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WO2004048995A1 - Determination de position de dispositif mobile - Google Patents

Determination de position de dispositif mobile Download PDF

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Publication number
WO2004048995A1
WO2004048995A1 PCT/IB2003/005187 IB0305187W WO2004048995A1 WO 2004048995 A1 WO2004048995 A1 WO 2004048995A1 IB 0305187 W IB0305187 W IB 0305187W WO 2004048995 A1 WO2004048995 A1 WO 2004048995A1
Authority
WO
WIPO (PCT)
Prior art keywords
velocity
receiver
identifying
basis
signals
Prior art date
Application number
PCT/IB2003/005187
Other languages
English (en)
Inventor
Andrew T. Yule
Saul R. Dooley
Original Assignee
Koninklijke Philips Electronics N.V.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koninklijke Philips Electronics N.V. filed Critical Koninklijke Philips Electronics N.V.
Priority to AU2003278545A priority Critical patent/AU2003278545A1/en
Publication of WO2004048995A1 publication Critical patent/WO2004048995A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/22—Multipath-related issues

Definitions

  • the present invention relates to a method and related apparatus for accurately identifying the position of a mobile device arranged to receive signals from remote transmitters and in particular, but not exclusively, to a GPS receiver, and related method of operation, for use in vehicular navigation.
  • Mobile signal receiving devices arranged, for example, to be used within a vehicle, for example a GPS receiver are well known for providing current positional data either to the vehicle user, or a third party monitoring the movement of the vehicle.
  • Such known receivers are arranged to measure the code phase of signals from a constellation of GPS satellites in order to produce so-called pseudoranges, which pseudoranges are in turn employed in the calculation of the position of the receiver, and so for example the vehicle within which the receiver is used.
  • the GPS signals travel directly from the constellation of transmitting satellites to the GPS receiver.
  • some environments within which a vehicle might be moving, and thus the GPS receiver might be found do not allow for such ideal operation.
  • the GPS signals arriving at the receiver may well have been reflected off those buildings rather than arriving directly from the constellation of satellites.
  • the signals then arriving at the receiver have then followed one or more indirect routes involving some form of reflection.
  • Such reflections lead to so-called multipath problems which, in turn, can lead to substantial positional errors when seeking to accurately locate the GPS receiver.
  • WO-A-97/24583 One known vehicle navigation system is disclosed in WO-A-97/24583 and which involves the use of GPS velocity signals in providing for vehicle navigation but which exhibits disadvantages in view of the use of the delta- pseudoranges defined therein, and due to the variety of sensors such as accelerometers and odometers in providing for the required positional information.
  • the present invention seeks to provide for a method, and related apparatus, for determining positional information of a mobile receiver and which exhibit advantages over known such methods and apparatus.
  • a method of determining a current position of a mobile signal receiver arranged to receive positioning signals from remote transmitters and comprising the steps of identifying a first position on the basis of positional data from the said positional signals, identifying a second position on the basis of a previously reported position and velocity data for the receiver obtained from signals from the remote transmitters, comparing the said first and second positions and identifying only the second position as the required current position responsive to a determined difference between the first and second positions.
  • the invention is advantageous in effectively allowing the selective use of positional information obtained on the basis of velocity data, rather than the current positional data received from the transmitters, if it is identified that the said use of the velocity data is likely to provide more accurate results.
  • the present invention therefore takes advantage of the fact that the accuracy with which velocity of, for example, a moving GPS receiver can be calculated is higher than the accuracy of which a one-off position can be determined.
  • the present invention advantageously serves to select the position determined by the inclusion of velocity data as being the likely more accurate positional reading.
  • Claims 2, 3 and 4 represent particular advantageous features for determining the said second position, and for determining whether such said second position might offer a more accurate and reliable indication of the actual current position to be reported to the user than does the said first position.
  • Claim 5 takes advantage of the recursive nature of the determination of the said second position such that the position reported to the user can be dependent on more than one consecutive velocity reading.
  • Claim 6 can advantageously be employed for determining the current reported position.
  • Claims 7 and 8 provide particular advantageous steps in defining criteria for use in determining whether the said first position, or the said second position is reported as an accurate representation of the current position.
  • a mobile signal receiver including means for determining the current position thereof, the receiver comprising means for identifying a first position on the basis of positional data from signals received from a remote transmitter, for identifying a second position on the basis of a previous reported position and velocity data derived from the said received signals, comparing means for comparing the said first and second identified position, and control means arranged to identify only the said second position as the current position responsive to a difference between the said first and second determined position.
  • the mobile signal receiver is arranged to function in accordance with any one or more of the methods defined above.
  • the present invention can take advantage of a realisation that the acknowledgment that GPS velocity measurements are inherently more accurate than positional measurements. This is generally because it is easier, and more accurate, to resolve rate of change of carrier phase, than it is to measure absolute code phase which is required for mere positional measurements.
  • the present invention can therefore provide for the positional determination on the basis of velocity determination which, for example, offers greater resistance to multipath effects and so can lead to accurate navigation requirements in environments such as "urban canyons".
  • Fig. 1 is a graphical representation of the reported position of a receiver driven round a known locality and employing a method and apparatus currently known in the art:
  • Fig. 2 is a schematic block diagram of a mobile receiver according to an embodiment of the present invention.
  • Fig. 3 is a graphical representation correspond to that of the locality illustrated in Fig. 1 but in which the reported positions of the mobile receiver are derived in accordance with an embodiment of the present invention.
  • Fig. 1 there is illustrated the reported positions from a Trimble receiver driven around the centre of Singapore and which offers positional information, and does vehicular navigation, on the basis of code phase measurements of GPS stabilities signals as currently known in the art.
  • the accuracy of the identified position is generally poor.
  • a mobile receiver 10 for use, for example, in a vehicle in which navigation data is to be provided by means of signals received from a constellation of GPS satellite.
  • the signals from the constellation of GPS satellites are received at the receiver 10 and, via receiver interface 12, are delivered to a GPS position determining processor 14, and also a receiver velocity determining processor 16.
  • the processor 16 serves to determine the current velocity of movement of the receiver 10, and thus the vehicle within which it is located, through resolution of the rate of change of carrier phase of the signals received from the satellites.
  • the GPS positional processor 14 however serves to provide for a location identification on the basis of absolute code phase of the incoming signal.
  • the receiver 10 is arranged to provide a reported current position data signal 18 which can serve to drive a display within the vehicle so as to provide a user interface by which location and navigation information can be presented to, for example, the driver of the vehicle.
  • the positional data signal 18 can be provided to a monitoring device remote from the vehicle and by which third parties can monitor the location of the vehicle.
  • the positional data signal 18 to be reported as the current position is derived from a comparison arrangement 20 and the last reported data signal is delivered via a temporary storage means 22 to a velocity integration processor 24.
  • the output from the velocity determination processor 16 is delivered to the velocity integrated processor 24 where it is combined with data from the temporary storage means 22 and identifying the last reported position.
  • the comparison means 20 is arranged to receive first position data from the GPS positional processor 14 representing the calculated position of the receiver 10 on the basis of the standard GPS positional signals employing absolute code phase measurements, and also, for comparative purposes, a signal from the velocity integrating processor 24 which represents a second value of the calculated position, which itself is calculated on the basis of the previous reported position and also the current velocity of the receiver 10 determined at the velocity determination processor 16.
  • the comparison means 20 is arranged to compare the data relating to the first and second calculated positions. If, for example the positions are the same, or coincide within a determined range, then both readings are considered to be accurate and, in one example, the GPS positional data derived from the processor 14 is delivered as the current reported positional data signal 18.
  • the comparison means 20 identifies that the readings for the first and second positions differ perhaps by a predetermined amount, then the data relating to the first position derived from the processor 14 is ignored in favour of that derived from the velocity determining processor 16 since, in view of the inherent more accurate velocity measurement obtainable at the receiver, this reading corresponding to the second position is determined to represent the more accurate reading which is then delivered as the current reported positional data signal 18.
  • the essence of the invention is that the GPS receiver regularly (e.g. once per second) determines instantaneous position and velocity fixes as usual in a vehicular system. However before reporting the position to the user, a test is made to evaluate whether the last reported position offset by the integrated velocity is likely to give a more accurate result.
  • the result of the position fix (p,) would be similar to the previous position fix offset by the integrated velocity (p + P' vdt ). However, given the manner in which the velocity can be determined i.e. using a count of carrier cycles over the last time period, this calculation can be simplified to the previous position fix offset by the velocity times the time period (p +v, ⁇ t). If the position fix (p,) and the value calculated from the last one and the current velocity (p +v, ⁇ t) are the same, it doesn't matter which one of the readings is reported.
  • the first reported position (P 0 ) must be the first calculated position fix (p 0 ), but, through the recursive nature of the above definition, it is possible for the reported position (P,) to be dependent on more than one consecutive velocity fix. Indeed, the above relationship can be recast in terms of the number of velocity fixes (m) the reported position (Pi) depends on thus:
  • a Doppler residual can be defined in terms of the measured carrier offset of the SV signal (f sv ), the velocity of the SV(v sv ) and the calculated user velocity (v) and clock drift ( k ): ⁇ dr - ( .
  • the velocity fixes can be determined as suitable or unsuitable. For example, a check can be made to determine if the velocity is written as acceptable expected range. For motor vehicles a check is made for reasonable motor vehicle dynamic limits such as whether speed is less than 50m/s. If, for example, both position and velocity fix are unsuitable for use, the most recent acceptable velocity fix or position can be used.
  • FIG. 3 the effects of applying the above-mentioned algorithm to GPS data recorded at the same time as that illustrate in Fig. 1 is shown and which a substantial improvement in the determination of location of the vehicle can be quite clearly seen.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne un procédé permettant de déterminer la position courante d'un récepteur de signaux mobile agencé afin de recevoir des signaux de positionnement provenant d'émetteurs distants. Ledit procédé consiste à identifier une première position en fonction de données positionnelles dérivées des signaux positionnels, à identifier une seconde position pour le récepteur en fonction d'une position antérieurement déclarée et de données de vitesse dérivées des signaux provenant des émetteurs distants, à comparer les première et seconde positions et à identifier uniquement la seconde position comme étant la position courante requise sensible à une différence déterminée entre les première et seconde positions.
PCT/IB2003/005187 2002-11-28 2003-11-14 Determination de position de dispositif mobile WO2004048995A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2003278545A AU2003278545A1 (en) 2002-11-28 2003-11-14 Position determination for a mobile device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB0227749.9 2002-11-28
GBGB0227749.9A GB0227749D0 (en) 2002-11-28 2002-11-28 Position determination for a mobile device

Publications (1)

Publication Number Publication Date
WO2004048995A1 true WO2004048995A1 (fr) 2004-06-10

Family

ID=9948679

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2003/005187 WO2004048995A1 (fr) 2002-11-28 2003-11-14 Determination de position de dispositif mobile

Country Status (3)

Country Link
AU (1) AU2003278545A1 (fr)
GB (1) GB0227749D0 (fr)
WO (1) WO2004048995A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9164179B2 (en) 2012-11-01 2015-10-20 Google Technology Holdings LLC Systems and methods for generating compensated speed values for doppler-enabled device
GB2575538A (en) * 2018-05-14 2020-01-15 FLIR Belgium BVBA Doppler GNSS systems and methods
US10983206B2 (en) 2017-11-07 2021-04-20 FLIR Belgium BVBA Low cost high precision GNSS systems and methods
US11280896B2 (en) 2017-06-16 2022-03-22 FLIR Belgium BVBA Doppler GNSS systems and methods

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997024583A1 (fr) * 1995-12-28 1997-07-10 Magellan Dis Inc. Systeme et procede de navigation amelioree pour vehicule utilisant des donnees de vitesse fournies par gps
WO1999004280A1 (fr) * 1997-07-14 1999-01-28 Motorola Inc. Systeme portable de navigation a l'estime etendant la couverture gps
US5948043A (en) * 1996-11-08 1999-09-07 Etak, Inc. Navigation system using GPS data

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997024583A1 (fr) * 1995-12-28 1997-07-10 Magellan Dis Inc. Systeme et procede de navigation amelioree pour vehicule utilisant des donnees de vitesse fournies par gps
US5948043A (en) * 1996-11-08 1999-09-07 Etak, Inc. Navigation system using GPS data
WO1999004280A1 (fr) * 1997-07-14 1999-01-28 Motorola Inc. Systeme portable de navigation a l'estime etendant la couverture gps

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9164179B2 (en) 2012-11-01 2015-10-20 Google Technology Holdings LLC Systems and methods for generating compensated speed values for doppler-enabled device
US11280896B2 (en) 2017-06-16 2022-03-22 FLIR Belgium BVBA Doppler GNSS systems and methods
US10983206B2 (en) 2017-11-07 2021-04-20 FLIR Belgium BVBA Low cost high precision GNSS systems and methods
GB2575538A (en) * 2018-05-14 2020-01-15 FLIR Belgium BVBA Doppler GNSS systems and methods
GB2575538B (en) * 2018-05-14 2020-10-21 FLIR Belgium BVBA Doppler GNSS systems and methods

Also Published As

Publication number Publication date
GB0227749D0 (en) 2003-01-08
AU2003278545A1 (en) 2004-06-18

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