GNSS signal processing with ionosphere model for synthetic reference data

Abstract

Some embodiments of the present invention derive an ionospheric phase bias and an ionospheric differential code bias (DCB) using an absolute ionosphere model, which can be estimated from data obtained from a network of reference stations or obtained from an external source such as WAAS, GAIM, IONEX or other. Fully synthetic reference station data is generated using the ionospheric phase bias and/or the differential code bias together with the phase leveled clock and ionospheric-free code bias and/or MW bias.

Description

RELATED APPLICATIONS

The following related applications are incorporated herein in their entirety by this reference:

• International Publication Number WO 2011/034614 A2, published 24 Mar. 2011 (International Application Number PCT/US2010/002562 filed 19 Sep. 2010;
• International Publication Number WO 2011/034615 A2, published 24 Mar. 2011 (International Application Number PCT/US2010/002563 filed 19 Sep. 2010;
• International Publication Number WO 2011/034616 A2, published 24 Mar. 2011 (International Application Number PCT/US2010/002564 filed 19 Sep. 2010;
• International Publication Number WO 2011/034617 A2, published 24 Mar. 2011 (International Application Number PCT/US2010/002565 filed 19 Sep. 2010;
• International Publication Number WO 2011/034624 A2, published 24 Mar. 2011 (International Application Number PCT/US2010/002581 filed 19 Sep. 2010;
• U.S. Provisional Application for Patent No. 61/277,184 filed 19 Sep. 2009;
• Chinese Patent Publication No. CN 102 331 582 A, published 25 Jan. 2012 (Chinese Patent Application No. 2011 101 42 466.1 filed 30 May 2011;
• German Patent Application No. 10 2011 076 602.2 filed 27 May 2011;
• U.S. patent application Ser. No. 13/117,092 filed 26 May 2011;
• U.S. Provisional Application for Patent No. 61/396,676 filed 30 Sep. 2010;
• Chinese Patent Publication No. CN 102 331 583 A, published 25 Jan. 2012 (Chinese Patent Application No. 2011 101 42 268.5 filed 30 May 2011;
• German Patent Application No. 10 2011 076 604.9 filed 27 May 2011;
• U.S. patent application Ser. No. 13/117,111 filed 26 May 2011;
• U.S. Provisional Application for Patent No. 61/442,680 filed 14 Feb. 2011;
• International Publication Number WO 2011/100680 A2, published 18 Aug. 2011 (corrected publication WO 2011/100680 A9, International Application Number PCT/US2011/024743 filed 14 Feb. 2011; and
• International Publication Number WO 2011/100690 A2, published 18 Aug. 2011 (International Application Number PCT/US2010/024763 filed 14 Feb. 2011.

BACKGROUND

Embodiments described in International Publication Number WO 2011/034614 A2 generate synthetic base station data which preserve the integer nature of carrier phase data. (See for example Part 11 and Parts 2, 7.2, 7.5, 7.8, 8.8, 9.6.4, 12.1, 12.2 and 12.6 of WO 2011/034614 A2.) A set of corrections is computed per satellite (a Melbourne-Wübbena bias, a code leveled clock error and a phase leveled clock error) from global network data. Using these corrections, a rover can use the Melbourne-Wübbena (MW) linear combination to solve widelane ambiguities and use ionospheric-free code/phase observations to solve the narrowlane ambiguities. With fixed ambiguities, the rover can achieve cm-level accuracy positioning in real-time.

An advantage of this approach is that it is insensitive to ionospheric activity, as no ionosphere information is required—all observation combinations used in the network and rover processes are ionospheric-free.

A disadvantage is that the convergence time is longer than desired, typically 10-15 minutes to attain 2-5 cm rover position accuracy, due to the lack of ionosphere information. Another disadvantage of this approach is that the generated synthetic data cannot be used for single-frequency data processing without modifying existing rover data processing software.

SUMMARY

Some embodiments of the present invention derive an ionospheric phase bias and an ionospheric differential code bias (DCB) using an absolute ionosphere model, which can for example be estimated from the network data (a described for example in Chinese Patent Publication No. CN 102 331 582 A, published 25 Jan. 2012; German Patent Application No. 10 2011 076 602.2 filed 27 May 2011; U.S. patent application Ser. No. 13/117,092 filed 26 May 2011; and U.S. Provisional Application for Patent No. 61/396,676 filed 30 Sep. 2010) or obtained from an external source such as WAAS (Wide-Area Augmentation System), GAIM (Global Assimilative Ionospheric Model), IONEX (IONosphere map EXchange) or other source.

Fully synthetic reference station data is generated using the ionospheric phase bias (obtained for example by the estimation explained below) and/or the ionospheric differential code bias (obtained for example by the estimation explained below) together with the phase leveled clock (obtained for example as explained in Part 9 of WO 2011/034614 A2) and ionospheric-free code bias (obtained for example as explained in Part 6 of WO 2011/034614 A2) and/or MW bias (obtained for example as explained in Part 7 of WO 2011/034614 A2).

BRIEF DESCRIPTION OF THE DRAWING

FIG. 1 shows a high level view of a system in accordance with some embodiments of the invention;

FIG. 2 shows an embodiment of synthetic base station (SBS) processing in accordance with some embodiments of the invention;

FIG. 3 is a schematic diagram of a network processor computer system in accordance with some embodiments of the invention;

FIG. 4 is a simplified schematic diagram of an integrated GNSS receiver system in accordance with some embodiments of the invention;

FIG. 5 shows a process in accordance with some embodiments of the invention;

FIG. 6 shows an embodiment of a portion of the process of FIG. 5;

FIG. 7 shows an embodiment of a portion of the process of FIG. 5;

FIG. 8 shows at a process for obtaining a differential code bias per satellite in accordance with some embodiments of the invention;

FIG. 9 shows a process for determining one or more rover positions in accordance with some embodiments of the invention; and

FIG. 10 shows a filtering arrangement for carrying out methods in accordance with some embodiments of the invention.

DETAILED DESCRIPTION

Estimate Ionospheric Differential Code Bias (DCB) and Ionospheric Phase Bias

The ionospheric differential code bias and the ionospheric phase bias are obtained in accordance with some embodiments of the invention by the estimation which will now be explained. GPS L₁ and L₂ carrier phase observations and code observations can be expressed as:

$\begin{array}{cc}{L}_1={\lambda }_1{\phi }_1=\rho +T+I_1+c·\left(t_r-t^s\right)+b_1^r-b_1^s+{\lambda }_1{N}_1+v_1& \left(1\right)\\ L_2={\lambda }_2{\phi }_2=\rho +T+\frac{{\lambda }_2^2}{{\lambda }_1^2}{I}_1+c·\left(t_r-t^s\right)+b_2^r-b_2^s+{\lambda }_2{N}_2+v_2& \left(2\right)\\ P_1=\rho +T-I_1+c·\left(t_r-t^s\right)+B_1^r-B_1^s+{\varepsilon }_1& \left(3\right)\\ P_2=\rho +T-\frac{{\lambda }_2^2}{{\lambda }_1^2}{I}_1+c·\left(t_r-t^s\right)+B_2^r-B_2^s+{\varepsilon }_2& \left(4\right)\end{array}$ where

λ₁ and λ₂ are the wavelengths of the L₁ and L₂ carriers, respectively,

L₁ and L₂ are the L₁ and L₂ carrier phase observations in metric units,

φ₁ and φ₂ are the L₁ and L₂ carrier phase observations in cycles,

ρ is the geometric range between antenna phase centers of satellite and receiver,

T is the tropospheric delay,

I₁ is the L₁ ionospheric delay,

t^s and t_r are the satellite clock error and receiver clock error, respectively,

b₁^s and b₂^s are the satellite L₁ phase bias and satellite L₂ phase bias, respectively,

b₁^r and b₂^r are the receiver L₁ phase bias and satellite L₂ phase bias, respectively,

N₁ and N₂ are “true” L₁ and L₂ integer ambiguities, respectively,

ν₁ and ν₂ are phase noise plus multipath of L₁ and L₂, respectively,

P₁ and P₂ are the L₁ and L₂ code observations in metric units,

B₁^s and B₂^s are the satellite L₁ and L₂ code bias respectively,

B₁^r and B₂^r are the receiver L₁ and L₂ code bias respectively, and

ε₁ and ε₂ are the code noise plus multipath of L₁ and L₂, respectively.

Modeling equations and linear combinations of observations are discussed for example in Part 4 of WO 2011/034614 A2. The ionospheric phase observation L_I1 (mapped to frequency L1) can be written as:

$\begin{array}{cc}{L}_{I1}=\frac{{\lambda }_1^2}{{\lambda }_1^2-{\lambda }_2^2}\left(L_1-L_2\right)=I_1+b_I^r-b_I^s+N_I+v_I& \left(5\right)\end{array}$ where

$\begin{array}{cc}{N}_I=\frac{{\lambda }_1^3}{{\lambda }_1^2-{\lambda }_2^2}{N}_1-\frac{{\lambda }_1^2{\lambda }_2}{{\lambda }_1^2-{\lambda }_2^2}{N}_2=-\frac{{\lambda }_1^3}{{\lambda }_2^2-{\lambda }_1^2}{N}_w+\frac{{\lambda }_1^2}{{\lambda }_1+{\lambda }_2}{N}_2& \left(6\right)\end{array}$ is the ionospheric ambiguity, and

$\begin{array}{cc}{b}_I^r=\frac{{\lambda }_1^2}{{\lambda }_2^2-{\lambda }_1^2}\left(b_2^r-b_1^r\right)\mathrm{and}{b}_I^s=\frac{{\lambda }_1^2}{{\lambda }_2^2-{\lambda }_1^2}\left(b_2^s-b_1^s\right)& \left(7\right)\end{array}$ are respectively the receiver and satellite ionospheric phase biases, and ν₁ is the phase noise plus multipath of the ionospheric phase observation. See Eq. 13 below for widelane ambiguity N_w.

The ionospheric code observation can be written as:

$\begin{array}{cc}{P}_I=P_2-P_1=\frac{{\lambda }_1^2-{\lambda }_2^2}{{\lambda }_1^2}{I}_1+B_I^r-B_I^s+{\varepsilon }_I& \left(8\right)\end{array}$ whereB_I^r=B₂^r−B₁^r and B_I^s=B₂^s−B₁^s  (9)are the receiver differential code bias and satellite ionospheric differential code bias (DCB) respectively, the ionospheric DCB is the differential code bias in ionospheric code observation as shown in Eq. (8), and ε_I is the phase noise plus multipath of the ionospheric code observation.

With a known ionospheric model, the ionospheric delay I₁ can be computed. Together with the fixed ambiguities derived from the network data, by using Eq. (5), the ionospheric phase bias can be estimated with Kalman filter or least square estimation. Optionally, ionospheric DCB can be estimated with Eq. (9). To avoid rank deficiency, one satellite bias can be set to zero, or use a zero mean constraint (the sum of all satellite biases equal to zero). (Note: The rank of an m×n matrix cannot be greater than m nor n. A matrix that has a rank as large as possible is said to have full rank; otherwise, the matrix is rank deficient.)

NOTE: the ambiguities used to derive ionospheric phase bias must be the same as the ones used to derive phase leveled clock error. Otherwise, the difference of the ambiguities must be applied to the calculated ionospheric phase bias.

Phase and Code Leveled Satellite Clock Error, and MW Bias

Phase leveled clock and code leveled clock are explained for example in Part 9 and Part 6 of WO 2011/034614 A2. Phase and code leveled clock are computed with ionospheric-free phase and code observations.

Ionospheric free phase observation can be written as:L_IF=ρ+T+c·(t_r−t^s)+b_c^r−b_c^s+N_c+ν_c  (10)where

$\begin{array}{cc}{N}_c=\frac{{\lambda }_1{\lambda }_2^2}{{\lambda }_2^2-{\lambda }_1^2}{N}_1+\frac{{\lambda }_1^2{\lambda }_2}{{\lambda }_2^2-{\lambda }_1^2}{N}_2=\frac{{\lambda }_1{\lambda }_2^2}{{\lambda }_2^2-{\lambda }_1^2}{N}_w+\frac{{\lambda }_1{\lambda }_2}{{\lambda }_1+{\lambda }_2}{N}_2& \left(11\right)\end{array}$ is the ionospheric-free ambiguity,

$\begin{array}{cc}{b}_c^r=\frac{{\lambda }_2^2}{{\lambda }_2^2-{\lambda }_1^2}{b}_1^r-\frac{{\lambda }_1^2}{{\lambda }_2^2-{\lambda }_1^2}{b}_2^r\mathrm{and}{b}_c^s=\frac{{\lambda }_2^2}{{\lambda }_2^2-{\lambda }_1^2}{b}_1^s-\frac{{\lambda }_1^2}{{\lambda }_2^2-{\lambda }_1^2}{b}_2^s& \left(12\right)\end{array}$ are the receiver and satellite ionospheric-free satellite phase bias, andN_w=N₁−N₂  (13)is the widelane ambiguity, and v_c is the phase noise plus multipath of the ionospheric-free phase observation.

And the ionospheric-free code observation can be expressed as:P_IF=ρ+T+c·(t_r−t^s)+B_c^r−B_c^s+ε_c  (14)where:

$\begin{array}{cc}{B}_c^r=\frac{{\lambda }_2^2}{{\lambda }_2^2-{\lambda }_1^2}{B}_1^r-\frac{{\lambda }_1^2}{{\lambda }_2^2-{\lambda }_1^2}{B}_2^r\mathrm{and}{B}_c^s=\frac{{\lambda }_2^2}{{\lambda }_2^2-{\lambda }_1^2}{B}_1^s-\frac{{\lambda }_1^2}{{\lambda }_2^2-{\lambda }_1^2}{B}_2^s& \left(15\right)\end{array}$ are the receiver and satellite ionospheric-free code bias respectively and ε_c is the phase noise plus multipath of the ionospheric-free code observation.

With resolved network ambiguities, the phase leveled satellite clock error can be written as:t_φ^s=c·t^s+b_c^s  (16)

As only double difference ambiguity is unique and the undifferenced ambiguity is not unique, the phase leveled clock error expressed in Eq. (16) is not unique; it can be offset by a combination of integer L1, L2 ambiguities.t_φ^s=c·t^s+b_c^s+ΔN_C  (16a)where ΔN_C is a combination of L1, L2 ambiguities

And code leveled satellite clock error is:t_P^s=c·t^s+B_c^s  (17)

Discussion of the MW bias is found for example in Part 7 of WO 2011/034614 A2. The MW bias is a combination of phase, code leveled clock error, ionospheric phase bias and ionospheric DCB.

$\begin{array}{cc}\begin{array}{c}{B}_{\mathrm{WM}}^s=b_{\mathrm{WL}}^s-B_{\mathrm{NL}}^s\\ =\frac{{\lambda }_2}{{\lambda }_2-{\lambda }_1}{b}_1^s-\frac{{\lambda }_1}{{\lambda }_2-{\lambda }_1}{b}_2^s-\left(\frac{{\lambda }_2}{{\lambda }_1+{\lambda }_2}{B}_1+\frac{{\lambda }_1}{{\lambda }_1+{\lambda }_2}{B}_2\right)\\ =t_P^s-t_{\varphi }^s+\frac{{\lambda }_2}{{\lambda }_1}{b}_I^s-\frac{{\lambda }_1{\lambda }_2}{{\lambda }_2^2-{\lambda }_1^2}{B}_I^s\end{array}& \left(18\right)\end{array}$

Generate Fully Synthetic Code and Phase Observation

There are several ways to generate synthetic base station data:

• • 1) As described for example in U.S. Provisional Application for Patent 61/277,184 filed 19 Sep. 2009, and in International Publication Number WO 2011/034614 A2, published 24 Mar. 2011.
  • 2) Use code/phase leveled clock, ionospheric DCB, ionospheric phase bias and ionosphere model.
    • Generate ionospheric free phase and code observations with phase/code leveled satellite clock errors:{circumflex over (L)}_IF={circumflex over (ρ)}+T₀−t_φ^s  (19){circumflex over (P)}_IF={circumflex over (ρ)}+T₀−t_P^s  (20)
    • where
    • {circumflex over (ρ)} is the computed geometric distance between the satellite and synthetic base station location,
    • T₀ is an a priori troposphere model, and
    • {circumflex over (L)}_IF and {circumflex over (P)}_IF are the generated ionospheric-free phase and code observations, respectively.
    • Generate L1, L2 phase observation{circumflex over (L)}₁={circumflex over (L)}_IF+I₁−b_I^s  (21)

$\begin{array}{cc}{\hat{L}}_2={\hat{L}}_{\mathrm{IF}}+\frac{{\lambda }_2^2}{{\lambda }_1^2}\left(I_1-b_I^s\right)& \left(22\right)\end{array}$

• • • where I₁ is the ionospheric delay computed from ionosphere model, b_I^s is the derived satellite ionosperic phase bias.
    • Generate L1, L2 code observation

$\begin{array}{cc}{\hat{P}}_1={\hat{P}}_{\mathrm{IF}}-I_1-\frac{{\lambda }_1^2}{{\lambda }_2^2-{\lambda }_1^2}{B}_I^s& \left(23\right)\\ {\hat{P}}_2={\hat{P}}_{\mathrm{IF}}-\frac{{\lambda }_2^2}{{\lambda }_1^2}{I}_1-\frac{{\lambda }_2^2}{{\lambda }_2^2-{\lambda }_1^2}{B}_I^s& \left(24\right)\end{array}$

• • 3) Use code/phase leveled clock, MW bias, ionospheric phase bias and ionosphere model
    • The generation of L1, L2 phase observation is the same as method 2, Eq. (21), (22)

$\begin{array}{cc}{\hat{P}}_1={\hat{P}}_{\mathrm{IF}}-I_1-\frac{{\lambda }_1}{{\lambda }_2}\left(t_P^s-t_{\varphi }^s\right)-b_I^s+\frac{{\lambda }_1}{{\lambda }_2}{B}_{\mathrm{MW}}^s& \left(25\right)\\ {\hat{P}}_2={\hat{P}}_{\mathrm{IF}}-\frac{{\lambda }_2^2}{{\lambda }_1^2}{I}_1-\frac{{\lambda }_2}{{\lambda }_1}\left(t_P^s-t_{\varphi }^s\right)-\frac{{\lambda }_2^2}{{\lambda }_1^2}{b}_I^s+\frac{{\lambda }_2}{{\lambda }_1}{B}_{\mathrm{MW}}^s& \left(26\right)\end{array}$

• • 4) Use code/phase leveled clock, MW bias, DCB and ionosphere model
    • In this variant the ionospheric phase bias is not used. Thus the accuracy of the generated phase observations suffers to some extent from the fact that the bias term is given in code accuracy.
    • Generate L1, L2 phase observation

$\begin{array}{cc}{\hat{L}}_1={\hat{L}}_{\mathrm{IF}}-I_1+\frac{{\lambda }_1}{{\lambda }_2}\left(t_P^s-t_{\varphi }^s+B_{\mathrm{MW}}^s\right)+\frac{{\lambda }_1^2}{{\lambda }_2^2-{\lambda }_1^2}{B}_I^s& \left(27\right)\\ {\hat{L}}_2={\hat{L}}_{\mathrm{IF}}-\frac{{\lambda }_2^2}{{\lambda }_1^2}{I}_1+\frac{{\lambda }_2}{{\lambda }_1}\left(t_P^s-t_{\varphi }^s+B_{\mathrm{MW}}^s\right)+\frac{{\lambda }_2^2}{{\lambda }_2^2-{\lambda }_1^2}{B}_I^s& \left(28\right)\end{array}$

• • • The generation of L1, L2 code observation is the same as method 2, Eq. (23), (24)

Variants 2) and 3) allow to process single-frequency data with fixed ambiguities. Theoretically, Variant 4) allows to process single frequency with fixed ambiguity, but due to the accuracy of MW bias and ionospheric DCB, practically, Variant 4) is not used to fix ambiguity for single frequency data.

Fully synthetic base station data can be processed with rover observations in any real-time-kinematic (RTK) engine that can process single-frequency or multi-frequency data. Many RTK systems are multi-frequency, but there are single-frequency RTK systems that can work over very short baseline distance between base receiver and rover receiver. A main difference with single-frequency processing is in the handling of ionosphere—it is assumed that the baseline is short enough to almost cancel ionospheric effects. Multi-frequency RTK processing allows use of ionospheric-free combinations for position determination.

RTK performance is dependent on accuracy of the ionospheric information used to generate the synthetic base station data, e.g., the quality of the ionospheric model. Any model works, but a good model gives better results. A good model means that the ionospheric delay derived from the model is more accurate and can significantly decrease the convergence time of RTK solution.

In worst case, a multi-frequency system can ignore the ionospheric information and fall back to processing variant 1). Processing variants 2)-4) can be viewed as an augmentation of variant 1).

In some embodiments the ionospheric phase bias is transmitted from the network processor to the rover (such as by adding the ionspheric phase bias to the correction message described in U.S. Provisional Application for Patent 61/277,184 filed 19 Sep. 2009, and in International Publication Number WO 2011/034614 A2, published 24 Mar. 2011).

In some embodiments the ionospheric phase bias is not transmitted from the network processor to the rover, and instead an ionospheric model (such as WAAS transmission) is obtained separately for processing of the rover observations. This approach is fully compatible with variant 1).

In some embodiments the ionospheric DCBs are transmitted to the rover instead of (or in addition to) the MW biases.

Variant 1) has (per satellite):

• • 1. MW bias
  • 2. phase-leveled clock error
  • 3. ionospheric-free code biasAn ionospheric model adds (per satellite):
  • 4. ionospheric phase bias
  • 5. ionospheric differential code bias (DCB)

In principle, ionospheric phase bias is needed, but linear dependence allows any of one of the five items 1.-5. to be derived from the other four. However, it is more accurate to have the ionospheric phase bias because it is derived from carrier fixed ambiguities with carrier phase data, thus keeps integer nature of carrier phase observations.

The ionospheric DCB is derived from pseudorange observation (or carrier-phase-smoothed (averaged over time) code observation) so is missing the fixed ambiguity nature. In some embodiments, items 1.-5. are used at the rover along with the ionospheric model used at the network processor. Items 1.-3. are used to generate ionospheric-free code and phase. The MW bias is used to generate narrowlane code.

Variant 1) uses three corrections, maintaining integer nature of ambiguity without ionospheric information. Adding items 4. and 5. allows to generate non-ionospheric-free synthetic observations for code and phase which can be broadcast (e.g., to a rover) and an ionospheric model added (e.g., at the rover).

Practically, it is preferable to use 2., 3., 4. and either 1. or 5, though in general any four of these five items will work:

Option 1: Using 1., 2., 3.+add 4.+ionospheric model

• • or

Option 2: Using 2., 3., 4., 5.+ionospheric model

Moreover it is possible to derive synthetic observation data without the ionospheric phase bias (4.):

Option 3: Using 1., 2., 3.,+add 5.+ionospheric model

The current IONEX model describes VTEC (Vertical Total Electron Content) in a map produced every 2 hours with an accuracy of 1˜2 TECU (Total Electron Content Units). A real-time ionospheric model can be used instead.

FIG. 1 shows a high level view of a system 100 in accordance with some embodiments of the invention. Reference stations of a worldwide tracking network, such as reference stations 105, 110, . . . 115, are distributed about the Earth. The position of each reference station is known very precisely, e.g., within less than 2 cm. Each reference station is equipped with an antenna and tracks the GNSS signals transmitted by the satellites in view at that station, such as GNSS satellites 120, 125, . . . 130. The GNSS signals have codes modulated on each of two or more carrier frequencies.

GNSS data collected at the reference stations is transmitted via communications channels 135 to a network processor 140. Network processor 140 uses the GNSS data from the reference stations with other information to generate a correction message containing correction information as described herein. The correction message is transmitted for use by any number of GNSS rover receivers. The correction message is transmitted as shown in FIG. 1 via an uplink 150 and communications satellite 155 for broadcast over a wide area; any other suitable transmission medium may be used including but not limited to radio broadcast or mobile telephone link. Rover 160 is example of a GNSS rover receiver having a GNSS antenna 165 for receiving and tracking the signals of GNSS satellites in view at its location, and optionally having a communications antenna 170. Depending on the transmission band of the correction message, it can be received by rover 160 via GNSS antenna 165 or communications antenna 170.

FIG. 2 shows an embodiment 200 of synthetic base station (SBS) processing in accordance with some embodiments of the invention. Rover receiver 205 receives GNSS signals from multiple GNSS satellites, of which three are shown at 210, 215 and 220. Receiver 205 derives GNSS data 225 from code observations and carrier-phase observations of the GNSS signals over multiple epochs.

Correction data 230 for the GNSS satellites are received, such as via a correction message 235 broadcast by a communications satellite 240 or by other means, and decoded by a message decoder 245. An SBS data module 250 receives the correction data 230 and also receives information which it can use as a virtual base location, such as an approximate rover position 255 with time tag 260 generated by an optional navigation processor 265. The approximate rover position is optionally obtained from other sources as described for example in Part 11 of International Publication Number WO 2011/034614 A2.

SBS data module 250 uses the correction data 230 and the approximate rover position 255 with time tag 260 to synthesize base station data 270 for the virtual base location. The SBS data module 250 is triggered by an event or arrival of information which indicates that a new epoch of synthesized base station data is to be generated, as described for example in Part 11 of International Publication Number WO 2011/034614 A2.

In some embodiments a differential processor 275, such as a typical RTK positioning engine of an integrated GNSS receiver system 400, receives the correction data 230, the synthesized base station data 270, and the GNSS data 225 of rover receiver 205, and uses these to determine a precise rover position 280. Synthesized base station data 270 is substituted for base station data in such processing.

FIG. 3 is a schematic diagram of a network processor computer system 300 in accordance with some embodiments of the invention. Computer system 300 includes one or more processors 305, one or more data storage elements 310, program code 315 with instructions for controlling the processor(s) 305, and user input/output devices 320 which may include one or more output devices such as a display 325 or speaker or printer and one or more devices for receiving user input such as a keyboard 330 or touch pad or mouse or microphone. Computer system 300 may also have one or more communications links 335 for exchanging data with other systems, e.g., via internet and/or other channels.

FIG. 4 is a simplified schematic diagram of an integrated GNSS receiver system 400 in accordance with some embodiments of the invention, having a GNSS antenna 405 and communications antenna 410. The Trimble R8 GNSS System available from Trimble Navigation Limited of Sunnyvale, Calif. USA is an example of such a system. Receiver system 400 can serve as a network reference station. Receiver system 400 includes a GNSS receiver 415, a computer system 420 and one or more communications links 425. Computer system 420 includes one or more processors 430, one or more data storage elements 435, program code 440 with instructions for controlling the processor(s) 430, and user input/output devices 445 which may include one or more output devices such as a display 450 or speaker or printer and one or more devices for receiving user input such as a keyboard 455 or touch pad or mouse or microphone.

FIG. 5 shows a process in accordance with some embodiments of the invention. Reference station data sets 505, 510, . . . 515 are obtained from respective reference stations. The data are optionally prepared at 520 (for example, steps such as differencing of observations, forming observation combinations and the like can be performed before estimation rather than within the estimation process if desired as known in the art). The result is a GNSS data set 525 derived from observations at the multiple reference stations. The GNSS data set 525 is used in a process 530 to resolve network ambiguities, thereby obtaining resolved network ambiguities 535 (see for example Part 7 of WO 2011/034614 A2). An ionospheric model 540 is used in a process 545 to determine ionospheric delays 550 comprising an ionospheric delay per epoch per receiver satellite pairing. A process 555 uses the resolved network ambiguities 535 and the ionospheric delays 550 to estimate an ionospheric phase bias per satellite comprising ionospheric phase biases 560.

FIG. 6 shows at 600 an embodiment of the process 555. In this embodiment, a process 605 forms an ionospheric phase combination per satellite to obtain ionospheric phase combinations 610. A process 615 determines the ionospheric phase biases 560 as a combination of the ionospheric phase combination and the ionspheric delay and the resolved network ambiguities. See for example Equations (1)-(9) above.

FIG. 7 shows at 700 an embodiment of the process 530 which resolves network ambiguities. In this embodiment, a process 705 resolves a widelane ambiguity for each receiver-satellite pairing, to thereby obtain resolved widelane ambiguities 710, and a process 715 resolves a narrowlane ambiguity for each receiver-satellite pairing, to thereby obtain resolved narrowlane ambiguities 720. The resolved network ambiguities 535 comprise the resolved widelane ambiguities 710 and the resolved narrowlane ambiguities 720. See for example Equations (10)-(18) above.

FIG. 8 shows at 800 a process for obtaining a differential code bias per satellite in accordance with some embodiments of the invention. The ionospheric code observation 805 and the ionospheric delay per satellite-receiver pair 810 are used in a process 815 to estimate the differential code biases 820. See for example Equations (1)-(9) above.

FIG. 9 shows at 900 a process for determining one or more rover positions. Step 905 obtains rover data 910 which is derived from code observations and carrier observations of GNSS signals of multiple satellites over multiple epochs. Step 915 obtains correction data 920. Step 925 uses the rover data 910 and the correction data 920 and an ionospheric model 930 to determine one or more rover positions. See for example Part 11 of International Publication Number WO 2011/034614 A2.

In some embodiments the correction data 920 comprise (i) an ionospheric phase bias per satellite, (ii) information from which a code-leveled clock error per satellite and a phase-leveled clock error per satellite is derivable, and at least one of (iii) a MW bias per satellite and (iv) an ionospheric differential code bias per satellite.

In some embodiments the correction data comprise (i) a MW bias per satellite, (ii) information from which a code leveled clock error per satellite and a phase leveled clock error per satellite are derivable, (iv) an ionospheric differential code bias per satellite, and (iv) information defining the ionospheric model.

FIG. 10 shows at 1000 a filtering arrangement for carrying out methods in accordance with some embodiments of the invention. Reference station data 1005 are used by process 1010 to form ionospheric code, phase combination 1015. An absolute ionosphere model 1020 is derived from reference station data 1005 or obtained from an external source. The absolute ionosphere model 1020 is used at 1025 to compute an ionospheric delay 1030 for the observation. An iterative filter 1035 (such as a Kalman filter or resursive least-squares filter) processes data over multiple epochs, using the ionsopheric delays 1030, the ionospheric code-phase combinations 1015, a ionospheric phase bias constraint 1040, fixed (widelane and narrow lane) ambiguities 1045 and (optionally) a ionospheric DCB constraint 1050, to estimate a receiver ionospheric phase bias 1055, a satellite ionospheric phase bias 1060, (optionally) an ionospheric receiver DCB 1065, and (optionally) an ionospheric satellite DCB 1070.

Summary of Inventive Concepts

• • 1. [Estimating ionospheric phase biases] A method of processing a set of GNSS signal data derived from code observations and carrier-phase observations at multiple receivers of GNSS signals of multiple satellites over multiple epochs, the GNSS signals having at least two carrier frequencies, comprising:
    • a. resolving a set of network ambiguities,
    • b. determining from an ionospheric model an ionospheric delay per epoch per receiver-satellite pairing, and
    • c. using the network ambiguities and the ionospheric delays to estimate an ionospheric phase bias per satellite.
  • 2. The method of 1, wherein estimating an ionospheric phase bias comprises, per satellite-receiver pair, forming an ionospheric phase combination and determining the ionospheric phase bias as a combination of the ionospheric phase combination and the ionospheric delay and the resolved network ambiguities.
  • 3. The method of one of 1-2, wherein resolving a set of network ambiguities comprises resolving at least a widelane ambiguity per receiver-satellite pairing and a narrowlane ambiguity per receiver-satellite pairing.
  • 4. The method of one of 1-3, wherein estimating an ionospheric phase bias per satellite comprises applying an ionospheric phase bias constraint.
  • 5. The method of one of 1-4, further comprising estimating an ionospheric differential code bias (DCB) per satellite using the ionospheric code observation and the ionospheric delay per satellite-receiver pair.
  • 6. The method of one of 1-5, wherein estimating an ionospheric DCB per satellite comprises applying a differential code bias (DCB) constraint.
  • 7. The method of one of 1-6, further comprising transmitting data representing the ionospheric model.
  • 8. The method of 7, wherein the data representing the ionospheric model comprises at least one of (i) a tag identifying a model, and (ii) parameters from which the ionospheric model can be reconstructed.
  • 9. The method of one of 1-8, further comprising transmitting for use by a rover: the ionospheric phase bias per satellite, information from which a code leveled clock error per satellite and a phase leveled clock error per satellite is derivable, and at least one of (a) a MW bias per satellite and (b) an ionospheric differential code bias per satellite.
  • 10. The method of 9, wherein the information from which a code leveled clock error per satellite and a phase leveled clock error per satellite is derivable comprises at least two of: (i) a code-leveled satellite clock, (ii) a phase-leveled satellite clock, and (iii) a satellite clock bias representing a difference between a code-leveled satellite clock and a phase-leveled satellite clock.
  • 11. The method of one of 1-8, further comprising transmitting for use by a rover: a MW bias per satellite, information from which a code leveled clock error per satellite and a phase leveled clock error per satellite is derivable, an ionospheric differential code bias per satellite, and information defining an ionospheric model.
  • 12. The method of 11, wherein the information from which a code leveled clock error per satellite and a phase leveled clock error per satellite is derivable comprises at least two of: (i) a code-leveled satellite clock, (ii) a phase-leveled satellite clock, and (iii) a satellite clock bias representing a difference between a code-leveled satellite clock and a phase-leveled satellite clock.
  • 13. The method of one of 1-12 wherein the ionospheric model comprises one of: real-time ionosphere model estimated with global network data, WAAS, GAIM, IONEX, etc.
  • 14. The method of one of 1-13, wherein resolving a set of network ambiguities comprises using a set of ambiguities estimated while generating a phase-leveled clock error per satellite.
  • 15. The method of one of 1-14, wherein resolving a set of network ambiguities comprises using a MW combination to determine widelane ambiguities and ionospheric-free phase ambiguities to derive at least one of a L1 ambiguity and a L2 ambiguity.
  • 16. The method of one of 1-15, wherein the set of network ambiguities comprises ambiguities which are unique and correct in double-difference.
  • 17. The method of one of 1-16, wherein resolving a set of network ambiguities comprises using one of: (i) L1 ambiguities and L2 ambiguities, and (ii) any combination of L1 ambiguities and L2ambiguities from which L1 ambiguities and L2 ambiguities can be derived.
  • 18. The method of one of 1-17, wherein resolving a set of network ambiguities comprises determining a fixed integer value for each network ambiguity of the set.
  • 19. A computer program product comprising instructions configured, when executed on a computer processing unit, to carry out a method according to one of 1-18.
  • 20. A computer-readable medium on which is embodied a computer program product according to 19.
  • 21. Apparatus configured to perform a method according to one of 1-18.
  • 22. [Using iono phase biases in rover processing] A method of determining position of a rover antenna, comprising:
    • a. obtaining rover data derived from code observations and carrier phase observations of GNSS signals of multiple satellites over multiple epochs,
    • b. obtaining correction data comprising (i) an ionospheric phase bias per satellite, (ii) information from which a code leveled clock error per satellite and a phase leveled clock error per satellite is derivable, and at least one of (iii) a MW bias per satellite and (iv) an ionospheric differential code bias per satellite, and
    • c. using the rover data and the correction data and an ionospheric model to determine at least rover antenna positions.
  • 23. [determining iono] The method of 22, wherein using the rover data and the correction data and an ionospheric model to determine at least rover antenna positions comprises using the ionospheric model to determine an ionospheric delay per satellite applicable to a region in which the rover antenna is located.
  • 24. [SBS+iono] The method of one of 22-23, wherein using the rover data and the correction data and an ionospheric model to determine at least rover antenna positions comprises: determining a virtual base station location, and using the correction data to generate epochs of synthesized base station data.
  • 25. The method of 24, wherein using the correction data to generate epochs of synthesized base station data comprises using a code leveled clock and a phase leveled clock and precise satellite orbit information to determine ionospheric-free code and phase observations for the virtual base station location, and combining the ionospheric-free code and phase observations for the virtual base station location with the ionospheric phase bias and an ionospheric delay derived from the ionospheric model to generate L1 & L2 phase observations.
  • 26. The method of 25, further comprising combining a differential code bias and the ionospheric delay and the ionospheric-free code combination to generate L1 and L2 code observations.
  • 27. The method of 25, further comprising combining a MW bias, the ionospheric delay, a difference between a code leveled clock error and phase leveled clock error, and the ionospheric-free code combination to generate L1 & L2 code observations.
  • 28. A computer program product comprising instructions configured, when executed on a computer processing unit, to carry out a method according to one of 22-27.
  • 29. A computer-readable medium on which is embodied a computer program product according to 28.
  • 30. Apparatus configured to perform a method according to one of 22-28.
  • 31. [Rover processing without iono phase biases] A method of determining position of a rover antenna, comprising:
    • a. obtaining rover data derived from code observations and carrier phase observations of GNSS signals of multiple satellites over multiple epochs,
    • b. obtaining correction data comprising a MW bias per satellite, information from which a code leveled clock error per satellite and a phase leveled clock error per satellite is derivable, an ionospheric differential code bias per satellite, and information defining an ionospheric model, and
    • c. using the rover data and the correction data and the ionospheric model to determine at least rover antenna positions.
  • 32. [determining iono] The method of 31, wherein using the rover data and the correction data and the ionospheric model to determine at least rover antenna positions comprises using the ionospheric model to determine an ionospheric delay per satellite applicable to a region in which the rover antenna is located.
  • 33. [SBS+iono] The method of one of 31-32, wherein using the rover data and the correction data and the ionospheric model to determine at least rover antenna positions comprises: determining a virtual base station location, and using the correction data to generate epochs of synthesized base station data.
  • 34. The method of 33, wherein using the correction data to generate epochs of synthesized base station data comprises using a code leveled clock and a phase leveled clock and precise satellite orbit information to determine ionospheric-free code and phase observations for the virtual base station location, and combining the ionospheric-free code and phase observations for the virtual base station location with the MW bias per satellite and the ionospheric differential code bias per satellite and an ionospheric delay derived from the ionospheric model to generate L1 & L2 phase observations.
  • 35. The method of 34, further comprising combining the ionospheric differential code bias per satellite, MW bias per satellite and the ionospheric delay and the ionospheric-free code combination to generate L1 and L2 code observations.
  • 36. A computer program product comprising instructions configured, when executed on a computer processing unit, to carry out a method according to one of 31-35.
  • 37. A computer-readable medium on which is embodied a computer program product according to 36.
  • 38. Apparatus configured to perform a method according to one of 31-36.

Those of ordinary skill in the art will realize that the detailed description of embodiments of the present invention is illustrative only and is not intended to be in any way limiting. The scope of the invention is intended to be defined by the claims given below.

In the interest of clarity, not all of the routine features of the implementations described herein are shown and described. It will be appreciated that in the development of any such actual implementation, numerous implementation-specific decisions must be made to achieve the developer's specific goals, such as compliance with application- and business-related constraints, and that these specific goals will vary from one implementation to another and from one developer to another. Moreover, it will be appreciated that such a development effort might be complex and time-consuming, but would nevertheless be a routine undertaking of engineering for those of ordinary skill in the art having the benefit of this disclosure.

Global Navigation Satellite Systems (GNSS) include the Global Positioning System (GPS), the Glonass system, the Galileo system, the proposed Compass system, and others. Each GPS satellite transmits continuously using at least two radio frequencies in the L-band, referred to as L1 and L2. Some GPS satellites also transmit on one or more further radio frequencies in the L-band. Each GNSS likewise has satellites which transmit multiple signals on multiple carrier frequencies. Embodiments of the present invention are not limited to any specific GNSS, or to L1 and L2 frequencies.

In accordance with embodiments of the present invention, the components, process steps and/or data structures may be implemented using various types of operating systems (OS), computer platforms, firmware, computer programs, computer languages and/or general-purpose machines. The methods can be run as a programmed process running on processing circuitry. The processing circuitry can take the form of numerous combinations of processors and operating systems, or a stand-alone device. The processes can be implemented as instructions executed by such hardware, by hardware alone, or by any combination thereof. The software may be stored on a program storage device readable by a machine. Computational elements, such as filters and banks of filters, can be readily implemented using an object-oriented programming language such that each required filter is instantiated as needed.

Those of skill in the art will recognize that devices of a less general-purpose nature, such as hardwired devices, field programmable logic devices (FPLDs), including field programmable gate arrays (FPGAs) and complex programmable logic devices (CPLDs), application specific integrated circuits (ASICs), or the like, may also be used without departing from the scope and spirit of the inventive concepts disclosed herein.

In accordance with an embodiment of the present invention, the methods may be implemented on a data processing computer such as a personal computer, workstation computer, mainframe computer, or high-performance server running an OS such as a version of Microsoft® Windows® available from Microsoft Corporation of Redmond, Wash., or various versions of the Unix operating system such as Linux available from a number of vendors. The methods may also be implemented on a multiple-processor system, or in a computing environment including various peripherals such as input devices, output devices, displays, pointing devices, memories, storage devices, media interfaces for transferring data to and from the processor(s), and the like. Such a computer system or computing environment may be networked locally, or over the Internet.

Any of the above-described methods and their embodiments may be implemented by means of a computer program. The computer program may be loaded on an apparatus, a rover, a reference receiver or a network station as described above. Therefore, the invention also relates to a computer program, which, when carried out on an apparatus, a rover, a reference receiver or a network station as described above, carries out any one of the above described methods and their embodiments.

The invention also relates to a computer-readable medium or a computer-program product including the above-mentioned computer program. The computer-readable medium or computer-program product may for instance be a magnetic tape, an optical memory disk, a magnetic disk, a magneto-optical disk, a CD ROM, a DVD, a CD, a flash memory unit or the like, wherein the computer program is permanently or temporarily stored. The invention also relates to a computer-readable medium (or to a computer-program product) having computer-executable instructions for carrying out any one of the methods of the invention.

The invention also relates to a firmware update adapted to be installed on receivers already in the field, i.e. a computer program which is delivered to the field as a computer program product. This applies to each of the above-described methods and apparatuses.

The constituent parts of a unit may be distributed in different software or hardware components or devices for bringing about the intended function. Furthermore, the units may be gathered together for performing their functions by means of a combined, single unit. For instance, a receiver, a filter and a processing element may be combined to form a single unit, to perform the combined functionalities of the units.

Claims

1. A method of determining position of a rover antenna, comprising: a. obtaining rover data derived from code observations and carrier phase observations of global navigation satellite system (GNSS) signals of multiple satellites over multiple epochs,b. obtaining correction data comprising (i) an ionospheric phase bias per satellite, (ii) information from which a code leveled clock error per satellite and a phase leveled clock error per satellite is derivable, (iii) a Melbourne-Wübbena (MW) bias per satellite, and (iv) an ionospheric differential code bias per satellite, andc. using the rover data and the correction data and an ionospheric model to determine at least rover antenna positions.

2. The method of claim 1, wherein using the rover data and the correction data and an ionospheric model to determine at least rover antenna positions comprises using the ionospheric model to determine an ionospheric delay per satellite applicable to a region in which the rover antenna is located.

3. The method of claim 1, wherein using the rover data and the correction data and an ionospheric model to determine at least rover antenna positions comprises: determining a virtual base station location, and using the correction data to generate epochs of synthesized base station data.

4. The method of claim 3, wherein using the correction data to generate epochs of synthesized base station data comprises using a code leveled clock and a phase leveled clock and precise satellite orbit information to determine ionospheric-free code and phase observations for the virtual base station location, and combining the ionospheric-free code and phase observations for the virtual base station location with the ionospheric phase bias and an ionospheric delay derived from the ionospheric model to generate L1 & L2 phase observations.

5. The method of claim 4, further comprising combining a differential code bias and the ionospheric delay and the ionospheric-free code combination to generate L1 and L2 code observations.

6. The method of claim 4, further comprising combining a MW bias, the ionospheric delay, a difference between a code leveled clock error and phase leveled clock error, and the ionospheric-free code combination to generate L1 & L2 code observations.

7. A computer-readable medium disposed at a rover associated with the rover antenna, on which is embodied a computer program product comprising instructions configured, when executed on a computer processing unit, to carry out the method of claim 1.

8. A method of determining position of a rover antenna, comprising: a. obtaining rover data derived from code observations and carrier phase observations of global navigation satellite system (GNSS) signals of multiple satellites over multiple epochs,b. obtaining correction data comprising a Melbourne-Wübbena(MW) bias per satellite, information from which a code leveled clock error per satellite and a phase leveled clock error per satellite is derivable, an ionospheric differential code bias per satellite, and information defining an ionospheric model, andc. using the rover data and the correction data and the ionospheric model to determine at least rover antenna positions.

9. The method of claim 8, wherein using the rover data and the correction data and the ionospheric model to determine at least rover antenna positions comprises using the ionospheric model to determine an ionospheric delay per satellite applicable to a region in which the rover antenna is located.

10. The method of claim 8, wherein using the rover data and the correction data and the ionospheric model to determine at least rover antenna positions comprises: determining a virtual base station location, and using the correction data to generate epochs of synthesized base station data.

11. The method of claim 10, wherein using the correction data to generate epochs of synthesized base station data comprises using a code leveled clock and a phase leveled clock and precise satellite orbit information to determine ionospheric-free code and phase observations for the virtual base station location, and combining the ionospheric-free code and phase observations for the virtual base station location with the MW bias per satellite and the differential code bias per satellite and an ionospheric delay derived from the ionospheric model to generate L1 & L2 phase observations.

12. The method of claim 11, further comprising combining the ionospheric differential code bias per satellite, MW bias per satellite and the ionospheric delay and the ionospheric-free code combination to generate L1 and L2 code observations.

13. A computer-readable medium disposed at a rover associated with the rover antenna, on which is embodied a computer program product comprising instructions configured, when executed on a computer processing unit, to carry out the method of claim 8.

14. Apparatus for determining position of a rover antenna, comprising a processor and a set of instructions enabling the processor to: a. obtain rover data derived from code observations and carrier phase observations of global navigation satellite system (GNSS) signals of multiple satellites over multiple epochs,b. obtain correction data comprising (i) an ionospheric phase bias per satellite, (ii) information from which a code leveled clock error per satellite and a phase leveled clock error per satellite is derivable, (iii) a Melbourne-Wübbena (MW) bias per satellite, and (iv) an ionospheric differential code bias per satellite, andc. use the rover data and the correction data and an ionospheric model to determine at least rover antenna positions.

15. The apparatus of claim 14, wherein the instructions enable the processor to the rover data and the correction data and an ionospheric model to determine at least rover antenna positions by using the ionospheric model to determine an ionospheric delay per satellite applicable to a region in which the rover antenna is located.

16. The apparatus of claim 14, wherein the instructions enable the processor to use the rover data and the correction data and an ionospheric model to determine at least rover antenna positions by determining a virtual base station location, and using the correction data to generate epochs of synthesized base station data.

17. The apparatus of claim 14, wherein the instructions enable the processor to use the correction data to generate epochs of synthesized base station data using a code leveled clock and a phase leveled clock and precise satellite orbit information to determine ionospheric-free code and phase observations for the virtual base station location, and combine the ionospheric-free code and phase observations for the virtual base station location with the ionospheric phase bias and an ionospheric delay derived from the ionospheric model to generate L1 & L2 phase observations.

18. The apparatus of claim 17, wherein the instructions further enable the processor to combine a differential code bias and the ionospheric delay and the ionospheric-free code combination to generate L1 and L2 code observations.

19. The apparatus of claim 17, wherein the instructions further enable the processor to combine a MW bias, the ionospheric delay, a difference between a code leveled clock error and phase leveled clock error, and the ionospheric-free code combination to generate L1 & L2 code observations.

20. Apparatus for determining position of a rover antenna, comprising a processor and a set of instructions enabling the processor to: a. obtain rover data derived from code observations and carrier phase observations of global navigation satellite system (GNSS) signals of multiple satellites over multiple epochs,b. obtain correction data comprising a Melbourne-Wübbena (MW) bias per satellite, information from which a code leveled clock error per satellite and a phase leveled clock error per satellite is derivable, an ionospheric differential code bias per satellite, and information defining an ionospheric model, andc. use the rover data and the correction data and the ionospheric model to determine at least rover antenna positions.

21. The apparatus of claim 20, wherein the instructions enable the processor to use the rover data and the correction data and the ionospheric model to determine at least rover antenna positions using the ionospheric model to determine an ionospheric delay per satellite applicable to a region in which the rover antenna is located.

22. The apparatus of claim 20, wherein the instructions enable the processor to use the rover data and the correction data and the ionospheric model to determine at least rover antenna positions by: determining a virtual base station location, and using the correction data to generate epochs of synthesized base station data.

23. The apparatus of claim 22, wherein the instructions enable the processor to use the correction data to generate epochs of synthesized base station data using a code leveled clock and a phase leveled clock and precise satellite orbit information to determine ionospheric-free code and phase observations for the virtual base station location, and combine the ionospheric-free code and phase observations for the virtual base station location with the MW bias per satellite and the differential code bias per satellite and an ionospheric delay derived from the ionospheric model to generate L1 & L2 phase observations.

24. The apparatus of claim 23, wherein the instructions further enable the processor to combine the ionospheric differential code bias per satellite, MW bias per satellite and the ionospheric delay and the ionospheric-free code combination to generate L1 and L2 code observations.