# US 11,079,496 B2 · Precise point positioning method and positioning apparatus and recording medium thereof

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- Number: US 11,079,496 B2
- Document ID: US11079496B2
- Status: Granted
- Kind: B2
- Application number: 16/232,093
- Filed: 2018-12-26
- Published: 2020-02-27
- Granted: 2021-08-03
- Earliest claimed: 2018-08-27
- Assignees: Industrial Technology Research Institute
- Applicants: Industrial Technology Research Institute
- Inventors: Yi-Huai Hsu; Ying-Yu Chen; Hao-Yu Wang; Jyh-Ching Juang
- Web page: https://patentgrep.com/patent/US11079496B2

## CPC

- G01S 19/43: using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S 19/04: providing carrier phase data
- G01S 19/07: providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
- G01S 19/13: Receivers
- G01S 19/40: Correcting position, velocity or attitude
- G01S 19/33: Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
- G01S 19/41: Differential correction, e.g. DGPS [differential GPS]
- 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

## Abstract

Precise point positioning (PPP) method and a PPP device are provided. The precise point positioning method includes obtaining a first satellite signal of a target satellite and a second satellite signal of a reference satellite. The first satellite signal and the second satellite signal are combined to eliminate a signal error and obtain a combined satellite signal. A smoothing process is performed on a code data of the combined satellite signal, to obtain a satellite positioning data for positioning process. The satellite positioning data includes modified code data and modified carrier-phase data.

## Claims

### Claim 1

A precise point positioning method, performed by a user equipment provided on a vehicle, comprising:
obtaining a first satellite signal of a target satellite and a second satellite signal of a reference satellite;
combining the first satellite signal and the second satellite signal to eliminate a signal error and obtain a combined satellite signal; and
performing a smoothing process on a code data of the combined satellite signal, to obtain a satellite positioning data for a positioning process, wherein the satellite positioning data comprises a modified code data and a modified carrier-phase data, wherein a location of the user equipment is displayed based on the satellite positioning data,
wherein the smoothing process comprises:
taking a code data of the combined satellite signal at current recursion as a first term, taking a summation of a smoothed code data of the combined satellite signal at previous recursion, a carrier-phase data at current recursion and a carrier-phase data at previous recursion as a second term, summing the first term and the second term respectively with weights by a parameter “a” and a parameter “(1−a)”, and obtaining a smoothed satellite positioning data at current recursion,
wherein the parameter “a” comprises a satellite elevation angle of a satellite with respect to the user equipment, wherein the parameter “a” decreases as the satellite elevation angle increases.

### Claim 2 (depends on 1)

The precise point positioning method of claim 1, wherein the step of combining the first satellite signal and the second satellite signal to eliminate the signal error and obtain the combined satellite signal comprises:
eliminating a first ionospheric error of the first satellite signal; and
eliminating a second ionospheric error of the second satellite signal.

### Claim 3 (depends on 2)

The precise point positioning method of claim 2, wherein the step of combining the first satellite signal and the second satellite signal to eliminate the signal error and obtain the combined satellite signal further comprises:
using the first satellite signal and the second satellite signal to perform a between satellite single difference (BSSD) process to eliminate a common error.

### Claim 4 (depends on 3)

The precise point positioning method of claim 3, wherein in the BSSD process, one of a plurality of satellites is served as the reference satellite, the reference satellite provides the second satellite signal, one of the satellites other than the reference satellite is the target satellite, the target satellite provides the first satellite signal.

### Claim 5 (depends on 1)

The precise point positioning method of claim 1, wherein the parameter “a” is (1−θ/90)/n, the parameter θ is the satellite elevation angle, wherein the first satellite signal and the second satellite signal are received once at every one interval, wherein the parameter n is an nth time to receive the first satellite signal and the second satellite signal, n is positive integer.

### Claim 6 (depends on 1)

The precise point positioning method of claim 1, wherein each of the first satellite signal and the second satellite signal of the user equipment comprises a preliminary error correction data received from a reference station, wherein the reference station respectively receives radio signals of the reference satellite and the target satellite and produces the preliminary error correction data.

### Claim 7 (depends on 1)

The precise point positioning method of claim 1, wherein each of the first satellite signal and the second satellite signal comprises a code data and a carrier-phase data.

### Claim 8

A precise point positioning apparatus provided on a vehicle, comprising a processor and a register, configured to perform operations, comprising:
obtaining a first satellite signal of a target satellite and a second satellite signal of a reference satellite;
combining the first satellite signal and the second satellite signal to eliminate a signal error and obtain a combined satellite signal; and
performing a smoothing process on a code data of the combined satellite signal, to obtain a satellite positioning data for a positioning process, wherein the satellite positioning data comprises a modified code data and a modified carrier-phase data, wherein a location of the precise point positioning apparatus is displayed based on the satellite positioning data,
wherein the smoothing process comprises:
taking a code data of the combined satellite signal at current recursion as a first term, taking a summation of a smoothed code data of the combined satellite signal at previous recursion, a carrier-phase data at current recursion and a carrier-phase data at previous recursion as a second term, summing the first term and the second term respectively with weights by a parameter “a” and a parameter “(1−a)”, and obtaining a smoothed satellite positioning data at current recursion,
wherein the parameter “a” comprises a satellite elevation angle of a satellite with respect to the precise point positioning apparatus, wherein the parameter “a” decreases as the satellite elevation angle increases.

### Claim 9 (depends on 8)

The precise point positioning apparatus of claim 8, wherein the operation of combining the first satellite signal and the second satellite signal to eliminate the signal error and obtain the combined satellite signal comprises:
eliminating a first ionospheric error of the first satellite signal; and
eliminating a second ionospheric error of the second satellite signal.

### Claim 10 (depends on 9)

The precise point positioning apparatus of claim 9, wherein the operation of combining the first satellite signal and the second satellite signal to eliminate the signal error and obtain the combined satellite signal further comprises:
using the first satellite signal and the second satellite signal to perform a between satellite single difference (BSSD) process to eliminate a common error.

### Claim 11 (depends on 10)

The precise point positioning apparatus of claim 10, wherein in the BSSD process, one of a plurality of satellites is served as the reference satellite, the reference satellite provides the second satellite signal, one of the satellites other than the reference satellite is the target satellite, the target satellite provides the first satellite signal.

### Claim 12 (depends on 8)

The precise point positioning apparatus of claim 8, wherein the parameter “a” is (1−θ/90)/n, the parameter θ is the satellite elevation angle, wherein the first satellite signal and the second satellite signal are received once at every one interval, wherein the parameter n is a nth time to receive the first satellite signal and the second satellite signal, n is positive integer.

### Claim 13 (depends on 8)

The precise point positioning apparatus of claim 8, wherein each of the first satellite signal and the second satellite signal of the user equipment comprises a preliminary error correction data as received from a reference station, wherein the reference station respectively receives radio signals of the reference satellite and the target satellite and produces the preliminary error correction data.

### Claim 14 (depends on 8)

The precise point positioning apparatus of claim 8, wherein each of the first satellite signal and the second satellite signal comprises a code data and a carrier-phase data.

### Claim 15

A precise point positioning method, performed by a user equipment provided on a vehicle, comprising:
receiving a satellite signal of a target satellite once at every one interval, the satellite signal having been processed by an error correction, wherein a current receiving stage is at a nth time, n is positive integer, wherein satellite positioning signal comprises a code data and a carrier-phase data, wherein a location of the user equipment is displayed based on the satellite positioning signal; and
performing a smoothing process on the code data at the nth time to obtain a smoothed code data at the nth time, the smoothing process is performed at the nth time of recursions, comprising:
taking the code data at the nth time at the nth time as a first term, taking a summation of a smoothed code data at the (n−1)th time, a carrier-phase data at the nth time and a carrier-phase data at the (n−1)th time as a second term, summing the first term and the second term with weights by a parameter a′ and a parameter (1−a′), and obtaining the smoothed code data at the nth time of the recursions,
wherein the parameter a′ comprises a satellite elevation angle of a satellite with respect to the user equipment, the parameter a′ decreases as the satellite elevation angle increases.

### Claim 16 (depends on 15)

The precise point positioning method of claim 15, wherein the parameter a′ comprises a multiplying factor of (1−θ/90), the parameter θ is the satellite elevation angle.

### Claim 17 (depends on 16)

The precise point positioning method of claim 16, wherein the parameter a′ is (1−θ/90)/n changed with time.

### Claim 18 (depends on 1)

A recording medium, recording a program code, the program code is obtained by a processor of a user equipment provided on a vehicle to perform the precise point positioning method of claim 1.