# US 12,761,376 B2 · Unambiguous positioning method for satellite navigation system B1 wideband composite signal, and apparatus thereof

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- Number: US 12,761,376 B2
- Document ID: US12761376B2
- Status: Granted
- Kind: B2
- Application number: 18/840,397
- Filed: 2023-02-21
- Published: 2025-06-12
- Granted: 2026-10-13
- Earliest claimed: 2022-02-21
- Assignees: Tsinghua University
- Applicants: Tsinghua University
- Inventors: Zheng Yao; Yunhan Qi; Mingquan Lu
- Web page: https://patentgrep.com/patent/US12761376B2

## CPC

- G01S 19/44: Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
- 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

Provided are an unambiguous positioning method for a satellite navigation system B1 wideband composite signal and an apparatus thereof, which can determine observed quantities of a plurality of satellites by means of tracking B1C signals and B1I signals in B1 wideband composite signals, determine a code pseudo-range value and pseudo-range value from each satellite to a receiver by means of the observed quantities, utilize the pseudo-range values and the code pseudo-range values to calculate ambiguity floating-point solutions of propagation delays of the B1 wideband composite signals, and obtain ambiguity integer solutions by means of the ambiguity floating-point solutions, so as to correct erroneously estimated propagation delay ambiguities of the B1 wideband composite signals, thereby obtaining unambiguous pseudo-range values, and implementing unambiguous and highly precise positioning of the location of the receiver.

## Claims

### Claim 1

An unambiguous positioning method for B 1 wideband composite signals of a satellite navigation system, the method comprising:
receiving the B 1 wideband composite signals of a plurality of satellites, wherein the B 1 wideband composite signals comprise B 1I signals and B 1C signals;
acquiring observed quantities of the B 1I signals and the B 1C signals;
determining, based on the observed quantities of the B 1I signals and the B 1C signals, pseudo-range values and code pseudo-range values from the satellites to a receiver;
determining, based on the pseudo-range values and the code pseudo-range values, ambiguity integer solutions of propagation delays of the B 1 wideband composite signals; and
correcting ambiguities of the propagation delays of the B 1 wideband composite signals by using the ambiguity integer solutions, acquiring unambiguous propagation delays of the B 1 wideband composite signals, and performing unambiguous positioning on a location of the receiver.

### Claim 2 (depends on 1)

The method according to claim 1, wherein, a step of determining, based on the pseudo-range values and the code pseudo-range values, the ambiguity integer solutions of propagation delays of the B1 wideband composite signals, comprises:
determining, based on the pseudo-range values and the code pseudo-range values, ambiguity float solutions of the propagation delays of the B1 wideband composite signals; and
determining the ambiguity integer solutions based on the ambiguity float solutions.

### Claim 3 (depends on 2)

The method according to claim 2, wherein, the observed quantities comprise: carrier phases of the B1C signals, code propagation delays of the B1I signals, and subcarrier propagation delays of the B1I signals,
wherein, a step of determining the pseudo-range values and the code pseudo-range values from the satellites to the receiver comprises:
determining the code pseudo-range values by using the carrier phases of the BIC signals and the code propagation delays of the BII signals; and
determining the pseudo-range values by using the subcarrier propagation delays of the B1I signals and the code propagation delays of the B1I signals.

### Claim 4 (depends on 2)

The method according to claim 2, wherein the observed quantities comprise: carrier phases of the B1C signals, code propagation delays of the B1I signals, and subcarrier propagation delays of the B1I signals,
wherein a step of acquiring the observed quantities of the B1I signals and the B1C signals comprises:
determining carrier frequencies of the B1C signals and the carrier phases of the B1C signals, based on the code propagation delays of the B1C signals and the B1I signals, and a carrier tracking loop; and
determining the code propagation delays of the B1I signals, based on a code tracking loop of the B1I signals.

### Claim 5 (depends on 4)

The method according to claim 4, wherein a step of acquiring the observed quantities of the B1I signals and the B1C signals comprises:
determining spreading code frequencies and phases of the B1I signals, based on the carrier frequencies and phases of the B1I signals and the BIC signals, and the code tracking loop of the B1I signals;
determining the code propagation delays of the B1I signals, based on the spreading code frequencies and phases of the B1I signals;
determining subcarrier frequencies and phases of the B1I signals, based on the carrier frequencies and phases of the B1I signals and the B1C signals, and a subcarrier tracking loop; and
determining the subcarrier propagation delays of the B1I signals, based on the subcarrier frequencies and phases of the B1I signals.

### Claim 6 (depends on 5)

The method according to claim 5, wherein, a step of determining, based on the observed quantities, the pseudo-range values and the code pseudo-range values from the satellites to the receiver comprises:
determining propagation delays of the B1I signals, by combining the code propagation delays and the subcarrier propagation delays;
smoothing the code propagation delays, based on the carrier phases of the BIC signals; and
determining the pseudo-range values and the code pseudo-range values from the satellites to the receiver, based on the propagation delays of the B1I signals and the smoothed code propagation delays.

### Claim 7 (depends on 2)

The method according to claim 2, wherein, a step of determining the ambiguity integer solutions based on the ambiguity float solutions comprises:
determining, using a LAMBDA algorithm, the ambiguity integer solutions based on the ambiguity float solutions.

### Claim 8

An unambiguous positioning apparatus for B1 wideband composite signals of a satellite navigation system, the apparatus comprising: a processor and a memory storing instructions executable by the processor; wherein the instructions, when executed by the processor, cause the processor to perform operations comprising:
obtaining the B1 wideband composite signals of a plurality of satellites, wherein the B1 wideband composite signals comprise B1I signals and B1C signals;
acquiring observed quantities of the B1I signals and the B1C signals;
determining, based on the observed quantities of the B1I signals and the B1C signals, pseudo-range values and code pseudo-range values from the satellites to a receiver;
determining, based on the pseudo-range values and the code pseudo-range values, ambiguity integer solutions of propagation delays of the B1 wideband composite signals; and
correcting ambiguities of the propagation delays of the B1 wideband composite signals by using the ambiguity integer solutions, acquire unambiguous propagation delays of the B1 wideband composite signals, and perform unambiguous positioning on a location of the receiver.

### Claim 9 (depends on 8)

The apparatus according to claim 8, wherein, determining, based on the pseudo-range values and the code pseudo-range values, the ambiguity integer solutions of propagation delays of the B1 wideband composite signals, comprises:
determining, based on the pseudo-range values and the code pseudo-range values, ambiguity float solutions of the propagation delays of the B1 wideband composite signals; and
determining the ambiguity integer solutions based on the ambiguity float solutions.

### Claim 10 (depends on 9)

The apparatus according to claim 9, wherein, the observed quantities comprise: carrier phases of the B1C signals, code propagation delays of the B1I signals, and subcarrier propagation delays of the B1I signals,
wherein determining the ambiguity integer solutions of propagation delays of the B1 wideband composite signals comprise:
determining the code pseudo-range values by using the carrier phases of the B1C signals and the code propagation delays of the B1I signals; and
determining the pseudo-range values by using the subcarrier propagation delays of the B1I signals and the code propagation delays of the B1I signals.

### Claim 11 (depends on 9)

The apparatus according to claim 9, wherein, the observed quantities comprise: carrier phases of the B1C signals, code propagation delays of the B1I signals, and subcarrier propagation delays of the B1I signals,
wherein acquiring the observed quantities of the B1I signals and the B1C signals comprises:
determining carrier frequencies of the B1C signals and the carrier phases of the B1C signals, based on the code propagation delays of the B1C signals, and the B1 signals, and a carrier tracking loop; and
determining the code propagation delays of the B1I signals, based on a code tracking loop of the B1I signals.

### Claim 12 (depends on 11)

The apparatus according to claim 11, wherein, acquiring the observed quantities of the B1I signals and the B1C signals comprises:
determining spreading code frequencies and phases of the B1I signals, based on the carrier frequencies and phases of the B1I signals and the B1C signals, and the code tracking loop of the B1I signals;
determining the code propagation delays of the B1I signals, based on the spreading code frequencies and phases of the B1I signals;
determining subcarrier frequencies and phases of the B1I signals, based on the carrier frequencies and phases of the B1I signals and the B1C signals, and a subcarrier tracking loop; and
determining the subcarrier propagation delays of the B1I signals, based on the subcarrier frequencies and phases of the B1I signals.

### Claim 13 (depends on 12)

The apparatus according to claim 12, wherein, determining, based on the observed quantities, the pseudo-range values and the code pseudo-range values from the satellites to the receiver comprises:
determining propagation delays of the B1I signals, by combining the code propagation delays and the subcarrier propagation delays;
smoothing the code propagation delays, based on the carrier phases of the BIC signals; and
determining the pseudo-range values and the code pseudo-range values from the satellites to the receiver, based on the propagation delays of the B1I signals and the soothed code propagation.

### Claim 14 (depends on 9)

The apparatus according to claim 9, wherein, determining the ambiguity integer solutions based on the ambiguity float solutions comprises:
determining, using a LAMBDA algorithm, the ambiguity integer solutions based on the ambiguity float solutions.

### Claim 15

A non-transitory storage medium, storing computer-executable instructions, wherein the instructions, when executed by one or more processors, cause the one or more processors to perform operations comprising:
obtaining B1 wideband composite signals of a plurality of satellites, wherein the B 1 wideband composite signals comprise B 1I signals and B 1 C signals;
acquiring observed quantities of the B1I signals and the B1C signals;
determining, based on the observed quantities of the B1I signals and the BIC signals, pseudo-range values and code pseudo-range values from the satellites to a receiver;
determining, based on the pseudo-range values and the code pseudo-range values, ambiguity integer solutions of propagation delays of the B1 wideband composite signals; and
correcting ambiguities of the propagation delays of the B1 wideband composite signals by using the ambiguity integer solutions, acquiring unambiguous propagation delays of the B 1 wideband composite signals, and performing unambiguous positioning on a location of the receiver.

### Claim 16 (depends on 15)

The storage medium according to claim 15, wherein, determining, based on the pseudo-range values and the code pseudo-range values, the ambiguity integer solutions of propagation delays of the B1 wideband composite signals, comprises:
determining, based on the pseudo-range values and the code pseudo-range values, ambiguity float solutions of the propagation delays of the B1 wideband composite signals; and
determining the ambiguity integer solutions based on the ambiguity float solutions.

### Claim 17 (depends on 16)

The storage medium according to claim 16, wherein, the observed quantities comprise: carrier phases of the B1C signals, code propagation delays of the B1I signals, and subcarrier propagation delays of the B1I signals,
wherein determining the ambiguity integer solutions of propagation delays of the B1 wideband composite signals comprise:
determining the code pseudo-range values by using the carrier phases of the BIC signals and the code propagation delays of the B1I signals; and
determining the pseudo-range values by using the subcarrier propagation delays of the B1I signals and the code propagation delays of the B1I signals.

### Claim 18 (depends on 16)

The storage medium according to claim 16, wherein, the observed quantities comprise: carrier phases of the B1C signals, code propagation delays of the B1I signals, and subcarrier propagation delays of the B1I signals,
wherein acquiring the observed quantities of the B1I signals and the B1C signals comprises:
determining carrier frequencies of the B1C signals and the carrier phases of the B1C signals, based on the code propagation delays of the B1C signals, and the BII signals, and a carrier tracking loop; and
determining the code propagation delays of the B1I signals, based on a code tracking loop of the B1I signals.

### Claim 19 (depends on 18)

The storage medium according to claim 18, wherein, acquiring the observed quantities of the B1I signals and the B1C signals comprises:
determining spreading code frequencies and phases of the B1I signals, based on the carrier frequencies and phases of the B1I signals and the B1C signals, and the code tracking loop of the B1I signals;
determining the code propagation delays of the B1I signals, based on the spreading code frequencies and phases of the B1I signals;
determining subcarrier frequencies and phases of the B1I signals, based on the carrier frequencies and phases of the B1I signals and the B1C signals, and a subcarrier tracking loop; and
determining the subcarrier propagation delays of the B1I signals, based on the subcarrier frequencies and phases of the B1I signals.

### Claim 20 (depends on 19)

The storage medium according to claim 19, wherein, determining, based on the observed quantities, the pseudo-range values and the code pseudo-range values from the satellites to the receiver comprises:
determining propagation delays of the B1I signals, by combining the code propagation delays and the subcarrier propagation delays;
smoothing the code propagation delays, based on the carrier phases of the BIC signals; and
determining the pseudo-range values and the code pseudo-range values from the satellites to the receiver, based on the propagation delays of the B1I signals and the soothed code propagation.