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1. 发明申请

WO1994028435A1 NAVIGATION SYSTEM FOR ADAPTIVE WEIGHTING OF GPS AND DEAD-RECKONING INFORMATION 审中-公开
标题翻译： GPS和死亡信号自适应加权导航系统
公开(公告)号：WO1994028435A1
公开(公告)日：1994-12-08
申请号：PCT/US1994005871
申请日：1994-05-24
申请人： TRIMBLE NAVIGATION LIMITED
发明人： TRIMBLE NAVIGATION LIMITED , GEIER, George , HESHMATI, Ardalan , JOHNSON, Kelly , McLAIN, Patricia
IPC分类号： G01S05/14
CPC分类号： G01S19/49 , G01C21/165 , G01S19/52
摘要： An embodiment of the present invention is a combined GPS and dead-reckoning (DR) navigation sensor for a vehicle in which a pair of modifications are made to an otherwise conventional Kalman filter. Process noise is adpated to cope with scale factor errors associated with odometer and turning rate sensors, and correlated measurement error processing is added. When only two Doppler measurements (PRRs), or three with an awkward three-satellite geometry, are available, DR error growth can nevertheless be controlled. The measurement error correlations in the conventional Kalman filter covariance propagation and update equations are explicitly accounted for. Errors induced by selective availability periods are minimized by these two modifications.
摘要翻译：本发明的一个实施例是用于车辆的组合GPS和推算（DR）导航传感器，其中对另外常规的卡尔曼滤波器进行一对修改。过程噪声适应于与里程表和转速传感器相关的比例因子误差，并添加相关的测量误差处理。当仅有两个多普勒测量（PRR）或具有尴尬的三卫星几何的三个可用时，可以控制DR误差增长。在常规卡尔曼滤波器协方差传播和更新方程中的测量误差相关性被明确地说明。这两种修改使选择性可用性期间引起的错误最小化。

2. 发明申请

WO1998022858A1 AIRCRAFT TURN GUIDANCE SYSTEM 审中-公开
标题翻译：飞机转向指导系统
公开(公告)号：WO1998022858A1
公开(公告)日：1998-05-28
申请号：PCT/US1997020863
申请日：1997-11-13
申请人： TRIMBLE NAVIGATION LIMITED
发明人： TRIMBLE NAVIGATION LIMITED , NELSON, Robert, L., Jr.
IPC分类号： G05D01/08
CPC分类号： G05D1/0816
摘要： An aircraft turn guidance system comprises a satellite navigation receiver (12) connected to a turn path computer (14). Position, velocity and waypoint headings and distances are communicated from the satellite navigation receiver to the turn path computer. Roll angle, airframe and airspace constraints are fed to the turn path computer (14) which computes a constant roll turn for the constraints when transitioning a waypoint from the inbound to outbound legs. The effects of wind on the airmass are computed in to account for real world conditions.
摘要翻译：飞机转向导引系统包括连接到转向路径计算机（14）的卫星导航接收器（12）。位置，速度和航路点航向和距离从卫星导航接收机传送到转弯路径计算机。转向角度，机身和空域限制被馈送到转弯路径计算机（14），该转弯路径计算机（14）计算当从入站到出站腿的路点转换时的约束的恒定转弯。计算风对空气质量的影响，以解释现实世界的条件。

3. 发明申请

WO1997044682A1 VARIABLE SUPPRESSION OF MULTIPATH SIGNAL EFFECTS 审中-公开
标题翻译：多路信号效应的变化抑制
公开(公告)号：WO1997044682A1
公开(公告)日：1997-11-27
申请号：PCT/US1997008494
申请日：1997-05-20
申请人： TRIMBLE NAVIGATION LIMITED
发明人： TRIMBLE NAVIGATION LIMITED , PON, Rayman , MARTIN, Kreg , FARMER, Dominic
IPC分类号： G01S05/14
CPC分类号： H04L25/03006 , G01S19/22 , G01S19/30 , G01S19/37
摘要： Techniques for formation of an autocorrelation difference function of an incoming digital signal that reduce the effects of presence of a multipath signal or of noise in an incoming digital composite signal, including direct and multipath signals are disclosed. The received digital signal has a bit value transition interval of length DELTA tau chip. Two or three consecutive bit values bn-2, bn-1 and bn of the direct (ideal) signal are examined. If a test condition for these bit values is satisfied, a first non-uniform weighting function w1(t) is used to compute the contribution of a time interval In = {t'|tn-1 + DELTA tE). If the test condition is not satisfied, a second weighting function w1 &cir& (t) is used to compute the contribution of the time interval In to the first and second autocorrelation functions. An autocorrelation difference function DELTA AC#( tau ) = AC#( tau ;E) - AC#( tau ;L) is formed in which the effects of noise or of multipath signals is suppressed, relative to these effects in a conventionally computed autocorrelation difference function.
摘要翻译：公开了用于形成输入数字信号的自相关差分函数的技术，其减少输入数字复合信号（包括直接和多路径信号）中的多径信号或噪声的存在的影响。接收的数字信号具有长度为DELTA tau芯片的位值转换间隔。检查直接（理想）信号的两个或三个连续位值bn-2，bn-1和bn。如果满足这些位值的测试条件，则使用第一不均匀加权函数w1（t）来计算时间间隔In = {t'| tn-1 + DELTA tE）。如果测试条件不满足，则使用第二加权函数w1＆cir＆（t）来计算时间间隔In对第一和第二自相关函数的贡献。相对于常规计算的自相关中的这些效应，形成自相关差函数DELTA AC＃（τ）= AC＃（τ; E）-AC＃（τ; L），其中噪声或多径信号的影响被抑制差异功能。

4. 发明申请

WO1995000861A1 SATELLITE POSITIONING SYSTEM FILTER 审中-公开
标题翻译：卫星定位系统过滤器
公开(公告)号：WO1995000861A1
公开(公告)日：1995-01-05
申请号：PCT/US1994006992
申请日：1994-06-16
申请人： TRIMBLE NAVIGATION LIMITED
发明人： TRIMBLE NAVIGATION LIMITED , McBURNEY, Paul, W.
IPC分类号： G01S05/02
CPC分类号： G01S19/29 , G01S19/30 , G01S19/46
摘要： A method and associated algorithm for filtering time-varying location solution coordinates Px,n, Py,n and Pz,n (301) determined by a Satellite Positioning System (SATPS), which operates in a static mode and a dynamic mode (303), to reduce large discontinuities and control the rate at which a changing sequence of measurement errors can induce a change in a sequence of position solutions. The method forms sequences of filtered location coordinates {P &cir& x,n}, {P &cir& y,n} and {P &cir& z,n} (325), smoothed to reduce discontinuities that occur with a changing set of measurement errors. The filtered location coordinates P &cir& x,n, P &cir& y,n and P &cir& z,n (325) are formed as linear combinations of the respective unfiltered location solutions Px,n, Py,n and Pz,n (301) with predicted location coordinates P &cir& x,n-, P &cir& y,n- and P &cir& z,n-. The predicted location coordinates for the present fix time t=tn are formed by projecting ahead the respective preceding filtered location coordinates P &cir& x,n-1, P &cir& y,n-1 and P &cir& z,n-1 for the preceding fix time t=tn-1, using the respective average velocities sqrt(Vx,n + Vx,n-1), sqrt(Vy,n + Vy,n-1) and sqrt(Vz,n + Vz,n-1) in the time interval tn-1 /= tn.
摘要翻译：一种用于对由卫星定位系统（SATPS）确定的时变位置解坐标Px，n，Py，n和Pz，n（301）进行滤波的方法和相关算法，其以静态模式和动态模式操作（303），以减少大的不连续性并控制变化的测量误差序列可以引起位置解决方案序列变化的速率。该方法形成滤波位置坐标{P＆cir＆x，n}，{P＆cir＆y，n}和{P＆cir＆z，n}（325）的序列，以平滑以减少随更改的测量误差集而发生的不连续性。滤波后的位置坐标P＆cir＆x，n，P＆cir＆y，n和P＆cir＆z，n（325）被形成为各自的未滤波位置解Px，n，Py，n和Pz，n（301）与预测位置坐标P＆cir＆x，n-，P＆cir＆y，n-和P＆cir＆z，n-。当前固定时间t = tn的预测位置坐标是通过在先前固定的前一个滤波位置坐标P＆cir＆x，n-1，P＆cir＆y，n-1和P＆cir＆时间t = tn-1，使用相应的平均速度sqrt（Vx，n + Vx，n-1），sqrt（Vy，n + Vy，n-1）和sqrt（Vz，n + Vz，n-1）在时间间隔tn-1 / = tn。

5. 发明申请

WO1997044681A1 SUPPRESSION OF MULTIPATH SIGNAL EFFECTS 审中-公开
标题翻译：抑制多信号信号效应
公开(公告)号：WO1997044681A1
公开(公告)日：1997-11-27
申请号：PCT/US1997008935
申请日：1997-05-19
申请人： TRIMBLE NAVIGATION LIMITED
发明人： TRIMBLE NAVIGATION LIMITED , PON, Rayman
IPC分类号： G01S01/04
CPC分类号： H04B7/005 , G01S19/22
摘要： Techniques for formation of an autocorrelation difference function of an incoming digital signal, with bit transition interval DELTA tau chip, that reduce the effects of presence of a multipath signal in an incoming composite signal. First and second autocorrelation functions AC( tau ;E;qE) and AC( tau ;L;qL) are formed with respective first and second selected time shift values tau = tE and tau = tL, which replicate an estimate of an autocorrelation function AC( tau ;P;qP) at an intermediate time shift value tau = tP that satisfies tE
摘要翻译：用于形成输入数字信号的自相关差分函数的技术，具有位转换区间DELTA tau芯片，其减少输入复合信号中存在多径信号的影响。形成第一和第二自相关函数AC（τ; E; qE）和AC（τ; L; qL），其中相应的第一和第二选定的时移值τ= tE和τt = tL，其复制自相关函数AC （τ; P; qP），其分别与tL-tE <2 DELTA tau芯片满足tE

6. 发明申请

WO1997044680A1 WEIGHTED CARRIER PHASE MULTIPATH REDUCTION 审中-公开
标题翻译：加权载波相位多路径减少
公开(公告)号：WO1997044680A1
公开(公告)日：1997-11-27
申请号：PCT/US1997008575
申请日：1997-05-19
申请人： TRIMBLE NAVIGATION LIMITED
发明人： TRIMBLE NAVIGATION LIMITED , PON, Rayman , FARMER, Dominic, G.
IPC分类号： G01S01/04
CPC分类号： H04B1/7085 , G01S19/22 , G01S19/29 , G01S19/30 , G01S19/37 , H04B1/709 , H04B7/005
摘要： The effect of the multipath distortions on the carrier phase measurements is reduced by using the weighted correlation functions. The generators of both periodic and dynamic weighted functions are used. The apparatus and method employing generators of such weighted functions can comprise the standard correlators and/or the weighted function correlators.
摘要翻译：通过使用加权相关函数来减少多径失真对载波相位测量的影响。使用周期性和动态加权函数的发生器。采用这种加权函数的发生器的装置和方法可以包括标准相关器和/或加权函数相关器。

7. 发明申请

WO1995001575A1 INTEGRATED TERRESTRIAL SURVEY AND SATELLITE POSITIONING SYSTEM 审中-公开
标题翻译：一体化地面调查和卫星定位系统
公开(公告)号：WO1995001575A1
公开(公告)日：1995-01-12
申请号：PCT/US1994007406
申请日：1994-06-30
申请人： TRIMBLE NAVIGATION LIMITED
发明人： TRIMBLE NAVIGATION LIMITED , TALBOT, Nicholas, C. , NICHOLS, Mark
IPC分类号： G01S05/02
CPC分类号： G01S19/40 , G01C15/002 , G01S19/43 , G01S19/48
摘要： Apparatus for measuring surveying parameters, such as distances and angular displacements between survey stations (11, 31), with improved accuracy. The invention combines a differential satellite positioning system (SATPS), available with positioning systems such as GPS and GLONASS, with electromagnetic measurements of distances and optically encoded angles by a conventional electro-optical survey instrument to provide survey measurements that can be accurate to within a few millimeters in favorable situations. The differential satellite positioning system relies upon carrier phse measurements, after removal of certain phase integer ambiguities associated with carrier phase SATPS signals. The SATPS may be retrofitted within the housing of the conventional electro-optical instrument.
摘要翻译：用于测量测量参数的设备，例如测量站（11,31）之间的距离和角位移，具有改进的准确度。本发明结合了一种差分卫星定位系统（SATPS），其可与诸如GPS和GLONASS的定位系统一起利用常规电光测量仪器进行距离测量和光学编码角度的电磁测量，以提供可精确到有利情况下几毫米。在移除与载波相位SATPS信号相关联的某些相位整数模糊度之后，差分卫星定位系统依赖于载波测量。 SATPS可以在传统电光仪器的外壳内改装。

8. 发明申请

WO1994028434A1 RAPID SATELLITE SIGNAL ACQUISITION IN A SATELLITE POSITIONING SYSTEM 审中-公开
标题翻译：卫星定位系统中的快速卫星信号采集
公开(公告)号：WO1994028434A1
公开(公告)日：1994-12-08
申请号：PCT/US1994005603
申请日：1994-05-19
申请人： TRIMBLE NAVIGATION LIMITED
发明人： TRIMBLE NAVIGATION LIMITED , LAU, Chung
IPC分类号： G01S05/02
CPC分类号： G01S19/29 , G01S19/07
摘要： A method for fast acquisition of Satellite Positioning System (SATPS) signals that does not require permanent storage of satellite almanac information at a ground station. A nearby reference SATPS station (13), whose position is known, provides a new SATPS station (14) with differential positioning SATPS information and optionally with SATPS satellite ephemeride information on each visible satellite (15, 17, 19, 21). By limiting the search to the frequency range and code-phase attributes corresponding to the visible satellites, the ranges to be searched are decreased. When a first SATPS satellite signal is acquired and locked onto by the new station, the frequency range for searching is narrowed to a range corresponding to the Doppler shift frequency range for the visible satellites, and acquisition of additional SATPS satellite signals proceeds quickly. The system allows the use of less accurate timing sources for the new stations.
摘要翻译：一种快速采集卫星定位系统（SATPS）信号的方法，不需要在地面站永久存储卫星历书信息。已知其位置的附近参考SATPS站（13）提供具有差分定位SATPS信息的新SATPS站（14），并且可选地在每个可见卫星（15,17,19,21）上提供SATPS卫星星历信息。通过将搜索限制到与可见卫星相对应的频率范围和码相位属性，减少了要搜索的范围。当第一个SATPS卫星信号被新站采集并锁定时，用于搜索的频率范围被缩小到与可见卫星的多普勒频移范围相对应的范围，并且附加SATPS卫星信号的采集很快进行。该系统允许对新站使用较不准确的定时源。

9. 发明申请

WO1994028379A1 COMBINED PC/104 AND SATELLITE POSITIONING SYSTEM 审中-公开
标题翻译：组合PC / 104和卫星定位系统
公开(公告)号：WO1994028379A1
公开(公告)日：1994-12-08
申请号：PCT/US1994006013
申请日：1994-05-26
申请人： TRIMBLE NAVIGATION LIMITED
发明人： TRIMBLE NAVIGATION LIMITED , DUSSELL, William, O.
IPC分类号： G01C21/00
CPC分类号： G01C21/00 , G01S19/37
摘要： Apparatus for determining the present location of, or time of observation by, an observer on or in the vicinity of the Earth's surface. The apparatus provides a Satellite Positioning System (SATPS), such as GPS or GLONASS, in a portable device or card that is built to PC/104 standards. The PC/104/SATPS card (11) includes an SATPS antenna (13) to receive (and frequency downconvert, if necessary) SATPS signals (15) from one or more SATPS satellites, a microprocessor (17) programmed to receive the SATPS signals from the antenna and to perform calculations to determine the location of the antenna and/or the time of observation. The PC/104/SATPS card optionally has a buffer/translator (23, 25) to compensate for differences in SATPS signal arrival rate and signal processing rate and/or to translate signals from SATPS format to whatever format the microprocessor uses. The PC/104/SATPS card optionally has a keyboard, pen-and-tablet or other information entry means (31) and optionally has an information transfer module (29) for transferring information from the PC/104/SATPS card to another electronic apparatus for further processing or for display of the location of, or time of observation by, the antenna. Optionally, the PC/104/SATPS card also includes a display module (33) for displaying the location of, or time of observation by, the antenna in a visually perceptible manner on the card itself.
摘要翻译：用于确定观测者在地球表面或其附近的当前位置或观察时间的装置。该装置在根据PC / 104标准构建的便携式设备或卡中提供诸如GPS或GLONASS的卫星定位系统（SATPS）。 PC / 104 / SATPS卡（11）包括SATPS天线（13），用于从一个或多个SATPS卫星接收（并且如有必要）频率下变频）SATPS信号（15），被编程为接收SATPS信号的微处理器（17）并且执行计算以确定天线的位置和/或观察时间。 PC / 104 / SATPS卡可选地具有缓冲器/转换器（23,25），以补偿SATPS信号到达速率和信号处理速率的差异和/或将信号从SATPS格式转换为微处理器使用的任何格式。 PC / 104 / SATPS卡可选地具有键盘，笔和平板电脑或其他信息输入装置（31），并且可选地具有用于将信息从PC / 104 / SATPS卡传送到另一电子装置的信息传送模块（29）用于进一步处理或显示天线的位置或观察时间。可选地，PC / 104 / SATPS卡还包括显示模块（33），用于以视觉上可察觉的方式在卡本身上显示天线的位置或观察时间。

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