초록 ▼

The accuracy of relative position estimates between two vehicles, generated using a satellite-based navigation system, is improved by eliminating at an early stage in the calculation process, errors affecting simultaneously both receivers. The standard absolute navigation equations are modified to s

The accuracy of relative position estimates between two vehicles, generated using a satellite-based navigation system, is improved by eliminating at an early stage in the calculation process, errors affecting simultaneously both receivers. The standard absolute navigation equations are modified to solve directly for relative position, while avoiding a final step differentiation, thereby providing increased precision.

대표청구항 ▼

[ We claim:] [1.] A method for determining the relative position between a first receiver and a second receiver using a satellite-based navigation system utilizing a constellation of navigation satellites and a communication link between the first receiver and the second receiver, the method compris

[ We claim:] [1.] A method for determining the relative position between a first receiver and a second receiver using a satellite-based navigation system utilizing a constellation of navigation satellites and a communication link between the first receiver and the second receiver, the method comprising the steps of:receiving, from a first plurality of satellites of the constellation of navigation satellites, a first plurality of navigation signals at the first receiver;receiving, from a second plurality of satellites of the constellation of navigation satellites, a second plurality of navigation signals at the second receiver;computing, at the first receiver, a position estimate of the first receiver;computing, at the second receiver, a position estimate of the second receiver;transmitting from the second receiver to the first receiver, through the communication link, the second plurality of navigation signals and the position estimate of the second receiver;computing, at the first receiver, a plurality of satellite positions of the first and second pluralities of satellites;computing, at the first receiver, a first plurality of unit vectors between the first receiver and the first plurality of satellites;computing, at the first receiver, a second plurality of unit vectors between the second receiver and the second plurality of satellites;extracting, at the first receiver, from the first plurality of navigation signals, a first plurality of raw pseudoranges between the first receiver and each of the first plurality of satellites;extracting, at the first receiver from the second plurality of navigation signals, a second plurality of raw pseudoranges between the second receiver and each of the second plurality of satellites;computing, at the first receiver, a first plurality of range equivalents of the clock offsets of each of the first plurality of satellites;computing, at the first receiver, a second plurality of range equivalents of the clock offsets of each of the second plurality of satellites; anddetermining a precise relative position between the first receiver and the second receiver from the plurality of satellite positions of the first and second pluralities of satellites, the first and second pluralities of unit vectors, the first and second pluralities of raw pseudoranges, and the first and second pluralities of range equivalents of the clock offsets of each of the first and second pluralities of satellites, respectively.