RTK vector phase locked loop architecture

Patent metadata

Field	Value
Publication number	US-10969496-B2
Application number	US-201816157934-A
Country	US
Kind code	B2
Filing date	Oct 11, 2018
Priority date	Oct 23, 2017
Publication date	Apr 6, 2021
Grant date	Apr 6, 2021

Abstract

A system for navigating a mobile object generates satellite navigation data for the mobile object based on satellite navigation signals received from a plurality of satellites and base data received from a stationary base station. The satellite navigation data for the mobile object includes code phase estimates and carrier phase estimates for the plurality of satellites. The system computes position, velocity and time estimates for the mobile object in accordance with the code phase estimates and carrier phase estimates, and performs a navigation function for the mobile object in accordance with the computed position, velocity and time estimates for the mobile object. The system generates the code phase estimates by performing a Vector Delay Locked Loop (VDLL) computation process, and generates carrier phase estimates for the plurality of satellites including by performing a Real-Time-Kinematics Vector Phase Locked Loop (RTK-VPLL) computation process.

First claim

We claim:

1. A method for navigating a mobile object according to signals from satellites, the method comprising:
at a mobile object,
receiving satellite navigation signals from a plurality of satellites;
receiving base data from a stationary base station;
generating, from the received satellite navigation signals, satellite navigation data for the mobile object, the satellite navigation data for the mobile object including code phase estimates and carrier phase estimates for the plurality of satellites, wherein the mobile object comprises a system that includes a first receiver;
in accordance with the code phase estimates and carrier phase estimates, computing position, velocity and time estimates for the mobile object; and
performing a navigation function for the mobile object in accordance with the computed position, velocity and time estimates for the mobile object;

wherein
generating code phase estimates for the plurality of satellites includes performing a Vector Delay Locked Loop (VDLL) computation process; and
generating carrier phase estimates for the plurality of satellites includes performing a Real-Time-Kinematics Vector Phase Locked Loop (RTK-VPLL) computation process.

2. The method of claim 1 , wherein the mobile object includes a plurality of channels configured to track signals received by the mobile object from a corresponding number of satellites, each channel corresponding to a respective satellite, and the base data received from the stationary base station includes, for each channel of the plurality of channels, a base station carrier phase measurement and base station Doppler frequency information for the satellite corresponding to the channel, and performing the RTK-VPLL computation process includes:
determining a relative navigation solution; and
for each channel of the plurality of channels:
receiving phase discriminator data for the channel;
in accordance with the phase discriminator data for the channel, the base station carrier phase measurement and the base station Doppler frequency information for the satellite corresponding to the channel, and the relative navigation solution, calculating a carrier frequency setting; and
in accordance with the calculated carrier frequency setting, updating a respective Carrier Numerically Controlled Oscillator (NCO) for the channel.

3. The method of claim 1 , wherein the mobile object includes a plurality of channels configured to track signals received by the mobile object from a corresponding number of satellites, each channel corresponding to a respective satellite, and the base data received from the stationary base station includes satellite measurement data of the stationary base station, the satellite measurement data of the stationary base station including base station code phase measurements and base station carrier phase measurements for the plurality of satellites, Doppler frequency information, and position-related information of the stationary base station; and
performing the RTK-VPLL computation process includes:
receiving phase discriminator data from the plurality of channels;
in accordance with the phase discriminator data for the mobile object and the received base data, determining a relative navigation solution comprising RTK-VPLL state estimates; and
for each channel of the plurality of channels:
in accordance with the relative navigation solution, the received base station carrier phase measurements, and the received Doppler frequency information, calculating a carrier frequency setting for the channel; and
in accordance with the calculated carrier frequency setting, updating a respective Carrier Numerically Controlled Oscillator (NCO) for the channel.

4. The method of claim 3 , wherein determining the RTK-VPLL state estimates includes calculating relative position estimates of the mobile object relative to the stationary base station using a Kalman filter.

5. The method of claim 4 , wherein calculating the relative position estimates using the Kalman filter includes determining a state vector that incorporates clock bias and clock drift of a clock of the mobile object.

6. The method of claim 5 , wherein the clock bias and the clock drift are computed, by the mobile object, relative to a clock of the stationary base station.

7. The method of claim 4 , wherein determining the RTK-VPLL state estimates includes calculating an initial position of the mobile object relative to the stationary base station using a Real-Time-Kinematics (RTK) algorithm, wherein the RTK algorithm includes:
receiving code phase estimates and carrier phase estimates from the plurality of channels; and
in accordance with the position-related information of the stationary base station and the received code phase estimates and carrier phase estimates, estimating the initial position of the mobile object relative to the stationary base station.

8. The method of claim 7 , wherein determining the RTK-VPLL state estimates further includes estimating an initial relative velocity and an initial relative clock state using the Kalman filter.

9. The method of claim 7 , wherein the RTK algorithm further includes calculating a vector of fixed integer single difference carrier ambiguities.

10. The method of claim 4 , wherein receiving the phase discriminator data from the plurality of channels further includes performing a cycle slip check, the cycle slip check including:
identifying a cycle slip in a subset of the channels in the plurality of channels; and
removing phase discriminator data corresponding to the subset of the channels from the received phase discriminator data used by the Kalman filter to update the relative position estimates of the mobile object.

11. The method of claim 3 , wherein determining the RTK-VPLL state estimates further includes estimating an initial position of the mobile object relative to the stationary base station using a scalar Phase Locked Loop (PLL) filter.

12. The method of claim 3 , wherein performing the RTK-VPLL computation process includes:
determining if respective residual values of the RTK-VPLL state estimates meet fault detection criteria, and excluding, from updating the respective Carrier NCO, each of the respective residual values of the RTK-VPLL state estimates that meet the fault detection criteria.

13. The method of claim 1 , wherein the mobile object includes a plurality of channels configured to track signals received by the mobile object from a corresponding number of satellites, each channel corresponding to a respective satellite, and performing the VDLL computation process includes:
determining a global navigation solution;
receiving code discriminator data from the plurality of channels associated with the plurality of satellites and receiving corresponding Doppler frequency information for each of the plurality of channels; and
in accordance with the received code discriminator data, the received Doppler frequency information, and the global navigation solution, updating a respective Code Numerically Controlled Oscillator (NCO) for a respective channel in the plurality of channels.

14. A navigation module for a mobile object, comprising:
one or more processors;
a satellite receiver to receive satellite navigation signals from a plurality of satellites;
a second receiver for receiving base data from a stationary base station;
a plurality of channels including a respective channel for each of the satellites in the plurality of satellites, each respective channel in the plurality of channels including a code locked loop to generate a local code navigation solution and a phase locked loop to genera

Assignees

• Deere & Co
• Univ Auburn

Inventors

• Martin Scott M
• Bevly David M
• Keegan Richard G
• Rounds Stephen F

Classifications

• G01S19/256 Primary

  relating to timing, e.g. time of week, code phase, timing offset · CPC title

• G01S19/43

  using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry · CPC title

• G01S19/423

  by combining or switching between position solutions derived from different satellite radio beacon positioning systems · CPC title

• G01S19/51

  Relative positioning · CPC title

• G01S19/41

  Differential correction, e.g. DGPS [differential GPS] · CPC title