Movable reference receiver for kinematic real-time navigation (rtk) based on modifications

FIELD: radio engineering.

SUBSTANCE: there determined is location of reference station in reference station according to signals received in it from complex of satellites, there determined is location of user receiver where user is located on the basis of measurement results received in it and on the basis of modification values calculated in reference station for correction of errors and there calculated is vector of relative position by calculating difference between location of reference station and location of the user.

EFFECT: improving determination accuracy of object location.

19 cl, 9 dwg

 

Description

The present invention relates, in General, to the satellite positioning technologies, in particular to a method for kinematic positioning, real-time, with fixed or moving reference receiver.

BACKGROUND of INVENTION

In the global positioning (GPS) to determine location of objects on the Earth using satellites located in space. In the GPS signals from the satellites come in a receiver of a global positioning (GPS) and used to determine the location of the GPS receiver. Now for receivers of GPS for civil use two types of measurements in the GPS system, corresponding to each channel correlator with a signal taken from a satellite global positioning (GPS). Two types of measurements in the GPS system are measurements of pseudorange and carrier phase for the two signals L1 and L2 carrier frequencies with frequencies 1,5754 GHz (gigahertz) and 1,2276 GHz or respectively with wavelengths 0,1903 m and 0,2442 m Main object of measurement in the GPS is the measurement of pseudorange (or the dimension of the code), which can produce all types of GPS receivers. Using the codes of civil access (C/A) or pseudocode (P), which is tolerowany signals of the carrier frequency. When measuring register the true time required to pass the appropriate code from the satellite to the receiver, that is the time when the signal reaches the receiver according to the clock of the receiver, except for the time when the signal left the satellite according to the clock of the satellite. The result of measuring the phase of the carrier is obtained by integrating the recovered carrier signal upon her arrival at the receiver. Thus, the result of measuring the phase of the carrier is also a measure of the difference between the time signal defined by the point in time when the signal came out of the satellite according to the clock of the satellite, and by the time it reaches the receiver according to the clock of the receiver. However, since then, when the receiver starts tracking the phase of the carrier signal, the initial number of whole periods when the signal between the satellite and the receiver is usually unknown, the difference between the time signal may be in error on many periods of the carrier, that is, when measuring the phase of the carrier there is uncertainty on an integer number of periods.

In the presence of measurement results of the GPS system, the range or distance between the GPS receiver and each of multiple satellites is calculated by multiplying the travel time of the signal at the speed of light. These values range is usually referred to as the EIT is eniami the pseudorange (false values range), since the clocks of the receiver usually have a significant error over time, which causes the total systematic errors of the measured range. This total systematic error caused by the error of the clock of the receiver is calculated with the calculation of the coordinates of the position of the receiver as part of the normal navigation calculations. Various other factors, including errors in the ephemeris, clock synchronization error of the satellite, atmospheric effects, noises of the receiver and the error due to multipath propagation can also lead to errors or noise in the calculated range. When Autonomous navigation in GPS system, when a user with a GPS receiver, receives the values of the distance calculated by the code and/or phase of the carrier relative to the many satellites that are within view, without verification with any base station, the user is very limited on ways to reduce errors or noise in the value range.

To eliminate or reduce these errors in applications of global positioning (GPS) typically use differential operation. The operation of differential GPS (DGPS) usually involves the use of basic reference GPS receiver, the user (or aviacionnogo) - in GPS receiver and a data transmission channel between the user and reference receivers. The reference receiver located at a known location, and the obtained measurement results are served in the user receiver. By calculating the difference between the results of measurements of the reference station and the user's receiver can be eliminated to a large portion of errors or noise in the computed values of range, or they can be reduced. Differential operation using the measurement phase of the carrier is often referred to as operations kinematic positioning/navigation in real-time (RTK).

The fundamental concept of differential GPS (DGPS) is feasible using spatial and temporal correlations of the errors inherent in the measurements made in the GPS system, to eliminate the factors of noise in the measurements of pseudorange and/or carrier phase, which is a consequence of these factors, leading to errors. When the distance between the reference and user receivers does not exceed a certain limit, differential method based on the phase of the carrier or method of kinematic measurements in real time (RTK) are the most accurate of the available methods for positioning and navigation. However, the accuracy of methods of kinematic measurements in real time (RTK) is reduced when the mind is icenii correlation factors leading to errors when the distance between the reference and user receivers becomes too large.

For working on large areas have been developed various methods for regional, wide or global differential systems positioning (DGPS) (hereinafter referred to as wide area augmentation system DGPS or WADGPS). The WADGPS system contains a network of multiple reference stations that communicate with the computing center or hub. Values amendments for correction of the errors calculated in the hub on the basis of information about the known locations of the reference stations and the results of their measurements. The calculated values of amendments to correct errors then passed to the users on the data transmission channel, for example, by satellite, telephone or radio data transmission. Despite the improved accuracy of the WADGPS systems through the use of multiple reference stations, it cannot match the accuracy of the local system kinematic positioning, real-time (RTK), which is able to achieve a precision of about one centimeter under the condition that the distance between the reference and user receivers are very small.

The INVENTION

In the method and system according to one of the options is the preferable implementation of the present invention define the vector of the relative position between the primary receiver, appropriate reference station, and the secondary receiver corresponding to the user, as follows: (1) determine the location of the reference station according to her signals from multiple satellites; (2) determine the location of the user receiver based on the results of the measurements and on the basis of the values of the amendments for correction of the errors calculated in the base station; and (3) compute the vector of relative position by calculating the difference between the location of the reference station and the user's location. Each of the receivers: the user receiver and the reference receiver may be moving or stationary. The calculation of the vector of the relative position can be made in the base station, user equipment or in a separate data processing system, which receives information about the location of the reference station from the base station and the location information of the user from the user. In the description below, the location of the reference station is sometimes referred to as a "reference location". Similarly, the user's location sometimes referred to as "user location".

In one of the embodiments of the present invention produce updated information about the location of the reference station or uses the user with a high frequency, using successive changes in the measurement phase of the carrier received, respectively, in the base station or user equipment. In the base station or user equipment also perform a parallel process with a low frequency to provide periodic amendments for location information for the respective updates location information produced with high frequency. The calculation of the vector of the relative position can be performed with high frequency or low frequency or any other frequency, depending on the availability of information about both locations: about the user's location and the reference location, which is necessary for calculations.

Values amendments for correction of measurement errors calculated in the base station by making measurements code, smoothed by carrier, by calculating corrections to the estimated location of the reference station using the results of measurement code, smoothed by carrier, by calculating theoretical distance from the base station to each of multiple satellites and by calculating the values of amendments to correct errors on the basis of theoretical values range. Values amendments to correct errors passed from the reference article is ncii the user data transmission channel between the user and the reference station.

Due to the calculation of the reference station values amendments for correction of errors and the reference location, the present invention minimizes the transfer of information between the reference and user receivers. It also provides the ability to output location information with a high frequency with a minimum increase in the load of the communication line between the reference and user receivers. In addition, the present invention provides a distribution of the amount of necessary calculation between the reference receiver and the user receiver in a natural way, resulting computational load is not excessive, neither in support nor in the user receiver. In addition, the present invention minimizes the delay in the conclusion of updates to location information of the user, without requiring the user to use the synchronized data from the reference receiver.

BRIEF DESCRIPTION of DRAWINGS

Figure 1 shows a diagram, which illustrates the satellite navigation system according to one of embodiments of the present invention.

Figure 2 shows the block diagram of the navigation subsystem corresponding to the user satellite navigation system, according to one of embodiments of the present izopet the deposits.

Figure 3 shows the block diagram of the navigation subsystem corresponding to the mobile reference station in the navigation system according to one of embodiments of the present invention.

On Figa depicts the sequence of operations, which are illustrated navigation operations performed by the user subsystem and the control subsystem, according to one of embodiments of the present invention.

On Figb depicts the sequence of operations, which illustrates the sequence of operations to compute the update vector relative position.

Figure 5 shows a chart that illustrates the two parallel sequences of time intervals used by user subsystem and control subsystem.

On Figa depicts the sequence of operations, which illustrates the initialization operation is performed, respectively, of the user subsystem and the control subsystem according to one of embodiments of the present invention.

On Figb depicts the sequence of operations, which illustrates the operation of introduction of amendments to location data, performed respectively by user subsystem and supporting podci theme according to one of embodiments of the present invention.

Figure 7 depicts the sequence of operations, which illustrates the operation of updating location information when promoting, running a custom subsystem according to one of embodiments of the present invention.

The PREFERRED embodiment of the INVENTION

To overcome the shortcomings of conventional systems kinematic measurements in real time (RTK) while maintaining the same accuracy was developed the concept of the mobile reference station. However, all conventional methods using moving reference stations contain the operation of forming the differences of the results of measuring the phase of the carrier between the user receiver and the mobile base station and the operation of the direct computation of the solution for the vector separation between the user receiver and the mobile base station. Also in the literature describes how the relative navigation for multiple vehicles. However, in these methods, usually used General stationary reference point.

Figure 1 illustrates a satellite navigation system 100, which can be implemented navigational procedures according to one of embodiments of the present invention. As shown in figure 1, the system 100 provides the user subsystem 110, with the appropriate rolling or stationary object 110A, and the reference subsystem 120, the corresponding rolling or stationary object 120A. The user subsystem 110 and the reference subsystem 120 are connected to each other by way of providing communication between them through the data transmission channel, which enables data transfer between the two subsystems 110 and 120 using a tool such as, for example, RF signals. The reference subsystem 120 may also be connected through channel 123 data from the local stationary base station 130. Local stationary base station 130 may be one of a network of fixed reference stations 130 in global or broad-band satellite navigation network. In this case, the network of fixed reference stations 130 is in a known location on the vast territory of 105 or around the globe, and continuously provides the values measured in the GPS system in one or more hubs 140 wide or global navigation satellite network for processing. These measured values are, including code global positioning (GPS) and the results of measuring the phase of the carrier, ephemeris and other information obtained according to the signals taken from multiple satellites 101 in the stationary reference stations 130. The hub 140 before the represent hardware, in which they process variables measured by the GPS system, and the calculation of the amendments. When there are many independent hubs, it is preferable that they are geographically dispersed and operated in parallel. The reference subsystem 120 may additionally or possibly, but not necessarily, to get the results of calculations, for example, amendments to the GPS system from the hub 140, process the data through the channel 124 of communication, which is, for example, satellite broadcasting, wireless connection to the Internet, etc. the Reference subsystem 120 is positioned as desired, the object 120A is used to support channel 112 data transmission connection with the user subsystem 110 GPS system, and channel 123 data transmission connection with the adjacent stationary base station 130 or hub 140.

Figure 2 illustrates the user subsystem 110 according to one of embodiments of the present invention. Subsystem 110 includes a custom receiver 210 GPS system and the computer system 220 based on a microprocessor, connected to a custom receiver 210. Custom receiver 210 is attached to the object 110A and takes the initial value measured by the GPS system, a system 220 for processing. These MEAs is represented by the quantities are including the code of the GPS system and the results of measuring the phase of the carrier, and they can also contain ephemeris and other information obtained according to the signals taken from multiple satellites 101. Computer system 220 includes a Central processing unit (CPU) 230, a storage device 240, ports 251 and 252 of the input, one or more ports 253 and output optional interface 257 user, which are connected one or more tires 250 connection. Ports 251 and 252 are input for receiving data from a user of the receiver 210 and the reference subsystem 120. Port(s) 253 output can be used to output the results of the calculations in the moving reference station 120 and/or in a different system (other system) data processing (not shown). The calculation results can also be shown on the display interface 257 user.

The storage device 240 may include high speed random access memory and may contain non-volatile storage device of large capacity, for example, one or more storage devices for magnetic disks. The storage device 240 may also include a storage device of large capacity, which is located away from the CPU 230. In a preferred variant of the storage device 240 stores the operating system 262 and the application program or procedure 264 GPS including procedures 266, implement navigation using incremental changes in the measurement phase of the carrier according to one of embodiments of the present invention. Operating system 262 and applied programs and procedures 264 stored in the storage device 240, designed for their execution by the Central processing unit (CPU) 230 of the computer system 220. In a preferred embodiment, in the storage device 240 also stores the base 270 of the data, containing the data structures used when performing procedures 266 application programs of the GPS system, for example, dimensions 272 performed by the GPS system, and computing amendments 274, as well as other data structures discussed in this document. Operating system 262 may be embedded operating system, UNIX operating system, Solaris operating system or operating system Windows 95, Windows 98, Windows NT 4.0, Windows 2000 or Windows XP, but these examples are not limiting characteristic. More broadly, the operating system 262 includes procedures and commands for data transfer, data processing, data access, storage and retrieval of data.

For reasons described below in the storage device 240 may also store operating system 268 real-time, RTOS (RTX), which is a com is yutarou program to perform operations tasking in real-time. In one of the embodiments of the present invention, the operating system 268 real-time (RTX) allows you to embed an operating system 262 in procedures 266 thus, to provide multi-threaded, resulting in various problems in the procedures 266 can be run kvaziodnorodnoj", and this means that different tasks can seem simultaneously executed, and that the system 220 may be simultaneously performing different jobs. This allows the procedures 266 to contain two or more parallel tasks or processes running in different threads. Operating system 268 real-time (RTX) controls the start and stop of each of the threads and allows for the interaction of threads with each other. Operating system 268 real-time (RTX) also provides for the formation of queues of data flow tasks, transfer of data between threads running tasks and conversion process in sequential mode by maintaining the proper order of events.

In addition, the operating system 268 real-time (RTX) supports standard management tools multi-threaded process, which, for example, when a thread executes enable timeout occurrence of events, triggered by events in the other the second flow tasks. The event is a condition that can be set or canceled for a thread. When the flow is set so that it is in the standby mode, when there will be one or more events, the execution of the task flow is halted until, until all events. This greatly simplifies synchronization and communication between threads. Operating system 268 real-time (RTX) the execution of the thread produced on the basis of priority. The thread with the higher priority is performed before execution of the thread with lower priority. Among threads with the same priority threads execute on a round Robin. For each thread allocate the time interval in which it should run. As the operating system 268 real-time can be used commercially available RTOS (RTX), are commercially available. Examples of such commercially available operating systems real-time are, including the operating system real-time "CMX-RTX" company "CMX Systems, Inc.", RTOS for parallel execution of tasks (Concurrent Real time Executive ("CORTEX")) Australian company Australian Real Time Embedded Systems (ARTESYS)and RTOS "Nucleus RTX " company "Accelerated Technology Inc.".

In some embodiments of the invention the user of the receiver 210 and the rest of the computer system 220 or the e part integrated into a single device, located in a single housing, for example in the form of a portable, pocket or even wearable device location tracking, or are installed on the vehicle or are a different mobile system positioning and/or navigation system. In other embodiments of the invention, the receiver 210 GPS system and computer system 220 are combined in a single device.

Figure 3 illustrates the reference subsystem 120 according to one of embodiments of the present invention. The subsystem 120 includes a support receiver 310 GPS system and the computer system 320 based on a microprocessor, connected to the reference receiver 310. The reference receiver 310 is attached to the object 120A and takes the initial value measured by the GPS system, the system 320 for processing. These measured values are, including the code of the GPS system and the results of measuring the phase of the carrier, and they can also contain ephemeris and other information obtained according to the signals taken from multiple satellites 101. The computer system 320 includes a Central processing unit (CPU) 330, a storage device 340, ports 351, 352 and 353 of the input, one or more ports 354 and output optional interface 357 user, which are connected one or more is in 350 communication. Ports 351, 352 and 353 of the input intended to receive data from the reference receiver 310, the user subsystem 110 and the stationary reference station 130 or hub 140. Ports 354 output can be used to output the results of the calculations in the user subsystem 110 and/or other data processing systems (not shown). The calculation results can also be shown on the display interface 357 user.

The storage device 340 may include high speed random access memory and may contain non-volatile storage device of large capacity, for example one or more storage devices for magnetic disks. The storage device 340 may also include a storage device of large capacity, which is located remotely from the Central processor 330. In a preferred embodiment, in the storage unit 340 stores the operating system 362 and an application program or procedure 364 GPS system, including procedures 366, implement navigation using incremental changes in the measurement phase of the carrier according to one of embodiments of the present invention. Operating system 362 and applied programs and procedures 364 stored in a memory of mouth is oiste 340, intended for execution by the Central processing unit (CPU) 330 computer system 320. In the preferred embodiment, storage device 340 also stores the base 370 data containing a data structure used when performing procedures 366 application programs of the GPS system, for example, measurement 372 performed by the GPS system, and computing amendments 374, as well as other data structures discussed in this document. Operating system 362 is similar to the operating system 262. For reasons described below in the storage device 340 may also store operating system 368 real-time (RTX), a similar operating system 268 real-time (RTX).

In some embodiments of the invention the reference receiver 310 and the rest of the computer system 320 or portion merged into a single device located in a single housing, for example in the form of a portable, pocket or even wearable device location tracking, or are installed on the vehicle or are a different mobile system positioning and/or navigation system. In other embodiments of the invention, the receiver 310 GPS system and computer system 320 are combined into a single device.

On Figa illustrates the process 410 navigation, done is emy user subsystem 110, which is implemented in the procedures 266, and the process 420 navigation performed by the reference subsystem 120, which is implemented in the procedures 366, according to one of embodiments of the present invention. As shown in Figa, the process 410 navigation contains a sequence 401 initialization and two parallel sequences: sequence 412 operations performed with a high frequency, and sequence 414 operations performed with low frequency. The sequence 401 initialization is used to calculate the source location of the user receiver 210 that is attached to the object 110A, and other source parameters required for the sequence 412 operations performed with high frequency. The sequence 412 operations performed with a high frequency, contains the sequence of operations 413 updates the location information in the promotion, each of which calculates an update of location information of the user in one of a sequence of small time intervals. The sequence 414 operations performed with low frequency, contains a sequence 415 operations, introduction of amendments in the location information, each of which calculate corrections to the information about the user's location in one of the sledovatelnot large time intervals. As shown in Figure 5, each large interval Tmtime may include, for example 10, small intervals tmntime (m=0, 1, 2, 3,... and n=0, 1, 2, 3,...). If the calculated location information is not required to obtain a high frequency, small intervals of time can also be matched with large intervals of time.

Similarly, as also shown in Figa, the process 420 navigation contains a sequence 402 of initialization and two parallel sequences: sequence 422 operations performed with a high frequency, and sequence 424 operations performed with low frequency. Sequence 402 of initialization is used to calculate the source location of the reference receiver 310 and other source parameters required for the sequence 422 operations performed with high frequency. When the sequence 402 of initialization can also be calculated corrections to the measurements used in the processing in the user subsystem 110. The sequence 422 operations performed with a high frequency, contains the sequence of operations 423 update location information in the promotion, each of which calculates updates for information about sample location in one paragraph the coherence of small time intervals. The sequence 414 operations performed with low frequency, contains the sequence of operations 425 introduction of amendments to the location information, each of which calculate corrections to the information about the reference location in one of the sequences of large time intervals and amendments to the measurement results.

Update information about the user's location, calculated for some or all operations 413 updates the location information in the promotion of, and updates to information about the reference location calculated for some or all operations 423 update location information when promoting use to calculate the update vector relative position, passing from the reference receiver 310 that is attached to the object 120A, to the user of the receiver 210 that is attached to the object 110A, using sequence 433 operations the calculation of the relative positions shown in Figb. Operations 433 calculate the relative position can be performed in any of the receivers: in the reference receiver or in the user receiver, or both of them, or they may be performed in a separate data processing system, as is more fully explained below.

Because of the difficulty in resolving newpreteen the values of the phase of the carrier in the base station, under normal kinematic calculations in real-time (RTK) use the "double difference" measurements of the phase of the carrier to eliminate errors due to satellite clock and receiver, and to assist in determining the integer ambiguities in the phase measurements of the carrier in the GPS. As the double-difference contain the results of observations on 4 different paths (from each of the 2 observation points to each of the 2 satellites), this approach requires that before the formation of the double differences of the original measurements of the phase of the carrier at an anchor point were handed over to the user, and that user was in standby until then, until the data from the reference point. The present invention differs from conventional methods in that it used a new method of generating corrections for the measurement phase of the carrier in the base subsystem 110, and the fact that it instead of passing the original measurements from the reference subsystem 110 in the user subsystem 120 through the channel 112 data transfer amendment.

The calculation of the corrections to the phase measurements of the carrier in the reference subsystem 120 reduces the amount of calculations that the user subsystem 110 must perform, and usually eliminates the need for a user is adsystem 110 information about where is the reference receiver 310. In addition, despite the fact that the original measurement results reflect the dynamics of satellites 101 (and receiver forming the measurements), the amendments eliminated the information about the dynamics and, thus, there is only slowly change over time. This means that the effect of the delay introduced due to the computation time and the transmission time for the data channel becomes less significant. The calculation of the amendments in the reference subsystem 120 also provides the possibility of having a lower data transfer speed from the reference subsystem 120 in the user subsystem 110. For example, can be easily used data transfer speed with a frequency of one Hertz to support output location data of the user with a frequency of ten Hertz.

On Figa illustrated sequence 401 initialization operations performed by the user subsystem 110, according to one of embodiments of the present invention. As shown in Figa, the sequence 401 initialization includes an operation 602, in which form the results of the measurement code, smoothed by carrier. At operation 602, the measurement results code received in the user receiver 210, smooth using a combination matched with the existing measurements of the phase of the carrier frequencies L1 and L2. Many GPS receivers produce measurements of both codes: civil code access (C/A) pseudo-code (P), at a frequency of L1 or L2, and any of the results of measurements of the civil code access (C/A) or pseudocode (P) can be used as measurement results code on the L1 or L2. However, because there is a small offset between the measurement results of two different codes, then those two measurements, which are used in the reference subsystem 310, should also be used for the equivalent process in the user subsystem 210. In the following discussion for each satellite visible in the user receiver 210, and for each time interval measurement frequencies L1 and L2, denoted respectively as f1 and f2, the original measurement results code pseudorange at frequencies L1 and L2 are optionally marked respectively as P1and P2while the initial results of measuring the phase of the carrier frequencies L1 and L2, denoted respectively asφ1andφ2.

In one of the embodiments of the present invention a linear combination of phase measurements of the carrier frequencies L1 and L2 relative to each satellite 101 is formed in such a manner that corresponds to the effect of refraction in the ionosphere on the respective measurement results code cha is totah L1 and L2. The combination of the phase of the carrier, which corresponds to the effect of refraction in the ionosphere on the measurement result code P1marked asM1and formed as follows:

(1)

The combination of the phase of the carrier, which corresponds to the effect of refraction in the ionosphere on the measurement result code P2marked asM2and formed as follows:

(2)

where L1and L2the results of measuring the phase of the carrier, scaled to the wavelengths of the signals respectively L1 and L2, and each of them contains the value of uncertainty for approximately an integer number of periods, which was added to the scaled result of measuring the phase of the carrier was close to the same value as the corresponding measurement result code. Thus,

(3)
(4)

where value is N1andN2whole periods were initialized at the beginning of the tracking phase of the carrier, resulting in a gain values within one wavelength of the carrier relative to the measurement results code order of the difference between the scaled phase measurements of the carrier and the corresponding measurement results code remained small.

Using a combination ofM1andM2the phase of the carrier can be formed smoothed measurement results code as follows:

(5)
(6)

where subscriptiused to designate a specific time interval measurement, the lower the indexjused to denote measurements at two different frequencies, soj=1 or 2,Aboutdenotes the smoothed deviation between the measurement result and code the appropriate combination of the phase of the carrier, andSdenotes a smoothed measurement result code. The value of(equal toiuntil then, we have not reached the maximum value averaging. For example, if you assume that the measurement result businesses has only 1/100 of the noise measurement result code the value "η" limited value "100 squared", or 10000.

In an alternative embodiment, the smoothed measurement results code can be obtained in the following way:

(7)

where:

In this alternative method of smoothing implement proactive prediction of the result of measurement code using changes in the combinations of the phase of the carrier, and then average the difference between this prediction and the measurement result code.

The smoothed measurement results code at two frequencies can be combined for forming the smoothed measurement result code with the correction for refraction (RC), which has the following form:

(8)

Another method of obtaining measurement results code, smoothed by carrier, adjusted for refraction (RC) can be found in the application for U.S. patent No. 10/630,302 "Method for Generating Clock Corrections for a Wide-Area or Global Differential GPS System", the disclosure of which is incorporated here by reference, and the rights to which are owned by the patentees of the present invention.

Can potrebovalis the period of initialization, spanning several time intervals of measurements before each subsequent time interval measurements can be obtained reliable results of measurement code, smoothed by carrier, adjusted for refraction (RC). After the period of the initialization sequence 401 initialization contains another operation 604, at which calculates a correction to the estimated location of the user. Although the operation 604 may be used any one of several conventional methods, satellite navigation, in one of the embodiments of the present invention to calculate corrections to the data about the location at operation 604 using the method of least squares. In the method of the least squares navigation using measurement results relative to the satellites described as a process controlled by discrete time, which is defined by a set of linear stochastic difference equations, each of which corresponds to one of the involved satellites 101. For each of the satellites involved, this equation can be expressed as follows:

(9)

wherexthe vector of corrections to the state, so the store an amendment to the state of the process, controlled discrete time, which in this case may contain amendments to the location of the user and to the clock associated with the user receiver 210; z - represents the value of the measurement result, which is innovation, which is determined by the difference between the measurement result produced by the user receiver 210 relative to the satellite, and the expected measurement result, which is calculated based on the originally estimated;nrepresents noise in the measurements, andhis a vector of sensitivity of a measurement that characterizes the sensitivity of the measurement to the state change.

Innovation in the measurement is smoothed measurement result of the code carrier relative to the satellite at any of the frequencies L1 or L2, computed at operation 602, or may be the result of the measurement code, smoothed by carrier, adjusted for refraction (RC). As explained in the following more detailed description of any of the measurements used in the innovation, they should be adjusted using the corrections calculated in sequence 402 of initialization performed in the reference subsystem 120, and transmitted to the user subsystem 110. Vectorhformed by Razlog the of equations, establishing the relationship between the results of measurements of pseudorange and a location of the GPS receiver, in a Taylor series. The components of the vectorhcontain first derivatives of the measurement results, which is the innovation relative to the vector of the amendment. Vectorxamendments to state contains at least the amendment to the data sample location. It may also include an amendment to the clock of the user receiver. To simplify the following description it is assumed that the state vector is a vector with four components, that is, the state contains only amendments to the data on the location of the user receiver and the clock of the receiver.

Equation (9) can be decomposed in such a way that sets the ratio between the vector amendments to condition and results of measurements on many satellites in the total time interval of measurement:

(10)

In this equation,zis a vector of innovations on many satellites,His a matrix consisting of the values of the sensitivity of the measurements relative to many who tion satellites xstill represents the state vector, andnis a vector of noise in the measurements, containing the set of values of the noise in the measurements associated with innovations inz. MatrixHthe sensitivity of the measurement depends on the geometric configuration of the satellites 101, which relates to all the geometric relationships between the user receiver 210 and satellites 101. The measurement results in the vectorzwhich innovations, often referred to as the difference prefixes. The solution of equation (10) using the least squares method has the following form:

(11)

where the Superscript T displays the transposition operation, and the Superscript "-1" indicates an operation of the conversion matrix.

An alternative to the solution of the equation (10) using equation (11) is the computation of its solution by the method of least squares with weights, which is defined as follows:

(12)

whereW- covariance matrix of the measurement results, the diagonal elements of which are Sredneural the major deviations of the noise measurements in the vector nnoise, and its off-diagonal elements represent the covariance between the measurements. Since it is usually assumed that the covariance between measurements is equal to zero, then the off-diagonal elements of the matrixWnormally zero.

For ease of description in the following discussion used a simple equation of the least squares, namely equation (3). Equation (3) can be further simplified, resulting in receive:

(13A)

or

(13b)

whereand

It is also sometimes useful to generate a differential matrixSsensitivity, which establishes the correspondence between innovationszor the difference prefixes, and differences postfixes corresponding to the measurement results in innovationsz. Difference postfixes displayed as components of the vector(residuals:

(14)

where

(15)

whereI- square identity matrix with rank equal to the number of dimensions or the number of items inz.

In addition, the sequence 401 initialization contains an operation 606, in which data about the user's location in the vectorxthe amendments add an amendment to the originally estimated location of the user, receiving an updated assessment of the location of the user receiver. Introduction of amendments to the clock of the user receiver is often regarded as a nuisance parameter, and do not update. This is possible because the dependence on the clock of the receiver is linear, and large errors in this value does not affect the decision on the location. Because of the range equation, namely equation (9) - (15)are nonlinear, then you may need a revisional operations 604 and 606 in the case, if the estimate of the source location has a large error. Operations 604 and 606 in the sequence 401 initialization can be performed in an iterative way using the same set of measurement results obtained in the time interval of measurement. Or iteration can containing the e part of the operation 602 in addition to the operations 604 and 606 to cover a variety of time intervals of measurement. Thus, in the sequence 401 initialization may take several large intervals of time before you made a good estimation of the location of the user and will be obtained corresponding matrixAandH(orInandS).

The sequence 401 initialization further comprises running after this operation 608, where by kinematic measurements in real time (RTK) can be determined location near this good estimate of the location of the user by finding the solution to an integer ambiguities in the phase measurements of the carrier that performed in the first place. This can be used the usual way of finding uncertainty. Alternatively can be used way of finding the uncertainties described in the patent application USA Fast Ambiguity Resolution for Real-Time Kinematic Survey and Navigation", the disclosure of which is incorporated here by reference, and the rights to which are owned by the patentees of the present invention. The obtained solution for uncertainties in an integer number of periods used to adjust the phase measurements of the carrier and the corrected phase measurements of the carrier is again used to calculate the location of the user priem the ka using equations (9)-(15) to obtain information about the initial location of the user, used in subsequent processing.

As shown in Figa, sequence 402 of initialization performed by the reference subsystem 120 is similar to the sequence 401 initialization, except that the operation 608 is not vypolnjajuwimi, amendments of the stationary reference station 130 or from the hub 140 can be used to amend the measurements used to generate vectorzinnovations. Also contains additional operation 609 for calculating the corrections to the measurements for transmission in the user subsystem 110 over the channel 112 of the data. To calculate corrections for measurements at operation 609 used adjusted data on the location of the user to calculate theoretical range to each satellite 101 used in the calculations. This theoretical range is subtracted from the measurement results, getting the original amendments to the measurement results, i.e.,

(16)

where the upper indexidenotes a particular satellite 101,miindicates the measurement result of a specific type, for example the smoothed result measured the code I or phase of the carrier, relative to the satellite, ρiindicates the calculated theoretical range relative to the satellite, and εiindicates the original amendment to the measurement result.

The original amendments have systematic error due to the total error of clock receiver, which can be estimated by averaging the original amendments for a specific type of measurement results for all involved satellites 101. Then get an amendment to the measurements without bias by eliminating this common systematic error from the original amendments:

(17)

Generation of a set of these amendments provide for each type of measurement, i.e. for measurement code on the L1 frequency with smoothing, for measurement code on the L2 frequency smoothing, for measurements of the carrier phase on L1 frequency and phase of the carrier frequency of L2, for each member of the satellite 101. This method of calculation of the amendments provides automatic recording of any global amendments wide band gap corrections or amendments kinematic measurements in real time (RTK), which were used to calculate the rolling reference the location of the receivers, in the amendments, is generated for transmission in the user receiver. If the rolling movement of the reference location is uniform, i.e. if there are no sudden leaps in the location, the amendments will be smooth and will be only a slow change their values over time.

Once in the sequence 401 initialization calculated initial location of the user and calculated the corresponding matrixAandH(orInandS)start the sequence 412 operations performed with a high frequency, and sequence 414 operations performed with low frequency. Similarly, once in the sequence 402 of initialization calculated initial reference location, and calculated the corresponding matrixAandH(orInandS)start the sequence 422 operations performed with a high frequency, and sequence 424 operations performed with low frequency. In one of the embodiments of the present invention, execution of the sequences 412 and 414 of operations (or sequences 422 and 424 operations) managed by the operating system 268 real-time, RTOS (RTX) (or RTOS 368), after which the sequence 401 (or 402) initialization starts executing two separate threads, starting the execution sequences respectively 412 and 414 of the of arazi (or sequences 422 and 424 operations). A higher priority may be given to the task flow, which is the sequence 412 (or 422) operations with a high frequency and a lower priority may be given to the task flow, which is the sequence 414 (or 424) operations with low frequency. As explained in more detail below, the operating system real-time (RTX) also manages formation data queues for each thread and passing data between threads.

In the sequence 414 (or 424) operations performed with low frequency, calculate the correction data corresponding to the location of the receiver and the corresponding matrixAandH(orInandSin every large time interval using sequence 415 (or 425) operations, introduction of amendments in the location information. On Figb illustrated sequence 415 operations, introduction of amendments in the location information is performed by the user subsystem 110, and the sequence 425 operations, introduction of amendments in the location information is performed by the reference subsystem 120, according to one of embodiments of the present invention. As shown in Figb, the sequence 425 operations, introduction of amendments in the location information running the support subsystem 20, contains operation 610, in which form the results of the measurement code, smoothed by carrier, by updating the results of the measurement code, smoothed by carrier, obtained from the sequence (402) initialization or from a previous sequence 425 operations, introduction of amendments in the location information. The original measurements used to calculate the measurement results code, smoothed by carrier may contain amendments adopted reference receiver 310 of the stationary reference station 130 or from the hub 140. As described above, the measurement code, smoothed by carrier frequencies L1 and L2 relative to each satellite can be used to generate a combination of measurement results code, smoothed by carrier, adjusted for refraction (RC)

In addition, the sequence 425 operations, introduction of amendments in the location information is performed by the reference subsystem 120, contains another operation 620, at which calculates a correction to the updated information about the reference location, the newly computed in the sequence 422 operations performed with high frequency. To obtain amendments to the information about the reference location and the corresponding matricesAandH(orInandS) in an operation 620 may be used to sequence the operations, a similar sequence of operations used during operation 604, which contains a sequence of operations to compute corrections to the location information described above in relation to equations (9) - (15). Calculated a correction to a reference location of the queue for its use in sequence 422 operations performed with a high frequency, which also performs the reference subsystem 120, and its detailed explanation is given below.

In addition, the sequence 425 operations, introduction of amendments in the location information is performed by the reference subsystem 120, contains another operation 630, at which calculates corrections to the measurements. To calculate the corrections computed amendment to the information about the reference location add to the updated information about the reference location, obtained from the sequence of operations performed with a high frequency, to obtain adjusted estimates of the reference location, which is then used to calculate theoretical range to each satellite 101 involved in the calculations. Then calculate the corrections to the measurements according to equations (16) and (17) as described above. As shown in Figb calculated amendments passed in the user subsystem 110 over the channel 112 of the transfer given to the s.

To ensure only slow changes, corrections, calculated in sequence 420 of operations performed with low frequency so as not to create in the user subsystem 110 any problems due to delays desirable very smooth output data sample location. As described above, the use of smoothed measurements of code to calculate corrections to the information about the reference location helps to ensure that updated information about the reference location are smooth. In addition, care must be taken that the drop or add measurements from one or more satellites did not cause a step change in the location information. To solve the problem by omitting or adding measurements can be used several different ways that draw smooth data about the reference location. One way is to use the sequence 424 operations performed with low frequency, a Kalman filter (Kalman), which sets the phase measurements of the carrier significantly more weight than the results of measurement code. Another method consists in the introduction of state of the deviations of the measurement results, which drive the t difference to zero by using the method of least squares in the sequence 424 operations, performed with low frequency. This deviation is not allowed to change very quickly. With the introduction of the solution of the measurement results from the new satellite state deviation is set so that the measurement results are consistent with the location information received from other satellites. When there is a loss of measurement results from one or more satellites, then allowed only slow adjustment of status abnormalities.

The use of global or broad-band differential corrections to the GPS system provided by global and large-scale territorial networks StarFire, which provides the company "John Deere and Company (USA), to amend the measurements used to calculate corrections in the sequence 424 operations performed with low frequency, leads to higher accuracy of the solution for the reference location and helps to ensure the smoothness of the solution for the location. Even there is a possibility of using the solution for the reference location based on kinematic measurements in real time (RTK), which depends on amendments of some other (presumably fixed) reference point 130. This embodiment can be used, for example, as a method for food the supply line of sight in the environment with obstacles or hills. The reference receiver 310 may be a portable receiver or receiver mounted on the vehicle, which is fitted properly, ensuring the location of the user receiver 210 in his line of sight so that it remains in line of sight fixed reference receiver 130.

The enhanced reception area differential corrections (Wide Area Augmentation System), developed by the U.S. government, provides amendments that can make the decision about the location of the step change of 10 centimeters or more. Thus, if you are not using any method of smoothing these speed changes, they can have adverse effects on relative navigation or effects caused by delays in the user receiver.

As shown in Figb, the sequence 415 operations, introduction of amendments in the location information is performed by the user subsystem that contains the operation 640, in which form the results of the measurement code, smoothed by carrier, by updating the results of the measurement code, smoothed by carrier, obtained from the sequence 401 initialization or from a previous sequence 415 operations, introduction of amendments in the location information. As described the use, the results of the measurement code, smoothed by carrier frequencies L1 and L2 relative to each satellite can be used to generate a combination of measurement results code, smoothed by carrier, adjusted for refraction (RC)

In addition, the sequence 415 operations, introduction of amendments in the location information is performed by the user subsystem 110, contains the operation 650, which use the most recent amendments to the measurement results of the GPS system, taken from the reference subsystem 120 through the channel 112 of the data, for the introduction of amendments to the respective measurement results of the GPS system, including, in the measurement phase of the carrier and the measurement results code, smoothed by carrier, which is calculated at operation 640, to obtain the corresponding refined measurements. Because the change of amendments over time is slow, the use of amendments that are out of date for one or more seconds is acceptable for the sequence 415 operations, introduction of amendments in the location information is performed in the user subsystem 110. The audit showed that this increases the noise in the position data to a negligibly small value. Thus, the user subsystem 110 n the need to wait for a simultaneous amendment of the reference subsystem 120, which makes the generation to start processing their own measurements made by the GPS system, this implies that the sequence 410 updates the location information in the user subsystem 110 is experiencing less delay due to delays in the calculation of the amendments in the reference subsystem 120 or transmission of the amendments from the reference subsystem 120 in the user subsystem 110 using the channel 112 of the data.

If the reference subsystem 120 uses any type of navigation, in which the reference location may be some sudden jumps in the location information, then there is a non-standard procedure. For example, when using the extended area of the reception of differential corrections (WAAS) navigation object 120A using the specified algorithms are usually ten races in the location information. In order to avoid surges of this magnitude in the location information in the relative difference of vectors required delay calculation of least squares in the user subsystem 110 to until in the user subsystem 110 will not be accepted amendments from the same time interval. This causes increased latency o OBN the areas for information about the location of the user receiver.

In addition, the sequence 415 operations, introduction of amendments in the location information is performed by the user subsystem 110, contains another operation 660, which calculates a correction to the updated location information of the user that have been recently evaluated and queued in sequence 412 operations performed with high frequency. To obtain amendments to the information about the user's location and the corresponding matricesAandH(orInandS) at operation 660 may be used the sequence of operations similar to that which was used in the above-described operation 604. Calculated a correction to the location of the user is put in the queue for use in a sequence 412 operations performed with a high frequency, which also performs the user subsystem 110, and its detailed explanation is given below.

In the sequence 412 operations performed with a high frequency, after the sequence of initialization information about the location of the user moves forward in time by calculating the updated location information of the user in each of the small intervals of time or in sequence with the operation 213 updates the location information when the promotion is AI. Because the accuracy of the phase measurements of the carrier is usually less than one centimeter, they can be used to promote information about the location of the receiver forward of time with very little increase in error. As shown in Fig.7, the operation 213 updates the location information when promoting in particular the small time interval of the sequence 212 operations performed with a high frequency, contains operation 720, at which calculates changes of phase measurements of the carrier between two consecutive small time intervals. Changes can be calculated using the phase measurements on the L1 carrier, i.e. for each member of the satellite 101, as follows:

(18a)

whereΔLrepresents the change of the measurement phase of the carrier relative to the particular satellite,andrepresent the results of measurements of the phase of the carrier of L1 relative to the satellite, respectively, in particular small interval of timemand in a small time intervalm-1 directly in front of a small interval of timem. In Altern the active option change ΔLcan be calculated using the average values of the respective phase measurements L1 and L2 carrier:

(18b)

whereandrepresent the average value of the phase measurements of the carrier L1 and L2 relative to the satellite, respectively, in the small interval of timemand in a small time intervalm-1.

If you want to take into account the refraction in the ionosphere, to calculate changesΔLcan be used the results of measurements of the phase of the carrier with the correction for refraction (RC), i.e. for each satellite

(18c)

whereandrepresent the results of measurements of the phase of the carrier relative to the satellite with a correction for refraction, respectively, in the small interval of timemand in a small time intervalm-1. The value oforcan be obtained by calculating a linear combination of the corresponding phase measurements of the carrier frequencies L1 and L2:

(19)

In most cases, this sequence of operations, introduction of amendments to the refraction in the ionosphere according to the comparison of (19) tends to amplify noise in the measurements and is therefore undesirable for use in operations 213 or 223 update location information when promoting performed with high frequency. In addition, ignoring changes in the effects of refraction in the ionosphere during the period of time between two consecutive small time intervals should lead only to the introduction of error, which is less than the noise in the phase measurements of the carrier. Therefore, in the preferred embodiment, when calculating changesΔLuse the results of measurements of the carrier phase L1 or the average value of measurements of the phase of the carrier of L1 and L2, because they have less noise than the phase measurements of the carrier adjusted for refraction (RC).

In addition, the operation 213 updates the location information when promoting contains another operation 730, which uses the value ofΔLcalculated at operation 720, for calculating the change in location of the user receiver between two adjacent small the interval is Lamy time mandm-1. To calculate the change in location of a user using a change in the phase measurements of the carrier using equation (13a) with the matricesAandHthat was the most recent queued in sequence 414 operations performed with low frequency. If a particular small time interval is one of the first of several small intervals of time after the sequence 401 initialization, we use the matrixAandHcomputed in the sequence of initialization. A more effective option is the ability to use matrixInand equation (13b). However, if you use the matrixInthen you must also use the matrixSand equation (14), to provide an alternative response to the failure of the monitoring period or on loss of signal processing performed with a high frequency, as described in patent application No. 60877-0050 filed a patent attorney with the name "GPS navigation using successive differences of Carrier-phase measurements", the disclosure of which is incorporated here by reference, and the rights to which are owned by the patentees of the present invention. MatrixSusually is very insensitive to the location of the user. Thus, it recalculation must be made is only in the case if the user's receiver 210 made the move a considerable distance since, as was done last sequence 413 operations, introduction of amendments in the location information.

Regardless of what the matrixAandHorInandSuse, as their calculation in the sequence 415 operations, introduction of amendments in the location information produced once in every large time interval, they can be reused to compute updates to location information, performed with a high frequency in a sequence of small time intervals with sufficient accuracy, and therefore there is no need for re-calculation in each small interval of time. This greatly eases the computational load in the sequence 413 operations performed with a high frequency, in which in each small interval of time, you must re-calculate only specific values for the implementation of equations (13a) or equations (13b) and (14), which are components of the vectorzinnovations that are simply changes in the phase measurements of the carrier relative to the involved satellites 101, calculated using equation (18a), (18b) and (18c).

In addition, the operation 213 update the Deposit location information when promoting contains another operation 740, in which the use changes the phase of the carrier or the difference betweenΔLadjusted for refraction (RC) for calculating the change in position of the user receiver 110 using equation (13a) or equations (13b) and (14). The position change includes a changelocationthe user of the receiver calculated in the small interval of timem-1. Thus, the update location informationuser receiver in a small time intervalmcan be obtained in the following way:

(19a)

whereis an amendment to the location informationreceiver, which is expressed in Cartesian coordinatesxyzand in the geocentric coordinate system that is stationary relative to the Earth. If the amendmentrepresented in the coordinate system of the North-East-up, then changethe location must first be multiplied by the appropriate matrixRrotation, which should also be calculated in sequence 414 operations performed with low frequency, and put the but in turn for use in the sequence 412 operations, performed with a high frequency, together with the matricesAandH(orInandS). In this case,

(19b)

whererepresents a change of location in the coordinates of the North-East-up andandare updates location information of the receiver in Cartesian coordinates.

Once in every large time interval to produce further amendments in the informationabout the location of the receiver by adding amendmentsfor location informationabout the change of location or informationlocation after promotion. In the sequence 414 operations performed with low frequency, calculates a correctionand put it in the queue for use in the sequence 412 operations performed with a high frequency as described above. Periodically addinghelps to prevent the accumulation of any inaccuracies in updatesproduced with high frequency Adding may be made either before or after calculationin response to the last time Queuing calculation results in a sequence 414 operations performed with low frequency. The sequence of operations 213 updates the location information when promoting further comprises another operation 760, performed once for each large time interval at which to update thelocation information user queue for use in the sequence 414 operations performed with a high frequency, which is described above.

The sequence of operations 213 updates the location information when promoting contains another operation 770, in which the updatelocation information of the user is taken to a separate data processing system or in the reference subsystem 120 to calculate the relative position of the user is executed when an operation 433. Alternatively or in addition, the relative position can be calculated at operation 770 in the user subsystem 110, pending an updateinformation about the reference location for the same small interest the shaft time massuming that the clock in the user subsystem 110 and the base subsystem are synchronized. Regardless of where it is produced calculation, the relative position of thecan be calculated as follows:

(20)

As described above, the updateinformation about the reference location calculated in the process 423 update location information when promoting for the same small interval of timemin the sequence 422 operations performed with a high frequency, and transmit the user subsystem 110 or in a separate data processing system to calculate the relative position of theuser. The process 423 update location information when promoting in the reference subsystem 120 is similar to the process 413 updates the location information when promoting in the user subsystem 110, described, except that the part that refers to the user receiver 210, replaced by a corresponding part, related to a reference receiver 310.

As stated above, upgr is to determine location information of the user, generation which is carried out in the sequence 412 operations performed with a high frequency, and update information about the reference location, the generation which is carried out in the sequence 422 operations performed with low frequency, is used to compute a vector of relative position using a sequence of operations 433 shown in Figb. Operations 433 can be performed in the user subsystem 110 or as part of a sequence 412 operations performed with a high frequency, or in a separate thread after execution sequence 401 initialization in case of updating information about the reference location, which is required for the calculations can be timely submitted to the user subsystem 110. If the computation of the vector of the relative provisions made in the sequence 412 operations performed with high frequency, the update information about the reference location for a specific small interval of time must pass in the user subsystem 110 within this small time interval. By using a separate thread for operations 433, when the operation 433 for specific small time interval can be made pending receipt of updated information about the reference location during the red interval of time before the calculation of the vector relative position for this small time interval. Thus, there is no need to transfer the update information about the reference location for a small time interval in the user subsystem 110 within this small interval of time, but the result of a sequence of operations 433 for a small time interval, may not be available until after several small intervals of time. Similarly, operations 433 may also be performed in the reference subsystem 120 or as part of a sequence 422 operations performed with a high frequency, or in a separate thread after execution sequence 402 of initialization in that case, if the update location information of the user that are required for the calculations can be timely submitted to the reference subsystem 120. Operations 433 can also be performed in a separate data processing system. The only prerequisite for the calculation of the vector of the relative position is the availability of location information of both receivers: user receiver and the reference receiver.

1. Navigation for the first object relative to a second object, containing the following:
get a set of phase measurements of the carrier according to the signals taken in the first object from multiple satellites;
enter the PDP is Cai in a set of phase measurements of the carrier with the use of amendments, calculated for the second object according to signals taken in the second object from multiple satellites; while the second object is a moving object;
determine a correction to the location information for the first object using a set of phase measurements of the carrier with the introduced amendments;
take information about the calculated location of the second object; and
calculate the difference vectors between the computed location of the first object and the computed location of the second object.

2. The method according to claim 1, containing the following additional step: in the calculated location information of the first object add an amendment to the location information to obtain updated information about the location of the first object.

3. The method according to claim 2, containing the following additional step: compute updates to location information of the first object using a sequential changes of phase measurements of the carrier obtained in the first object from multiple satellites.

4. The method according to claim 3, in which the change of phase measurements of the carrier are adjusted for refraction.

5. The method according to claim 1, wherein the operation of determining corrections to the location information contains the following: allow integer neo is realnosti in the phase measurements of the carrier.

6. Designed for the mobile reference station method of providing amendments to the measurement results of at least one object to provide navigation, containing the following:
get the measurements of code and phase of the carrier in the mobile reference station according to the signals from multiple satellites;
form the results of measurements of code, smoothed by carrier, which correspond to the measurements of code and phase of the carrier;
determine the location of the mobile reference station using the measurement results code, smoothed by carrier;
calculate theoretical distance between the mobile base station and each of multiple satellites using information about the location of the reference station;
calculate the corrections to the measurements using theoretical range; and
transmit the location of the reference station and the amendments to the measurement results of at least one object to provide navigation in order to allow the calculation of the difference vectors between the computed location of the at least one object for which to provide navigation, and location of the reference station.

7. The method according to claim 6, in which the results of measurements of code and phase of the carrier contain amendments to the measurement results supplied by the e wide or global navigation system.

8. The method according to claim 6, in which the measurement results code, smoothed by carrier, contain amendments to the measurements provided by the band or global navigation system.

9. The method of determining the location of the user satellite navigation system relative to the location of the mobile reference station in a satellite navigation system, containing the mobile reference station, which contains the following:
determine the location of the mobile base station according to signals adopted in the mobile reference station from multiple satellites;
determine the user's location based on the measurement results received by the user according to the signals accepted by the user from multiple satellites, and corrections to the measurements determined in accordance with signals adopted in the mobile reference station from multiple satellites; and
calculate the difference vectors between the user's location and the location of the mobile reference station.

10. The method according to claim 9, in which the difference vectors calculated in the user device.

11. The method according to claim 9, in which the difference vectors calculated in the mobile reference station.

12. The method according to claim 9, in which the difference vectors calculated in a separate data processing system, which receives information on this issue, the user's location from the user and location information of the mobile base station from the mobile reference station.

13. The method according to claim 9, in which the operation of the positioning reference station contains the following: determine the change in position of the reference station on the basis of changes in the measurement phase of the carrier received in the base station according to the signals from multiple satellites.

14. The method according to claim 9, in which the operation of determining the location of the user contains the following: determine the change in location of the user on the basis of changes in the measurement phase of the carrier received in the user device according to the signals from multiple satellites.

15. Satellite navigation system, comprising:
moving the control subsystem is designed in such a way that it:
gets the first results of range measurements to the satellites according to the signals accepted by the movable support subsystem from multiple satellites;
determines the reference location corresponding to the movable support subsystem, according to early results of range measurements to the satellites; and
calculates the values of the amendments for correction of errors of the first results of range measurements to the satellites, with amendments to correct errors contain the values of amendments to correct errors in the phase measurements of the carrier; and
user p is sistemu, designed in such a way that it:
accepts values amendments for correction of errors of a movable support subsystem;
receives the second measurement results of the distance to the satellites according to the signals accepted by the user subsystem from multiple satellites, while the second results of range measurements to the satellites contain the results of measurements of the phase of the carrier;
adjusts the second measurement results of the distance to the satellites by using the values of the amendments for correction of errors; and
determines the user's location based on the corrected second measurement results of the distance to the satellites; and
moreover, the mentioned satellite navigation system determines the vector of the relative position by calculating the difference between the user's location and the reference location.

16. Read through a computer storage medium that stores stored therein is read by the computer commands that, when executed by a processor cause the execution processor of the navigation method of the first object relative to a second object, these commands include:
commands to obtain a set of measurements according to signals taken in the first object from multiple satellites;
commands for the introduction of amendments to the PR measurements using amendments, calculated for the second object, according to the signals taken in the second object from multiple satellites; while the second object is a mobile object, the command to determine corrections to the location information for the first object using a set of measurements with the introduced amendments;
commands for making information about the calculated location of the second object; and
commands for calculating the difference vectors between the computed location of the first object and the computed location of the second object.

17. Read through a computer storage medium according to clause 16, which additionally contains commands for adding amendments to the location information for the computed location of the first object to obtain updated information about the location of the first object.

18. Read through a computer storage medium according to 17, further containing commands to compute updates to location information of the first object using a sequential changes of the set of phase measurements of the carrier obtained in the first object from multiple satellites.

19. Read through a computer storage medium that stores stored therein is read by the computer commands that, when executed, the processor is m cause execution processor designed for mobile reference station method of providing amendments to the measurement results, at least one object to provide navigation, these commands include:
commands for obtaining measurements of code and phase of the carrier in the mobile reference station according to the signals from multiple satellites;
commands for generating measurement results code, smoothed by carrier, which correspond to the measurements of code and phase of the carrier;
command to determine the location of the mobile reference station using the measurement results code, smoothed by carrier;
commands to calculate theoretical distance between the mobile base station and each of multiple satellites using information about the location of the reference station;
commands to calculate corrections to the measurement results using theoretical range;
command to transfer the location of the reference station and amendments to the measurement result of at least one object to provide navigation in order to allow the calculation of the difference vectors between the computed location of the at least one object for which to provide navigation, and location of the reference station.



 

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13 cl, 9 dwg

FIELD: information technology.

SUBSTANCE: mobile communication device uses a position finding method using a position finding filter, for example a Kalman filter which is initialised by measurements from reference stations, for example satellites and/or base stations, which can be obtained during different periods. Accordingly, the position finding filter can be used to evaluate the position without the need to first obtain at least three different signals during the same measurement period.

EFFECT: high efficiency and reliability of position finding for mobile receivers of a global positioning system in unfavourable signal propagation conditions when coincidence of range measurements may not occur on time.

40 cl, 9 dwg

FIELD: information technology.

SUBSTANCE: request for auxiliary data issued by a mobile station is received at a server station and in response to the request, the server station sends to the server station ephemeral data as part of auxiliary data. After receiving the request for auxiliary data issued by the mobile station, the server station decides on the possibility of the mobile station reaching given accuracy for determining location is provided with transmitted ephemeral data. In the affirmative case, the server station sends transmitted ephemeral data to the mobile station. In the negative case, the server station sends to the mobile station long-term ephemeral data instead of transmitted ephemeral data as part of the requested auxiliary data. The long-term ephemeral data are extracted from forecasts of orbit satellites and they have validity interval which is sufficiently long compared to the ephemeral data transmitted by satellites.

EFFECT: high accuracy of position finding.

8 cl, 3 dwg

FIELD: physics.

SUBSTANCE: device includes a GPS/GLONASS receiver, an antenna, a user interface (keyboard, display, sound), a communication interface, nonvolatile memory, a microcontroller, consisting of a unit for calculating the coordinate vector from code measurements, a unit for calculating the increment of the coordinate vector from phase measurements, a filter unit based on a least-square method, a unit for calculating a specified coordinate vector from the filtration results, a unit for working with interfaces, where the microcontroller includes a unit for analysing stability of the phase solution, a unit for evaluating duration of measurements and geometrical factor of the constellation of satellites, as well as a correcting unit consisting of a counter for counting stable solutions and a decision unit for deciding on continuing measurements, interfaces for time marking external events and outputting the second mark.

EFFECT: highly accurate determination of coordinates of a receiver based on differential processing of phase measurements with complete elimination of phase ambiguity.

1 dwg

FIELD: physics.

SUBSTANCE: device includes a GPS/GLONASS receiver, an antenna, a user interface (keyboard, display, sound), a communication interface, nonvolatile memory, a microcontroller, consisting of a unit for calculating the coordinate vector from code measurements, a unit for calculating the increment of the coordinate vector from phase measurements, a filter unit based on a least-square method, a unit for calculating a specified coordinate vector from the filtration results, a unit for working with interfaces, where the microcontroller includes a unit for analysing stability of the phase solution, a unit for evaluating duration of measurements and geometrical factor of the constellation of satellites, as well as a correcting unit consisting of a counter for counting stable solutions and a decision unit for deciding on continuing measurements, interfaces for time marking external events and outputting the second mark.

EFFECT: highly accurate determination of coordinates of a receiver based on differential processing of phase measurements with complete elimination of phase ambiguity.

1 dwg

FIELD: physics.

SUBSTANCE: navigation is performed using low earth orbit (LEO) satellite signals, as well as signals from two sources of ranging signals for determining associated calibration information, where a position is calculated using a navigation signal, a first and a second ranging signal and calibration information. Also possible is providing a plurality of transmission channels on a plurality of transmission time intervals using pseudorandom noise (PRN) and merging communication channels and navigation channels into a LEO signal. The method also involves broadcasting a LEO signal from a LEO satellite. Also disclosed is a LEO satellite data uplink. The invention also discloses various approaches to localised jamming of navigation signals.

EFFECT: high efficiency and ensuring navigation with high level of integration and security.

14 cl, 34 dwg

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