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WO2011072273A1 - Localisation intermittente pour gnss - Google Patents

Localisation intermittente pour gnss Download PDF

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Publication number
WO2011072273A1
WO2011072273A1 PCT/US2010/059974 US2010059974W WO2011072273A1 WO 2011072273 A1 WO2011072273 A1 WO 2011072273A1 US 2010059974 W US2010059974 W US 2010059974W WO 2011072273 A1 WO2011072273 A1 WO 2011072273A1
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WO
WIPO (PCT)
Prior art keywords
gnss receiver
low
power mode
gnss
tracking
Prior art date
Application number
PCT/US2010/059974
Other languages
English (en)
Inventor
Maxime Leclercq
Ioannis Spyropoulos
Anand K. Anandakumar
Curtis Ling
Original Assignee
Maxlinear, Inc.
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 Maxlinear, Inc. filed Critical Maxlinear, Inc.
Publication of WO2011072273A1 publication Critical patent/WO2011072273A1/fr

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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
    • G01S19/01—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
    • G01S19/34—Power consumption

Definitions

  • the present application is related to wireless communication systems, and more particularly to tracking and positioning operations of GNSS systems.
  • a GNSS systems such as a GPS system, often includes a module which continuously tracks an object's movement and reports its position to facilitate navigation.
  • Conventional GNSS tracking devices require relatively high power to support intermittent tracking applications.
  • battery powered devices such as digital cameras that have tracking capability to tag the pictures with their corresponding locations, low power consumption is highly desirable.
  • a GNSS receiver in accordance with one embodiment of the present invention includes, in part, a position calculation and reporting module, and a tracking and acquisition module.
  • the GNSS receiver is adapted to enter a low-power mode following each tracking phase or following each acquisition and tracking phase.
  • the GNSS receiver is further adapted to exit the low-power mode in response to instructions from a control unit to calculate the position of the GNSS receiver.
  • the position calculation and reporting module reports the position of the GNSS receiver only in response to instructions from the control unit.
  • the duration of the low-power mode is such that an estimate of the corresponding local clock drift is less than a threshold value, only tracking operation is performed after exiting the low-power mode. If the duration of the low-power mode is such that an estimate of the corresponding local clock drift is greater than or equal to the threshold value, both acquisition and tracking operations are performed after exiting the low-power mode.
  • the GNSS receiver is adapted to select between a normal acquisition phase and a low-power acquisition phase.
  • a narrower range of frequency bins and code offsets is searched to reacquire satellite signals.
  • durations of the low-power modes are adaptively varied.
  • the durations of the tracking phases, and tracking/acquisition phases are adaptively varied.
  • the duration of the next low-power mode is adaptively varied in accordance with estimated velocity or acceleration of the GNSS receiver. In one embodiment, the duration of the next low -power mode is adaptively varied in accordance with a time elapsed since a prior determination of the position of the GNSS receiver. In one embodiment, the duration of the next low-power mode is adaptively varied in accordance with a temperature drift of the GNSS receiver since a prior determination of the position of the GNSS receiver. In one embodiment, the duration of the next low-power mode is adaptively varied in accordance with a quality of a GNSS satellite received since a prior determination of the position of the GNSS receiver. In one embodiment, the duration of the next low-power mode is adaptively varied in accordance with a model characterizing the behavior of a user of the GNSS receiver.
  • the GNSS receiver is disposed in a device that also includes the control unit.
  • the control unit is a software module.
  • the control unit is a hardware module.
  • the control unit includes both software and hardware modules.
  • a method of operating a GNSS receiver having disposed therein a position calculation and reporting module as well as a tracking and acquisition module includes, in part, causing the GNSS receiver to enter a low-power mode following each acquisition phase and/or each tracking/acquisition phase, causing the GNSS receiver to exit the low-power mode in response to instructions from a control unit to calculate a position of the GNSS receiver wherein the position of the GNSS receiver is calculated and reported only in response to instructions from the control unit, and causing the GNSS receiver to enter the low-power mode after calculating and reporting the position of the GNSS receiver.
  • a duration of a low-power mode is such that an estimate of a corresponding local clock drift is detected as being less than a threshold value
  • only tracking operation is performed after exiting the low-power mode. If the duration of the low- power mode is such that the estimate of a corresponding local clock drift is detected as being greater than or equal to the threshold value, both acquisition and tracking operations are performed after exiting the low-power mode.
  • the method further includes, in part, selecting between a normal acquisition phase and a low-power acquisition phase.
  • a narrower range of frequency bins and code offsets is searched to reacquire satellite signals.
  • durations of the low-power modes are adaptively varied.
  • the durations of the tracking phases, and tracking/acquisition phases are adaptively varied.
  • the duration of the next low-power mode is adaptively varied in accordance with estimated velocity or acceleration of the GNSS receiver. In one embodiment of the method, the duration of the next low-power mode is adaptively varied in accordance with a time elapsed since a prior determination of the position of the GNSS receiver. In one embodiment of the method, the duration of the next low-power mode is adaptively varied in accordance with a temperature drift of the GNSS receiver since a prior determination of the position of the GNSS receiver. In one embodiment of the method, the duration of the next low- power mode is adaptively varied in accordance with a quality of a GNSS satellite received since a prior determination of the position of the GNSS receiver. In one embodiment of the method, the duration of the next low-power mode is adaptively varied in accordance with a model characterizing the behavior of a user of the GNSS receiver.
  • the GNSS receiver is disposed in a device that also includes the control unit.
  • the control unit is a software module.
  • the control unit is a hardware module.
  • the control unit includes both software and hardware modules.
  • Figure 1 A is a block diagram of a device that includes a GNSS receiver and a communication/processing unit, in accordance with one exemplary embodiment of the present invention.
  • Figure IB is an exemplary path assumed to have been taken by the GNSS receiver of Figure 1A.
  • Figure 2A is an exemplary timing diagram of acquisition phase, tracking phase, position calculation phase, and sleep phase of the GNSS receiver of Figure 1A, in accordance with one exemplary embodiment of the present invention.
  • Figure 2B is another exemplary path assumed to have been taken by the GNSS receiver of Figure 1A.
  • a GNSS system operates intermittently and has adaptive activity and sleep time in order to reduce power consumption.
  • the GNSS system provides an enhanced estimate of its position in the absence of GNSS signals of sufficient strength.
  • the user's activity and behavior is modeled and used to improve performance, response time, and power consumption of the GNSS system.
  • the user model is based, in part, on the received GNSS signals, as it may show whether the user is indoor or outdoor, a history of the user's positions, velocity, time, and inputs from other sensors disposed in the GNSS system, as well as data related to the network.
  • the users' estimated situation and anticipated needs, for example, going from indoor to outdoor, may also be used to improve performance, response time, and power consumption of the GNSS system.
  • embodiments of the present invention estimate that the user is indoor or is moving indoor (using the receive signal strength) so as to make the GNSS ready to retrigger acquisition when the user needs a new position fix, for example, to geotag a picture.
  • embodiments of the present invention detect that the user is far from its usual location, e.g. in a leisure trip, and therefore more likely to require position fixes either for navigation or photo geotagging purposes.
  • PVT refers to position, velocity and time as provided by a GNSS system, this may also
  • estimated PVTs based on GNSS signals or other sources of navigation information such as an hybrid position engine calculating position from wireless beacons (e.g. WLAN or cellED) or dead reckoning functionality using MEMs sensors ;
  • GNSS refers to a satellite-based navigation system such as GPS, or other earth-based positioning/navigation system such as cooperative positioning;
  • GNSS time refers to absolute time which is synchronous with the time provided by the
  • Pseudo-range refers to the estimated distance from a GNSS system to a particular satellite based on estimated GNSS time
  • Available satellite refers to a satellite or any source of navigation signals whose signal strength is sufficient for the GNSS system to lock to;
  • Sleep mode refers to any mode in which power consumption is reduced, such as when the GNSS system enters into a quiescent or partially quiescent state;
  • Code Offset generally refers to the Satellite code that are used to acquire and enter into a tracking loop
  • FIG. 1A is a block diagram of a device 100 that includes a GNSS receiver 150 and a control unit 170, in accordance with one exemplary embodiment of the present invention.
  • GNSS receiver 150 is shown as including a GNSS tracking and acquisition component 102, and a GNSS position calculator 104.
  • Control unit 170 is shown as including a network transceiver 106, and a database 108.
  • Figure IB is an exemplary path 200 assumed to have been taken by GNSS 100. Each of the points 202, 204, and 206 along path 200, has an associated
  • GNSS receiver 150 While operating in the intermittent mode, GNSS receiver (alternatively referred to herein as GNSS) 150 performs acquisition and tracking of GNSS satellites when GNSS receiver wakes up form a sleep mode. The wake-up period may vary as described further below. When operating in the intermittent mode, GNSS 150 performs position calculation or reporting only when requested to do so by control unit 170.
  • FIG. 2A is an exemplary timing diagram of acquisition phase, tracking phase, position calculation phase, and sleep phase of the GNSS receiver of Figure 1 A, in accordance with one exemplary embodiment of the present invention.
  • GNSS 150 is shown as waking up at times TT 0 , TT ⁇ , TT 2 ... TT N to perform acquisition and tracking.
  • the time slots associated with TT 0 , TT TT 2 ... TT N are identified in Figure 2A as S 0 , S h S 2 , and S N .
  • S 0 , S h S 2 , and S N After expiration of each acquisition and tracking time slot, GNSS 150 enters into sleep mode while attempting to maintain synchronization with GNSS satellites.
  • GNSS position calculator 104 calculates the position of device 100 based on the estimates from previous measurement and reports the calculated position to the device 100. Position calculator 104 of GNSS receiver 150 may also calculate the position of GNSS receiver 150 after each acquisition/tracking cycle but not supply the calculated position to control unit 170 unless instructed to do so by control unit 170.
  • a query is shown as being made by control unit 170 at T W i-
  • the time slot associated with time T W i is shown as Wi. Accordingly, during time slot W l 5 position calculator 104 calculates the position of device 100 using data collected during period S ⁇ .
  • GNSS 150 is adapted to attempt to maintain synchronization with GNSS satellites while saving power by entering a low-power sleep mode following each acquisition and tracking period.
  • Three such sleep periods, namely 300, 302, and 304 are shown in Figure 2A.
  • Each time slot Si, where i is an integer varying from 0 to N, has both an acquisition phase SAj and a tracking phase ST;, or only a tracking phase
  • Figure 2A shows the acquisition phase SA 0 and tracking phase ST 0 associated with time slot 0.
  • each of the other time slots also has a tracking phase.
  • the next activity time slot (i+1) only includes a tracking phase and no acquisition phase. Accordingly, during each activity period (slot time) either (i) both acquisition and tracking is performed (acquisition/tracking), or (ii) only tracking is performed.
  • Normal acquisition mode includes searching a standard set of frequency bins and code offsets to determine the frequency offsets (due to, e.g. Doppler shift) and code offsets for each satellite.
  • Low-power acquisition includes searching within a narrower range of frequency bins and code offsets to reacquire satellites. A narrower search range allows faster acquisition, which results in lower power consumption and faster acquisition fix.
  • GNSS 150 is adapted to operate either in normal acquisition mode or low-power acquisition mode. Selection between these two modes depends on a range of factors, such as (i) velocity or estimated acceleration of device 100 (for example, if Doppler shift due to receiver acceleration is larger than a threshold then low-power acquisition mode cannot be used and normal acquisition mode is required), (ii) time elapsed since last fix (for example, if time elapsed from last fix exceeds a threshold, then the same satellites as those used in the last fix might not be visible any more and the GNSS receiver needs to switch to normal acquisition to acquire new satellites in order to obtain a PVT fix), (iii) measured temperature drift since last fix (for example, if temperature variations are relatively large, it's likely that the local GNSS receiver clock needs to be recalibrated thus requiring acquisition mode, and if temp is relatively constant and sleep time is relatively small, then no acquisition would be needed and tracking would be sufficient), (iv) estimated quality of the satellite channels (for example, if Dopp
  • the GNSS receiver determines that the quality of the received GNSS signal is low (e.g., the signal strength is below a threshold value), then during the subsequent time slot
  • the GNSS receiver when the GNSS receiver wakes up, due to the high probability that the received GNSS signal is weak, the GNSS receiver will be unable to acquire the GNSS clock. Accordingly, in such cases the GNSS receiver performs a tracking operation, which in turn requires a sufficiently good estimate of the size of the GNSS receiver clock drift during the intervening sleep period in order to allow the GNSS receiver to compensate for the clock drift during the next wake-up cycle. Accordingly, when the received GNSS signal is relatively strong signal, relatively long sleep time and low power acquisition may be used. When the received GNSS signal is relatively weak, relatively short sleep time and tracking (along with clock drift estimation scheme) may be used.
  • TTj + i inversely proportional to the Doppler shift of the GNSS system, and directly proportional to the signal quality.
  • the slower the GNSS receiver moves the longer the time elapsed between successive time slots becomes.
  • the higher the signal quality the longer is the time elapsed between the time slots.
  • the estimated Doppler shift associated with each PQ j , the estimated quality of the signal for each satellite, and the estimated time TTj +i for tracking time slot STj + i are used to estimate the code offset PQ + i j associated with time TTj + i .
  • the estimated TT; +] defines the duration of the next sleep cycle, which in turn, enables the GNSS receiver to determine the size of the clock drift during the next sleep cycle.
  • the size of this clock drift enables the GNSS receiver to estimate the code offset PQ + i j during the next wake-up cycle TTj + i.
  • the estimated code offset PQ + i j enables the GNSS receiver to lock into and track the satellites. [0029]
  • Operating in tracking mode enables the GNSS system to quickly resynchronize with the satellites and obtain a position fix whenever necessary, while consuming much less power than conventional systems which use the pseudo-range information to calculate position fixes on a continuous basis.
  • tracking is performed
  • low-power acquisition is performed when signal conditions and user model, described below, indicate easy acquisition.
  • the succeeding sleep duration may be set to a relatively high value.
  • time synchronization is performed using a limited number of satellites and knowledge of current estimated time as well as prior PVT history. To achieve this, only satellite orbital information and velocity estimates are used to track a limited number of satellites to aid in maintaining synchrony with the GNSS time. This may be achieved with as few as one satellite.
  • the desired position accuracy defines the tracking period. For example, the tracking time used when the desired position accuracy is 5 meters is higher than the tracking time used when the desired position accuracy is 100 meters. Accordingly, the adaptive active time can vary both the sleep period as well as the duration of the time slots during which acquisition/ tracking operations are performed.
  • the GNSS receiver wakes up to perform any one of acquisition, tracking, PVT calculation, or a combination of such activities when the device in which the GNSS receiver is disposed changes state in response to any number of events.
  • a change in the state of the device is detected when, for example, the device is powered up or powered down.
  • a change in the state of the device is detected when, for example, sensors disposed in the device detect motion, or detect no motion for a known period of time, or detect acceleration, or detect no acceleration for a known period of time, or detect user contact and/or handling, or detect no user contact and/or handling for a known period of time, or detect an ambient audio level, or detect a pre-set or recurring alarm, or detect a relatively large temperature drifts.
  • code offsets PCij values may be used, as described above, to relatively quickly estimate the position of the GNSS receiver and provide the result to the device in which the GNSS receiver is disposed.
  • the GNSS system When a host requests that its position be promptly determined, the GNSS system performs calculations on pseudo-codes obtained during the previous acquisition or using the last calculated PVT fix and tracking time slot to report its position. In this mode, the GNSS system reports its estimated position when polled, even before it acquired satellite signals. This may occur when the device is in a low-power mode such as a sleep mode. The GNSS system also reports an accuracy estimate based on, for example, the last time to fix and estimated velocity given then a range of possible location (centered around the last known position), as described further below.
  • the last stored pseudo-codes are used to calculate a PVT. Because this PVT corresponds to pseudo-codes obtained at an earlier time, a degree of uncertainty will be associated with this position. The uncertainty associated with the position is reported as being proportional to the time elapsed since the pseudo-codes were first obtained, as well as to the Doppler values obtained from the last know code offsets PCij.
  • FIG. 2B shows an exemplary path 250 traveled by a GNSS system.
  • Points 252, 254 and 256 show actual points passed by the GNSS system as it travels along path 250.
  • device 100 's speed changes between the times TTi and TT 2 , and that at time TWj device 100 makes a query to GNSS position calculator 104 to determine its position.
  • the time slot during which position determination is made is shown as Wi.
  • no GNSS signal is detected due to, for example, entry into a building by the user of the GNSS system.
  • the position at time TWi is estimated using the last known velocity of device 100 and the time difference (TWpTTi).
  • the difference between the actual position PWi and the estimated position PW'i is shown in Figure 2B as error E2.
  • position determination is made using last known position and velocity values even when GNSS signals are readily detected and can be acquired.
  • the GNSS system may, if it has information about a structure that is closest to PWT, report the address of this structure and work under the assumption that the GNSS system is located within the structure.
  • the accuracy of the PVT data is improved after initial calculation of the position.
  • the accuracy of the PVT data associated with a picture taken by a camera that has a resident GNSS system is improved retroactively after the picture is taken.
  • This improvement can be obtained by using PVT fixes with greater certainty, obtained at times preceding and following the time of the uncertain fix.
  • a multitude of accurate PVT estimates obtained in a sequence and spanning a time period T span are used to estimate PVTs for times that fall within T span , as described further below.
  • a host may Geotag using an uncertain PVT fix, and subsequently obtain an improved PVT fix at a later time.
  • the device may retroactively update the uncertain PVT fix with the improved PVT data.
  • a GNSS system is adapted to substantially improve its usability and performance by anticipating how a user will operate it.
  • the user's current state and transitions to other states over time are modeled.
  • states and transitions are referred to collectively as user model or user behavior.
  • Embodiments of the present invention provide methods and systems for determining and applying a user model in the context of GNSS and position systems, as well as for communication devices in general. In one example, the following factors are used in developing the user model:
  • GNSS receiver uses this as an indication.
  • the sleep time is made short because the user can cover a great distance in a limited time (in a train for instance). However if the velocity is relatively low, then the sleep time is longer (e.g., walking). The time is then tied to an accuracy index that the user choose. If the product of velocity and time is greater than the accuracy index or the tolerated error, then a new fix is needed, if not, it is skipped.
  • Map information is used to anticipate if the receiver may be at rest or needs to actively track position. Approaching a known tourism site will need accurate fixes. However cruising at constant speed on a freeway may not.
  • Map information is used to anticipate if the receiver may be at rest or needs to actively track position.
  • Anticipated user activity such as movement, travel or future destination based on an available calendar:
  • transceiver 106 available via transceiver 106 or database 108.
  • a GNSS system Utilizing a user model containing these elements, as well as transitions among user states, a GNSS system can significantly improve performance and user experience (e.g. accuracy of a fix) while minimizing power consumption.

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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)
  • Mobile Radio Communication Systems (AREA)

Abstract

L'invention concerne un système GNSS fonctionnant de manière intermittente et ayant une activité adaptative et des moments de veille afin de réduire la consommation d'énergie. Le système GNSS est capable de mieux estimer sa position en l'absence de signaux GNSS d'intensité suffisante. L'activité et le comportement de l'utilisateur sont modélisés et utilisés pour améliorer la performance, le temps de réponse et la consommation d'énergie du système GNSS. La modélisation de l'utilisateur est partiellement basée sur les signaux GNSS reçus, un historique des positions de l'utilisateur, la vitesse, l'heure et les entrées provenant d'autres capteurs disposés dans le système GNSS, ainsi que sur des données concernant le réseau. Lors de chaque moment d'activité, le récepteur GNSS effectue soit une localisation, soit une acquisition suivie d'une localisation. Le récepteur GNSS peut fonctionner selon un mode normal d'acquisition et un mode d'acquisition basse consommation.
PCT/US2010/059974 2009-12-10 2010-12-10 Localisation intermittente pour gnss WO2011072273A1 (fr)

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US28551209P 2009-12-10 2009-12-10
US61/285,512 2009-12-10

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