseudorange measurements PR_L1CA and PR_L2C by multiplying the respective delays by the speed of light. The DLL circuits 17 and 18 determine said delays by locking a local replica of the PRN code onto the incoming signal and determining the time delay between the transmitted signal and the locally produced replica. As known in the art, this may be realized by continuously producing early, late and punctual replicas of the PRN code and comparing the correlation thereof with the incoming signal.

Assuming perfect lock of the tracking loops to the incoming signals, a receiver channel tracking the L_1CA signal given by the first of the equations (1) produces the following carrier phase measurement, in radians:

$\begin{array}{cc}{\phi }_{L1\mathrm{CA}}={\Phi }_{L1}+N_{L1\mathrm{CA}}·2\pi +A_{L1\mathrm{CA}}·\pi & \left(2\right)\end{array}$

With A_L1CA the half-cycle ambiguity of the L_1CA carrier phase, being 0 or 1, and N_L1CA the integer ambiguity.

As a by-product of the L_1CA signal tracking, a receiver channel also estimates the sign of the navigation bits (D_L1CA,k). As is well known in the art, if A_L1CA is 0, the navigation bits are decoded with correct sign. On the other hand, if A_L1CA is 1, they are decoded with inverted sign. Known methods to resolve the half-cycle ambiguity therefore involve waiting for the occurrence of a known bit pattern and comparing it with the decoded sequence. For example, the GPS L_1CA navigation bit stream contains a known pattern of 8 bits repeated every 6 seconds, the so-called preamble. In case of a sign inversion (the preamble has been decoded with inverted polarity), A_L1CA is determined to be 1, otherwise it is determined to be 0.

This process must restart after each loss of tracking (i.e., after each signal interruption). For example, when the receiver is used in a car, the process of resolving the half-cycle ambiguity is repeated each time the car passes under a bridge blocking the GPS signal. After each signal interruption, it takes several seconds to resolve the half-cycle ambiguity.

This invention relates to the fast determination of the A_L1CA ambiguity. It is based on the insight that the measured carrier phase φ_L2C from the pilot L_2C signal can be used to speed up determination of the L_1CA half-cycle ambiguity A_L1CA, using the L_1P and L_2P signals as a link between L1 and L2. In particular, the sign (+ or −) of the P1-P2 cross-correlation P, determined by integration over a short time period of for example 1 second (‘short’ meaning shorter than the timespan between subsequent transmissions of the preamble), enables the fast determination of A_L1CA when the measured carrier phase φ_L2C is used judiciously. The inventors have found two different way of realizing this, described hereafter as a first and second embodiment of the method of the present disclosure.

First Embodiment

Assuming perfect lock of the tracking loops to the signals, a receiver channel tracking the L_1CA and L_2C signals given by equations (1) produces the following carrier phase measurements:

$\begin{array}{cc}\begin{array}{c}{\phi }_{L1\mathrm{CA}}={\Phi }_{L1}+N_{L1\mathrm{CA}}·2\pi +A_{L1\mathrm{CA}}·\pi \\ {\phi }_{L2C}={\Phi }_{L2}+N_{L2C}·2\pi \end{array}& \left(3\right)\end{array}$

As stated above, formula (3) assumes perfect lock of the tracking loops to the incoming signals. In reality, the carrier phase measurements may slightly differ from the above formulas due for example to noise or multipath effects, but these deviations may be considered to be small compared to the terms cited in equations (3). In any case, the estimation of φ_L1CA comprises the term A_L1CA. TT that is equal to 0 or IT depending on the value (0 or 1) of the half-cycle ambiguity A_L1CA. Another way of defining the half-cycle ambiguity would be to define it as the cited term itself, i.e. as equal to 0 or TT. This definition of the half-cycle ambiguity is equivalent to the definition used in this description and in the appended claims.

L_2C being a pilot signal, its carrier phase measurement is by design free of half-cycle ambiguity (but it is still affected by an integer ambiguity, N_L2C, as all carrier phase measurements). In equation (3), there is apparently no link between the L_1CA and L_2C carrier phase. However, a link can be made using the fact that both the L1 and L2 carriers are also modulated by the L_1P and L_2P signals.

In the prior art receiver channel of FIG. 1, the L_2P signal is brought to baseband using the phase φ_L2P, which is the output of the L_2P PLL. Instead, in this invention, the L_2P signal is converted to baseband by mixing with a sine wave of which the phase is derived from the measured L_2C phase φ_L2C of equation (3). The principle is illustrated in FIG. 2.

The L_2P signal is downconverted to baseband using the measured L_2C carrier phase φ_L2C and the known L_2P-L_2C phase offset δφ_L2P,C. As in the prior art receiver, the L_1P signal is downconverted to baseband using the measured L_1CA carrier phase φ_L1CA and the known L_1P-L_1CA phase offset δφ_L1P,CA. The baseband signals are then multiplied and integrated over a time T (preferably this means integrating between 0 and T and dividing the integral by T, as indicated in FIG. 1). T could for example be 1 second.

From the signal definition in equation (1) and the carrier phase equations (3), one can compute the so-called punctual in-phase cross-correlation P (neglecting the terms at twice the carrier frequency) as:

$\begin{array}{cc}\begin{array}{c}P=\frac{4}{T}{\int }_0^T{G}_{L1P}{G_{L2P}\left(D_{P,k}{\mathrm{PRN}}_P\left(t\right)\sin \left({\omega }_{L2}t+{\Phi }_{L2}+{\mathrm{\delta \phi }}_{L2P,C}\right)\right)}^2·\\ \sin \left({\omega }_{L1}t+{\Phi }_{L1}+{\mathrm{\delta \phi }}_{L1P,\mathrm{CA}}\right)·\sin \left({\omega }_{L1}t+{\Phi }_{L1}+{\mathrm{\delta \phi }}_{L1P,\mathrm{CA}}+A_{L1\mathrm{CA}}\pi \right)·\mathrm{dt}\\ P=G_{L1P}{G}_{L2P}\left(1-2A_{L1\mathrm{CA}}\right)\end{array}& \left(4\right)\end{array}$

The correlator circuit 14 may also output early and late cross-correlation values to the DLL 15 and in-quadrature cross-correlation values to the PLL 11. In the context of determining the half-cycle ambiguity in accordance with any embodiment of the present disclosure, only the punctual in-phase cross-correlation P is needed. In the rest of this description and in the claims, the term “cross-correlation P” is always to be interpreted as the “punctual in-phase cross-correlation”.

It can be seen that P is positive when A_L1CA=0, and negative when A_L1CA=1. In other words, when the L_2P signal is downconverted to baseband by a sinewave of phase ω_L2t+φ_L2C+δφ_L2P,C instead of ω_L2t+φ_L2P the sign of the cross-correlation P directly provides the value of the L_1CA half-cycle ambiguity. According to the first embodiment of the present disclosure, the L_1CA half-cycle ambiguity is therefore determined as follows:

• • if P is positive, determine that A_L1CA=0
  • if P is negative, determine that A_L1CA=1.

The method according to the first embodiment of the present disclosure therefore comprises the steps summarized in appended claim 2, ending with the determination of A_L1CA based directly on the sign of P. The method is preferably performed repeatedly as the 4 signals of equations (1) are acquired and processed in the above-described way so as to enable an essentially continuous monitoring of the half-cycle ambiguity. Preferably, this means that the half-cycle ambiguity is determined essentially every T seconds. T can be for example 1s or less, and in any case T can be significantly smaller than the interval of 6s between two consecutive preamble sequences, used in prior art receivers to determine the half-cycle ambiguity. The present disclosure therefore enables a much faster determination of the half-cycle ambiguity and therefore a faster restoration of the integer-ambiguity carrier phase after an interruption or a signal slip.

In reality, the correlation P will be affected by noise. To account for noise, the decision above is preferably subject to a threshold check on P. If the value of P is under a given threshold P_Th in absolute value, no decision is taken, and the test is performed again at the end of the next correlation interval T.

Parallel to the above procedure, a receiver channel equipped for performing the method according to the first embodiment of the present disclosure preferably still checks for the preamble sign to determine the L_1CA half-cycle ambiguity in the known way. The L_1CA half-cycle ambiguity is fixed as soon as at least one of the following conditions is met:

• • The preamble has been received and its sign could be determined,
  • The L_2C signal is tracked and the L_1P-L_2P cross-correlation P is available with sufficient amplitude.

In most cases, the L_2C-based half-cycle ambiguity fixing is faster, which is the main advantage of the present disclosure.

In a preferred embodiment, the above process of determining the L_1CA half-cycle ambiguity is executed repeatedly to detect half-cycle slips, for example the preamble sign is checked every 6 seconds, and the sign of the cross-correlation P is checked at intervals smaller than 6 s, for example every 1 s or even less, as enabled by the fact that the integration time T can be much shorter than the 6 s interval between preambles. If the half-cycle ambiguity appears to change, a cycle-slip flag is raised and the new ambiguity is applied immediately.

The process of cross-correlating the L_1P and L_2P signals is well known in the art, and multiple refinements for the P1-P2 cross-correlator 14 have been proposed to improve the SNR of the cross-correlation, as for example summarized in the conference paper “Woo, K. T., “Optimum Semi-Codeless Carrier Phase Tracking of L2,” Proceedings of the 12th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1999), Nashville, TN, September 1999, pp. 289-306.”. Such refinements are applicable as such in the method and receiver according to the various embodiments of the present disclosure.

As for example disclosed in U.S. Pat. No. 5,134,407, it is known in the art that the cross-correlation SNR can be significantly improved by performing a first pre-integration over small portions of the L_1P and L_2P PRN code. This improvement is compatible with the present disclosure and is advantageous as it reduces the noise on the cross-correlation P.

One embodiment of a receiver channel in a receiver according to the present disclosure, configured for the application of the first embodiment of the method as described above, is shown in FIG. 2. It is seen that (besides the term ω_L2t) the sinewave 4 is now defined by the measured carrier phase φ_L2C and the known phase difference δφ_L2P,C, and that the receiver channel comprises an additional component, called the L_1CA half-cycle ambiguity calculation unit 20, that receives the cross-correlation P as its input. This component is configured to verify the sign of P, and deliver the value the half-cycle ambiguity as its output. As stated above, the calculation unit 20 may be configured to verify whether or not the absolute value of P is above a pre-defined threshold P_th. The sign of the half-cycle ambiguity is then only produced if |P|>P_th.

In the receiver channel of FIG. 2, the L_2P PLL and DLL circuits 11 and 15 are still included. The DLL 15 again determines the delay Δ_2P-Δ_1P, while the output of the L_2P PLL 11 is not further used in the receiver channel.

While this is a viable embodiment of a receiver channel according to the present disclosure, a more preferred embodiment is illustrated in FIG. 3. This embodiment corresponds to the following variation of the method according to the first embodiment.

In the context of this invention, the delay Δ_2P-Δ_1P does not need to be known accurately: an accuracy of a few tens of nanoseconds is sufficient as the only requirement is to get a reasonable correlation level, not to accurately track the L_2P signal. At that level of accuracy, the delay between the L_1P and L_2P signals is the same as the delay between the L_1CA and L_2C signals. If the receiver channel does not contain means to compute the L_1P-L_2P delay (Δ_2P-Δ_1P), it is therefore sufficient to use the delay between L_1CA and L_2C instead (Δ_2C-Δ_1CA). A receiver channel implementing the present disclosure must at least track the L_1CA and L_2C signals, and therefore produce pseudorange and carrier phase measurements for those signals. The delay between L_1CA and L_2C is simply the difference between the L_2C and L_1CA pseudoranges, divided by the speed of light c. The method according to the first embodiment may therefore use the delay Δ_2C-Δ_1CA instead of the delay

Δ_2P-Δ_1P.

The receiver channel illustrated in FIG. 3 is suitable for executing the method of the first embodiment in accordance with the above-described variation, i.e. using the delay Δ_2C-Δ_1CA instead of the delay Δ_2P-Δ_1P. This receiver channel does not comprise L_2P DLL and PLL circuits. The delay applied to the downconverted L_1P signal is obtained from the pseudoranges PR_L1CA and PR_L2C according to the formula: Δ_2C-Δ_1CA=(PR_L2C−PR_L1CA)/c.

A flowchart of the method steps applied by the half-cycle ambiguity calculation unit 20 including a check of the absolute value of P is shown in FIG. 4.

Compared to the prior art of FIG. 1, an important aspect of this embodiment of the present disclosure is that it does not require the L_1P and L_2P signals to be tracked by the receiver channel. All phase and delay information required to compute the cross-correlation between L_1P and L_2P are available from the L_1CA and L_2C phase and pseudorange measurements. The receiver according to the present disclosure must only perform a cross-correlation without implementing the necessary steps for tracking the P code (PLL and DLL). In particular, there is no need for the receiver to compute L_1P and L_2P code and carrier measurements. However, on receivers where L_2P measurements are available, another option is possible, as described below.

Second Embodiment

There is another way of quickly determining the L_1CA half-cycle ambiguity, applicable to receivers tracking the L_1CA and L_2P signals according to the state of the art and generating corresponding phase measurements. In a receiver channel tracking L_1CA and L_2P signals according to the state of the art (as shown in FIG. 1), the phase of the L_2P carrier replica (ω_L2t+ (φ_L2P) is based on the output of the L_2P phase-locked loop (PLL) 11. φ_L2P is the L_2P carrier phase measurement. The PLL 11 ensures that φ_L2P equals the phase shift of s_L2P of equation (1) with a half-cycle ambiguity A_L2P (0 or 1) and an integer ambiguity N_L2P. φ_L1CA and φ_L2P are given by the following equations, again assuming perfect lock of the tracking loops to the signals:

$\begin{array}{cc}\begin{array}{c}{\phi }_{L1\mathrm{CA}}={\Phi }_{L1}+N_{L1\mathrm{CA}}·2\pi +A_{L1\mathrm{CA}}·\pi \\ {\phi }_{L2P}={\Phi }_{L2}+{\mathrm{\delta \phi }}_{L2P,C}+N_{L2P}·2\pi +A_{L2P}·\pi \end{array}& \left(5\right)\end{array}$

The cross-correlation P in this case (neglecting the terms at twice the carrier frequency) obtained by integration of the product of the downconverted signals SLIP and s_L2P, taking into account the delay between the two signals, over a time T (as defined above), is the following:

$\begin{array}{cc}P=G_{L1P}{G}_{L2P}\left(1-2A_{L1\mathrm{CA}}\right)\left(1-2A_{L2P}\right)& \left(6\right)\end{array}$

As shown by equations (5), both the L_1CA and L_2P carrier phases are affected by half-ambiguities A_L1CA and A_L2P. However, A_L1CA and A_L2P are linked by the sign of the cross-correlation P. From equation (6) it follows that if P is positive, A_L2P=A_L1CA, while if P is negative, A_L2P=1−A_L1CA. This allows to rewrite the L_2P carrier phase as follows:

$\begin{array}{cc}{\phi }_{L2P}=\{\begin{array}{cc}{\Phi }_{L2}+{\mathrm{\delta \phi }}_{L2P,C}+N_{L2P}·2\pi +A_{L1\mathrm{CA}}·\pi & \mathrm{if}P>0\\ {\Phi }_{L2}+{\mathrm{\delta \phi }}_{L2P,C}+N_{L2P}·2\pi -A_{L1\mathrm{CA}}·\pi +\pi & \mathrm{if}P<0\end{array}& \left(7\right)\end{array}$

The principles behind equation (7) have been known for long and are routinely applied to determine the L_2P half-cycle ambiguity once the L_1CA half-cycle ambiguity is determined (see for instance U.S. Pat. No. 6,061,390). However, it has so far not been recognized that equation (7) can be used for fast determination of A_L1CA when the receiver also tracks the L_2C signal in parallel to L_1CA and L_2P. This is the basis of the second embodiment of the present disclosure.

When the receiver tracks L_2C, the carrier phase is given by (3), and the difference between L_2P and L_2C carrier phase measurements is given by:

$\begin{array}{cc}{\phi }_{L2P}-{\phi }_{L2C}=\{\begin{array}{cc}{\mathrm{\delta \phi }}_{L2P,C}+\left(N_{L2P}-N_{L2C}\right)·2\pi +A_{L1\mathrm{CA}}·\pi & \mathrm{if}P>0\\ {\mathrm{\delta \phi }}_{L2P,C}+\left(N_{L2P}-N_{L2C}\right)·2\pi -A_{L1\mathrm{CA}}·\pi +\pi & \mathrm{if}P<0\end{array}& \left(8\right)\end{array}$

From equations (8), the L_1CA carrier phase ambiguity can be readily derived from the L_2C and L_2P carrier phase measurements using the following quantity:

$\begin{array}{cc}D=\frac{1}{\pi }\left({\phi }_{L2P}-{\phi }_{L2C}-{\mathrm{\delta \phi }}_{L2P,C}\right)& \left(9\right)\end{array}$ $\begin{array}{cc}D=\{\begin{array}{cc}2\left(N_{L2P}-N_{L2C}\right)+A_{L1\mathrm{CA}}& \mathrm{if}P>0\\ 2\left(N_{L2P}-N_{L2C}\right)-A_{L1\mathrm{CA}}+1& \mathrm{if}P<0\end{array}& \left(10\right)\end{array}$

Considering that N_L2P, N_L2C are integer values, equation (10) shows that, if P is positive, D is expected to be an even number if A_L1CA is 0, and an odd number if A_L1CA is 1. If P is negative, the opposite is true. In reality, due to noise on the carrier phase measurements, D will not be exactly an integer, but it should be close to an integer in good signal-to-noise conditions.

The determination of A_L1CA according to this second embodiment of the present disclosure therefore involves:

• • Tracking the L_2P and L_2C signals according to the state of the art and generating the corresponding carrier phase measurements φ_L2P and φ_L2C.
  • Computing D following equation (9) using the known phase difference δφ_L2P,C between L_2C and L_2P.
  • determining A_L1CA from D by the following verification steps:
    • if the integer closest to D is even: A_L1CA=0 if P>0 or A_L1CA=1 if P<0
    • if the integer closest to D is odd: A_L1CA=1 if P>0 or A_L1CA=0 if P<0.

A receiver channel configured for performing the method according to this second embodiment is represented in FIG. 5. This receiver channel requires a PLL circuit 10 for determining φ_L2P as in the prior art shown in FIG. 1. With respect to the prior art in FIG. 1, this embodiment adds a L_1CA half-cycle ambiguity calculation unit 20, taking the L_2C and L_2P carrier phases and the punctual cross-correlation value P as input. According to an alternative embodiment (not shown), the delay applied in circuit 16 of FIG. 6 is determined as Δ_2C−Δ_1CA=(PR_L2C−PR_L1CA)/c, as in the embodiment illustrated in FIG. 4. In that case, the DLL circuit 15 of FIG. 5 could be omitted.

According to a preferred embodiment, a verification step precedes the determination of A_L1CA. This step consists in checking whether D differs from the closest integer by more than a threshold value D_Th, e.g. 0.1. The determination of A_L1CA is then only done in the above-described way if D differs less than the threshold value D_th from the closest integer. If D differs by more than D_th from the closest integer, no decision can be taken as the noise is too large, and A_L1CA is not determined until a next integration time T.

In the same way as in the first embodiment, a test on the amplitude of P (|P|>P_Th) is preferably added to avoid taking a decision based on noise. The flowchart shown in FIG. 6 shows the preferred operation of the half-cycle ambiguity calculation unit 20, when the tests for both D and P are included. A “cycle slip flag” can be raised when a change of A_L1CA is observed.

As in the first embodiment, the method according to the second embodiment is preferably performed repeatedly as the signals of equation (1) are tracked so as to enable an essentially continuous monitoring of the half-cycle ambiguity. The determination of the cross-correlation P is done during consecutive integration times T, preferably shorter than the time between consecutive preambles, i.e. less than 6 s, for example 1s or even less. The method may be executed every time P is determined in this way. Every determination of P is then used together with a determination of the parameter D as input for the above-described method for determining the half-cycle ambiguity A_L1CA, preferably after an assessment of both P and D with respect to respective threshold values P_th and D_th. However, other practical ways of realizing a repeated implementation of the method according to the second embodiment are possible. For example, the parameter D may be determined at the rate at which the carrier phase measurements φ_L2P and φ_L2C are updated, which may be for example 1 Hz or 10 Hz or any other suitable rate. The method can be performed at this same rate, by using each carrier phase update for determining D in combination with the latest determination of P.

In the method according to the second embodiment, a test of the carrier-to-noise density ratio (C/N0) can be added, and it can be decided not to take a decision if the C/N0 of the L_2C and/or the L_2P signal is under a given threshold.

In addition, it can be decided to only take a decision after a certain number of iterations provide consistent results. This can be done also when applying the method according to the first embodiment (FIGS. 3-5). The number of required iterations may be consecutive, for example A_L1CA is the same after M consecutive determinations of A_L1CA, or non-consecutive, for example A_L1CA is the same for N out of M determinations of A_L1CA.

In the same way as described above in relation to the method according to the first embodiment, the above method according to the second embodiment is preferably used in parallel to the legacy way of determining the half-cycle ambiguity from the sign of the preamble.

It is known in the art that the L_2P PLL (11) can be designed to ensure that the sign of P is always positive. This option is compatible with the second embodiment of the present disclosure. In that case, the test of the sign of P in FIG. 6 can be bypassed as P is known to be positive by design.

While the present disclosure has been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive. Other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure and the appended claims. In the claims, the word “comprising” does not exclude other elements or steps, and the indefinite article “a” or “an” does not exclude a plurality. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims should not be construed as limiting the scope.

Claims

1. A method for determining the half-cycle ambiguity of a Global Positioning System (GPS) carrier phase comprising the steps of: receiving the following signals from a GPS satellite: a first signal L1CA transmitted on a first carrier frequency fL1,a second signal L1P transmitted on the first carrier frequency fL1, the second signal having a known phase offset δφL1P,CA with respect to the first signal,a third signal L2C transmitted on a second carrier frequency fL2, anda fourth signal L2P transmitted on the second carrier frequency fL2, the fourth signal having a known phase offset δφL2P,C with respect to the third signal;tracking the first signal and the third signal and determining thereby respective estimations of the carrier phases φL1CA and φL2C of said first and third signals, wherein said estimation of the carrier phase φL1CA of the first signal comprises the term AL1CA.π, wherein AL1CA is equal to 0 or 1, AL1CA being referred to hereafter as the half-cycle ambiguity of the L1CA carrier phase; anddownconverting the second and fourth signals L1P and L2P to baseband by multiplication with a carrier replica of said second and fourth signals, determining the delay between the downconverted second and fourth signals, and determining a cross-correlation P between the downconverted second and fourth signals by integrating the product of the downconverted second and fourth signals over an integration time T, taking into account said delay;

2. The method according to claim 1, wherein the half-cycle ambiguity AL1CA of the first signal L1CA is determined by: executing said step of downconverting the fourth signal L2P by multiplication of the fourth signal L2P with a carrier replica having the phase ωL2t+φL2C+δφL2P,C, with ωL2=2πfL2 determining the half-cycle ambiguity AL1CA of the L1CA signal directly from the sign of the cross-correlation P, according to the following verification steps: if P is positive, AL1CA=0,if P is negative, AL1CA=1.

3. The method according to claim 2, wherein the applied delay between the downconverted second and fourth signals is determined by a delay lock loop (DLL) circuit (15) tracking the delay between L1P and L2P.

4. The method according to claim 2, wherein the step of tracking the first signal and the third signal includes determining respective estimations RL1CA and RL2C of the satellite range, and wherein the applied delay between the downconverted second and fourth signals is the difference between the respective estimations of the satellite range obtained from the third and first signals L2C and L1CA, divided by the speed of light, i.e. (PRL2C−PRL1CA)/C.

5. The method according to claim 1, wherein the half-cycle ambiguity AL1CA of the first signal L1CA is determined by: tracking the carrier phase φL2P of the fourth signal by a tracking loop that maximizes the amplitude of the cross-correlation P, and executing said step of downconverting the fourth signal by multiplication of the fourth signal with a carrier replica having the phase ωL2t+φL2P; andfrom the sign of the cross-correlation P, and from the difference between φL2P and φL2C, determining the half-cycle ambiguity AL1CA of the first signal L1CA according to the following steps: determining a parameter D, with D=1/π(φL2P−φL2C−δφL2P,C)′if the integer closest to D is even: AL1CA=0 if P>0 or AL1CA=1 if P<0,if the integer closest to D is odd: AL1CA=1 if P>0 or AL1CA=0 if P<0.

6. The method according to claim 5, further comprising: determining whether the absolute value of the difference between D and the closest integer is larger or smaller than a pre-defined threshold value Dth;wherein the step of determining the half-cycle ambiguity AL1CA of the L1CA signal is executed only if the absolute value of the difference between D and the closest integer is smaller than the pre-defined threshold value Dth.

7. The method according to claim 1, further comprising: determining whether the absolute value of P is larger than a pre-defined threshold value Pth;wherein the step of determining the half-cycle ambiguity AL1CA of the L1CA signal is executed only if |P|>Pth.

8. The method according to claim 1, wherein said method is performed repeatedly so as to enable an essentially continuous monitoring of the half cycle ambiguity AL1CA.

9. The method according to claim 8, wherein the half-cycle ambiguity AL1CA is determined only if the same result is obtained a given number of times.

10. The method according to claim 1, wherein said method is performed repeatedly and wherein said method is performed in parallel with a method for determining the half-cycle ambiguity AL1CA on the basis of a preamble transmitted in the first signal and wherein the time between two consecutive determinations of the half-cycle ambiguity is smaller than the time between two consecutive preambles.

11. The method according to claim 1, wherein the time between two consecutive determinations of the half-cycle ambiguity is smaller than 6 s.

12. A method, the method comprising: detecting half-cycle slips during the acquisition and processing of GPS signals using the method of claim 1.

13. A GPS receiver comprising one or more receiver channels, each channel being configured to track the following four signals from a GPS satellite: a first signal L1CA transmitted on a first carrier frequency fL1,a second signal L1P transmitted on the first carrier frequency fL1, the second signal having a known phase offset δφL1P,CA with respect to the first signal,a third signal L2C transmitted on a second carrier frequency fL2,a fourth signal L2P transmitted on the second carrier frequency fL2, the fourth signal having a known phase offset δφL2P,C with respect to the third signal;